使用影像系統校正模組化機械手臂

Calibration of Modular Robot Using a Vision System

陳建良(Jian-Liang Chen)

指導教授 ： 林彥正

大同大學/工程學院/機械工程學系所/碩士(2004年)

摘要

由於機械加工與組裝上的誤差，造成一般的機械手臂的定位精度需要改善，利用機械手臂校正可以提升機械手臂的定位精度。本文使用D-H法來建立模組化機械手臂的運動學模式與誤差模式。並且利用Zhang的方法[14]校正視覺量測系統的相機，以及修改Tsai的方法[13]來量測機械手臂末端的位置。最後藉由最小平方法(least-squares algorithm)估算機械手臂的誤差參數。實驗結果顯示，運動學模式經過單一區域的誤差參數的補償後，模組化機械手臂模式的誤差可以被減少。

關鍵字

機械手臂校準，模組化機械手臂，影像量測系統

並列摘要

To improve robot positioning accuracy due to manufacturing errors in the machining and assembling, robot calibration is used. D-H method is used to establish modular robot kinematic model and error model for modular robot calibration. After camera is calibrated with Zhang’s method [14], Tsai’s method [13] is modified for measuring position of modular robot end-effector. And the least-squares algorithm is applied to estimate error parameters of modular robot. The experimental results show that the model error of the modular robot can be reduced by compensating with the error parameters calibrated.

並列關鍵字

Robot Calibration，Modular Robot，Vision-Based M

參考文獻

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