Electronic Science and Technology ›› 2019, Vol. 32 ›› Issue (7): 6-10.doi: 10.16180/j.cnki.issn1007-7820.2019.07.002

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

SUN Yuanyuan1,SHAN Hongtao1,LIU Fanghu2   

  1. 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


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

CLC Number: 

  • TP202