六点法激光定位抓取的误差分析

doi:10.16180/j.cnki.issn1007-7820.2019.07.002

电子科技 ›› 2019, Vol. 32 ›› Issue (7): 6-10.doi: 10.16180/j.cnki.issn1007-7820.2019.07.002

六点法激光定位抓取的误差分析

孙园园¹,单鸿涛¹,刘方湖²

^1. 上海工程技术大学电子电气工程学院,上海 201600
^2. 上海杨岐视觉机器人有限公司,上海 201808

收稿日期:2018-07-30 出版日期:2019-07-15 发布日期:2019-08-14
作者简介:孙园园(1994-),女,硕士研究生。研究方向:人工智能的配电网可靠性分析。
基金资助:
国家自然科学基金(61673582);2018xk-A-03机械电子工程学科建设

Error Analysis of a Six-Point Method for Laser Positioned and Grasped

SUN Yuanyuan¹,SHAN Hongtao¹,LIU Fanghu²

^1. School of Electrical and Electronic Engineering,Shanghai University of Engineering Science,Shanghai 201600,China
^2. Shanghai Yangqi Vision Robot Co.,Ltd.,Shanghai 201808,China

Received:2018-07-30 Online:2019-07-15 Published:2019-08-14
Supported by:
National Natural Science Foundation of China(61673582);2018xk-A-03 Construction of Mechanical and Electronic Engineering Discipline

摘要/Abstract

摘要：

针对传统方法进行定位抓取准确性差、分辨率低、操作不便捷等问题,提出使用六点法结合激光三角法的定位抓取技术。相关参数的选择是影响激光三角法的测量精度,以及被测物体上激光点坐标获取时的误差的主要因素。通过分析六点法和激光三角法的基本原理,基于布尔沙模型,推导得到测量误差与相关参数之间的关系。利用MATLAB仿真分析参数与激光三角法测量过程中传感器灵敏度和测量误差的关系,以及对被测物体上激光点具体坐标获取过程的影响,最终得出误差随相关参数变化的规律,对避免测量粗大误差具有一定的实际意义。

关键词: 定位抓取, 六点法, 激光三角法, 布尔沙模型, 坐标获取, 误差

Abstract:

Aiming at the problems of poor positioning accuracy, low resolution and inconvenient operation in the traditional method, a six-point method combined with laser triangulation positioning and grabbing technique was proposed. The selection of relevant parameters and the error in the acquisition of laser spot on the measured object were the main factors determining the measurement accuracy. By analyzing the basic principles of the six-point method and the laser triangulation method, the relationship between the measurement error and the related parameters was obtained based on the Boolean model. MATLAB was utilized to simulate the relationship between parameters and sensor sensitivity and measurement error during laser triangulation measurement, and the influence of laser point specific coordinate acquisition process on the measured object. Through this method, the law that the error changed with the relevant parameters was obtained, indicating the practical significance of avoided coarse errors in the measurement.

Key words: positioned and grasped, six-point method, laser triangulation method, Bursa model, coordinate acquisition, error

中图分类号:

TP202

孙园园,单鸿涛,刘方湖. 六点法激光定位抓取的误差分析[J]. 电子科技, 2019, 32(7): 6-10.

SUN Yuanyuan,SHAN Hongtao,LIU Fanghu. Error Analysis of a Six-Point Method for Laser Positioned and Grasped[J]. Electronic Science and Technology, 2019, 32(7): 6-10.

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六点法激光定位抓取的误差分析

Error Analysis of a Six-Point Method for Laser Positioned and Grasped

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