黄大刚, 卢桂章, 赵新, 张建勋. 微操作机器人系统的大范围三维标定方法[J]. 机器人, 2002, 24(4): 352-357.
引用本文: 黄大刚, 卢桂章, 赵新, 张建勋. 微操作机器人系统的大范围三维标定方法[J]. 机器人, 2002, 24(4): 352-357.
HUANG Da-gang, LU Gui-zhang, ZHAO Xin, ZHANG Jian-xun. METHOD OF THREE DIMENSIONAL CALIBRATIONFOR MICRO-MANIPULATOR SYSTEM IN LARGE SPACE[J]. ROBOT, 2002, 24(4): 352-357.
Citation: HUANG Da-gang, LU Gui-zhang, ZHAO Xin, ZHANG Jian-xun. METHOD OF THREE DIMENSIONAL CALIBRATIONFOR MICRO-MANIPULATOR SYSTEM IN LARGE SPACE[J]. ROBOT, 2002, 24(4): 352-357.

微操作机器人系统的大范围三维标定方法

METHOD OF THREE DIMENSIONAL CALIBRATIONFOR MICRO-MANIPULATOR SYSTEM IN LARGE SPACE

  • 摘要: 本文针对面向生物工程微操作机器人需同时满足高定位精度和大的工作空间的特点,给出在毫米级空间对微操作机器人系统实现微米级三维标定的方法:用运动部件拖动三维标定块及三套显微摄像装置读取三维坐标的方法,解决了大范围高精度读数的问题;用四块直角棱镜组成的分光装置和三块二维标尺构成读数范围为8mm×8mm×8mm,读数精度为1μm的三维标定块,解决了标定基准问题;最后,给出了标定结果.

     

    Abstract: The approach to implementing calibration with precision of micron in millimeter-scale work volume is put forward in this paper: the method for driving 3D sample block through motion part and reading 3D coordinates through 3 sets of microscopic camera system is adopted to implement calibration with precision of micron in millimeter scale work volume; Light distribution device consisting of four pieces of right angle prism and 3D sample block consisting of three pieces of 2D rulers of 8mm×8mm with precision of micron are taken as sample standard; The calibration results are given finally.

     

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