技术领域technical field
本发明涉及一种机器人技术，尤其是一种工业机器人空间精确定位技术，具体地说是一种无确定性定位特征物体的空间精确定位方法。The invention relates to a robot technology, in particular to an industrial robot space precise positioning technology, in particular to a space precise positioning method for objects without deterministic positioning features.
背景技术Background technique
目前，工业机器人空间精确定位是将工业机器人的绝对定位精度通过误差补偿达到所需的精度范围，其将直接影响到物体的装配精度。而且对于实际情况，所需定位的物体可能不具有确定性的定位特征，所以需要根据此类情况进行空间精确定位系统的研究。对于工业机器人空间精确定位技术，国内外已经研究得比较成熟了，但是针对于无确定性定位特征的物体来进行定位，还需要进行一定相关的研究。At present, the precise spatial positioning of industrial robots is to achieve the required accuracy range of the absolute positioning accuracy of industrial robots through error compensation, which will directly affect the assembly accuracy of objects. Moreover, for the actual situation, the object to be located may not have deterministic positioning characteristics, so it is necessary to carry out research on the spatial precise positioning system according to such situations. For the precise positioning technology of industrial robots, the research at home and abroad has been relatively mature, but for the positioning of objects without deterministic positioning features, certain related research is still needed.
发明内容SUMMARY OF THE INVENTION
本发明的目的是针对无确定位定位特征物体定位不便，影响机器人装配精度和装配速度的问题，发明一种无确定性定位特征物体的空间精确定位方法。The purpose of the present invention is to devise a spatial accurate positioning method for objects without certain positioning features, aiming at the problem of inconvenient positioning of objects without certain positioning features and affecting the assembly accuracy and assembly speed of robots.
本发明的技术方案是：The technical scheme of the present invention is:
一种无确定性定位特征物体的空间精确定位方法，其特征是它包括以下步骤：A spatial precise positioning method for objects without deterministic positioning features, which is characterized in that it comprises the following steps:
首先，通过外形点云扫描构建无确定性定位特征物体的位姿控制点；First, the pose control points of the object without deterministic positioning feature are constructed by scanning the shape point cloud;
其次，利用工业机器人及其末端执行器实现工业机器人对无确定性定位特征物体的抓取及定位；Secondly, the industrial robot and its end effector are used to realize the grasping and positioning of objects without deterministic positioning characteristics;
第三，利用安装在工业机器人末端执行器上的多目视觉测量系统测量所抓取的无确定性定位特征物体上的位姿控制点，从而通过外形点云扫描确定的无确定性定位特征物体的位姿控制点的测量值与局部坐标系的理论值计算无确定性定位特征物体与机器人末端执行器的的相对位姿关系；Third, use the multi-vision vision measurement system installed on the end effector of the industrial robot to measure the pose control points on the captured object without deterministic positioning features, so as to scan the object with uncertain positioning features determined by the shape point cloud The measured value of the pose control point and the theoretical value of the local coordinate system are used to calculate the relative pose relationship between the object with no deterministic positioning feature and the robot end effector;
第四，利用T-Mac 6D测量系统实现实时跟踪测量机器人末端执行器的空间位姿；Fourth, use the T-Mac 6D measurement system to achieve real-time tracking and measurement of the spatial pose of the robot end effector;
第五，最后基于T-Mac 6D测量系统跟踪机器人实时空间姿态，计算姿态误差，并驱动机器人进行补偿运动，实现无确定性定位特征物体的装配定位。Fifth, based on the T-Mac 6D measurement system, the robot tracks the real-time spatial attitude of the robot, calculates the attitude error, and drives the robot to perform compensating motion to realize the assembly and positioning of objects without deterministic positioning features.
所述的位姿控制点设置于无确定性定位特征物体表面，作为空间定位时的测量特征。The pose control points are set on the surface of the object without deterministic positioning features, and are used as measurement features during spatial positioning.
