摘要
针对机器人运动姿态测量研究,提出了激光测量技术,该技术的实施可有效解决传统测量方法存在测量效果差的问题。根据激光测振结构,建立载体坐标系,使用欧拉角表示坐标转换矩阵,寻找最新数据。通过余弦、殴拉角来表达机器人实际运动方向到载体坐标系转换之间的关系,经过三次连续不同轴转动,可获取机器人运动方向到载体坐标系转换顺序,分析运动加速度与时间曲线之间关系,保证机器人运动姿态水平和竖直方向数据准确性。设立单独变量,表示出机器人在空间坐标系中相应测量结果,校准机器人手臂与摄像机,计算矢量内积,完成机器人运动姿态测量。由实验结果可知,该技术最高测量效果可达到91%,可实现机械设备在冲击振动环境下的动态测量。
In view of the research of robot motion attitude measurement,laser measurement technology is proposed,which can effectively solve the problem of poor measurement effect in traditional measurement methods. According to the structure of laser vibration measurement,the carrier coordinate system is established,and the coordinate transformation matrix is expressed by Euler angle to find the latest data. The relationship between the actual motion direction of the robot and the coordinate system of the carrier is expressed by the cosine and the beat-pull angle. After three successive rotations of different axes,the order of the transformation from the direction of the robot to the coordinate system of the carrier can be obtained. The relationship between the motion acceleration and the time curve is analyzed to ensure the horizontal and vertical motion of the robot. Accuracy of data. Set up a separate variable to represent the corresponding measurement results of the robot in the spatial coordinate system,calibrate the robot arm and camera,calculate the vector inner product,and complete the robot motion attitude measurement. The experimental results show that the maximum measurement effect of this technology can reach 91%,and the dynamic measurement of mechanical equipment under impact and vibration environment can be realized.
作者
李显圣
黄尚荣
LI Xiansheng;HUANG Shangrong(Department of Electromechanical and information engineering, Guangxi vocational and technical college, Nanning 530226 ,China)
出处
《激光杂志》
北大核心
2019年第3期192-195,共4页
Laser Journal
基金
广西高校中青年教师基础能力提开项目(No.2017KY0982)
关键词
激光技术
机器人
运动姿态
测量
矢量
laser technology
robot
movement posture
measurement
vector
