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| Research on End Calibration Method of Mobile Robot Based on Photogrammetry |
| WANG Yifeng, LU Yongkang, LI Junqing, ZHANG Yang, LIU Wei, WANG Fuji |
| Dalian University of Technology, Dalian 116024, China |
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Abstract Mobile robot in-situ processing and assembly technology has been gradually applied to the manufacture of large components, and the ability to locate the end of the robot is the key to ensure its manufacturing quality. Aiming at the problems of large measurement range, occlusion of the sight line, and complicated dynamic pose changes in the process of robot end positioning, a robot end calibration method combining single camera offline measurement positioning point and camera resection is proposed. Firstly, the positioning points in the processing area are measured offline by a photogrammetry camera and the coordinates of positioning points are obtained. Then, the spatial pose of camera is solved based on the principle of resection, and the pose relationship between the camera and robot end is calibrated. Finally, the pose parameters of the mobile robot end are obtained through the in-situ measurement of the camera attached on the robot end. Experimental results show that as the object distance is 1000 mm, the three-dimension position accuracy is better than 0.19mm, and the attitude angle accuracy is better than 0.011°, which verifies the effectiveness of the proposed method.
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2022, 