所述的工业机器人系统包括工业机器人本体(3)、面向部件装配的末端执行器(4) 和线性导轨(5)；工业机器人本体(3)安装在线性导轨(5)上，沿导轨直线移动使机器人获得更大的操作空间。The industrial robot system includes an industrial robot body (3), an end effector (4) facing component assembly, and a linear guide rail (5); the industrial robot body (3) is mounted on the linear guide rail (5) and moves linearly along the guide rail Make the robot get more operating space.
所述的多目视觉测量系统包括四个工业相机(6)，工业相机安装在末端执行器(4) 上，并与其固联；多目视觉测量系统通过测量末端执行器(4)抓紧的无确定性定位特征物体上的位姿控制点来计算无确定性定位特征物体与末端执行器的空间相对位姿。The multi-eye vision measurement system includes four industrial cameras (6), and the industrial cameras are mounted on the end effector (4) and are fixedly connected with it; Deterministically locate the pose control points on the feature object to calculate the spatial relative pose between the object without deterministic positioning feature and the end effector.
所述的T-Mac 6D测量系统包括T-Mac(7)与激光跟踪仪测量系统(8)；T-Mac(7) 安装在末端执行器(4)上，并与其固联；激光跟踪仪(8)通过实时动态获取T-Mac(7) 在测量坐标系下的6D位姿，来跟踪机器人末端执行器的空间位姿。The T-Mac 6D measurement system includes a T-Mac (7) and a laser tracker measurement system (8); the T-Mac (7) is mounted on the end effector (4) and is fixedly connected to it; the laser tracker (8) The spatial pose of the robot end-effector is tracked by dynamically acquiring the 6D pose of the T-Mac (7) in the measurement coordinate system in real time.
所述的T-Mac 6D测量系统跟踪机器人实时空间姿态，计算姿态误差，并驱动机器人进行补偿运动。The T-Mac 6D measurement system tracks the robot's real-time spatial attitude, calculates the attitude error, and drives the robot to perform compensating motion.
所述的测量与控制软件系统，其与T-Mac 6D测量系统集成到PC机上的一个主控软件上，用于控制T-Mac 6D测量系统跟踪机器人实时空间姿态，计算姿态误差，并驱动机器人进行补偿运动。The measurement and control software system, which is integrated with the T-Mac 6D measurement system into a main control software on a PC, is used to control the T-Mac 6D measurement system to track the robot's real-time spatial attitude, calculate the attitude error, and drive the robot Make compensatory movements.
本发明的工业机器人系统主要用于实现机器人对部件的抓取及定位；采用T-Mac 6D测量系统主要用于实现实时跟踪及测量机器人末端执行器的空间位姿；采用测量与控制软件系统，将其与T-Mac 6D测量系统集成到PC机上的一个主控软件上，即可实现计算机在线控制工业机器人运动及定位。The industrial robot system of the invention is mainly used to realize the grasping and positioning of the parts by the robot; the T-Mac 6D measurement system is mainly used to realize real-time tracking and measurement of the spatial pose of the robot end effector; the measurement and control software system is adopted, Integrate it with the T-Mac 6D measurement system into a main control software on the PC, and the computer can control the motion and positioning of the industrial robot online.
本发明的有益效果：Beneficial effects of the present invention:
(1本发明)实现了无确定性定位特征物体的空间精确定位。克服其无确定性来定位首先主要是通过激光扫描，来获取物体的大体轮廓，通过外形扫描数据与理论数模拟合求解出位姿控制点在其零件坐标系下的坐标值。其次是通过机器人的在线定位精度来保证相邻物体间准确的装配精度。(1) The present invention realizes precise spatial positioning of objects without deterministic positioning features. To overcome its uncertainty, the first step is to obtain the general outline of the object through laser scanning, and to solve the coordinate value of the pose control point in its part coordinate system through the shape scanning data and theoretical numerical simulation. The second is to ensure the accurate assembly accuracy between adjacent objects through the online positioning accuracy of the robot.
