Title :
Error analysis of binocular active hand-eye visual system on parallel mechanisms
Author :
Zhao, Liqiang ; Kong, Lingfu ; Wang, Yueming
Author_Institution :
Sch. of Inf. Sci. & Eng., Yanshan Univ., Qinhuangdao
Abstract :
Binocular active hand-eye visual system on parallel mechanisms is a novel workspace monitoring mechanism, which fixed on the moving platform of a parallel mechanism with a circular orbit. Considering kinematic coupling between the parallel mechanism and the visual system, a general scheme based on the 3D reconstruct model of a binocular stereo vision is proposed to evaluate the control errors of the robot and the visual mechanism using the image coordinates of two kinds of target points. First, the optimal estimation of the perspective transformation matrix (PPM) relative to the base frame and the moving platform frame are calibrated respectively. Then the actual kinematic parameters of the parallel mechanism and the visual system are estimated by decomposing PPM. The tracking experiment on a 6-PUS parallel engraving machine is presented to show effectiveness of the method.
Keywords :
error analysis; image reconstruction; matrix algebra; mobile robots; optimal control; robot kinematics; robot vision; stereo image processing; visual perception; 3D reconstruct model; binocular active hand-eye visual system; binocular stereo vision; circular orbit; error analysis; image coordinate; kinematic coupling; moving platform frame; optimal estimation; parallel mechanism; perspective transformation matrix; workspace monitoring mechanism; Error analysis; Error correction; Image reconstruction; Matrix decomposition; Monitoring; Parallel robots; Robot kinematics; Robot vision systems; Stereo vision; Visual system;
Conference_Titel :
Information and Automation, 2008. ICIA 2008. International Conference on
Conference_Location :
Changsha
Print_ISBN :
978-1-4244-2183-1
Electronic_ISBN :
978-1-4244-2184-8
DOI :
10.1109/ICINFA.2008.4607975
