Research on High-Precision Measurement of Position and Orientation of 6-DOF Parallel Robot Based on Stereo Vision and Positional Solution

Hai Tao Wang; Kuang Rong Hao; Yong Sheng Ding

doi:10.4028/www.scientific.net/AMR.479-481.1931

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 479-481Research on High-Precision Measurement of Position...

Research on High-Precision Measurement of Position and Orientation of 6-DOF Parallel Robot Based on Stereo Vision and Positional Solution

Abstract:

In the paper, both stereo vision and positional solution are used to measure the position and orientation of 6-DOF parallel robot. Firstly, moving platform is segmented from the background based on temporal and spatial union algorithm, rough position and orientation of moving platform are obtained by feature point extraction and match; secondly, rough length of supported leg is calculated according to rough position and orientation of moving platform; finally, accurate position and orientation of parallel robot are calculated using both actual length measured by sensors and positional solution. Experiment results demonstrate that the position and orientation calculated by the above algorithm have high accuracy.

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Periodical:

Advanced Materials Research (Volumes 479-481)

Pages:

1931-1935

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.479-481.1931

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Online since:

February 2012

Authors:

Hai Tao Wang, Kuang Rong Hao, Yong Sheng Ding

Keywords:

6-DOF, Position and Orientation Measurement, Positional Solution, Stereo Vision

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