(2)采用多目视觉系统，用于确定无确定性定位特征物体与末端执行器的空间相对位姿。(2) The multi-eye vision system is used to determine the spatial relative pose of the object with no deterministic positioning feature and the end effector.
(3)采用T-Mac 6D测量系统，用于实现实时跟踪及测量机器人末端执行器的空间位姿。(3) The T-Mac 6D measurement system is used to realize real-time tracking and measurement of the spatial pose of the robot end effector.
(4)采用T-Mac 6D测量系统及测量与控制软件系统集成到PC机上的一个主控软件上，实现了计算机在线控制工业机器人运动及定位。(4) The T-Mac 6D measurement system and measurement and control software system are integrated into a main control software on the PC, which realizes the computer online control of the motion and positioning of the industrial robot.
附图说明Description of drawings
图1是本发明的测量定位装配系统的组成结构示意图。FIG. 1 is a schematic diagram of the composition and structure of the measuring, positioning and assembling system of the present invention.
图2是本发明的末端执行机构的示意图。FIG. 2 is a schematic diagram of the end effector of the present invention.
图3是本发明的测量装配系统座标系示意图。FIG. 3 is a schematic diagram of the coordinate system of the measuring and assembling system of the present invention.
具体实施方式Detailed ways
下面结合附图和实施例对本发明作进一步的说明。The present invention will be further described below with reference to the accompanying drawings and embodiments.
如图1-3所示。As shown in Figure 1-3.
一种无确定性定位特征物体的空间精确定位方法，它包括以下步骤：A spatially precise positioning method for objects without deterministic positioning features, which includes the following steps:
首先，通过外形点云扫描构建无确定性定位特征物体的位姿控制点；First, the pose control points of the object without deterministic positioning feature are constructed by scanning the shape point cloud;
其次，利用工业机器人及其末端执行器实现工业机器人对无确定性定位特征物体的抓取及定位；Secondly, the industrial robot and its end effector are used to realize the grasping and positioning of objects without deterministic positioning characteristics;
第三，利用安装在工业机器人末端执行器上的多目视觉测量系统测量所抓取的无确定性定位特征物体上的位姿控制点，从而通过外形点云扫描确定的无确定性定位特征物体的位姿控制点的测量值与局部坐标系的理论值计算无确定性定位特征物体与机器人末端执行器的的相对位姿关系；Third, use the multi-vision vision measurement system installed on the end effector of the industrial robot to measure the pose control points on the captured object without deterministic positioning features, so as to scan the object with uncertain positioning features determined by the shape point cloud The measured value of the pose control point and the theoretical value of the local coordinate system are used to calculate the relative pose relationship between the object with no deterministic positioning feature and the robot end effector;
第四，利用T-Mac 6D测量系统实现实时跟踪测量机器人末端执行器的空间位姿；Fourth, use the T-Mac 6D measurement system to achieve real-time tracking and measurement of the spatial pose of the robot end effector;
第五，最后基于T-Mac 6D测量系统跟踪机器人实时空间姿态，计算姿态误差，并驱动机器人进行补偿运动，实现无确定性定位特征物体的装配定位。Fifth, based on the T-Mac 6D measurement system, the robot tracks the real-time spatial attitude of the robot, calculates the attitude error, and drives the robot to perform compensating motion to realize the assembly and positioning of objects without deterministic positioning features.
由图1可知，本发明的定位方法依赖于以下系统实现，该系统包括：It can be seen from FIG. 1 that the positioning method of the present invention is realized by relying on the following system, and the system includes:
工业机器人、末端执行器、多目视觉测量系统、T-Mac 6D测量系统及测量与控制软件系统，在进行无确定性定位特征物体的空间精确定位之前，需要进行以下准备工作：明确机器人系统、测量系统及定位对象之间的空间运动关系。该装配系统主要涉及到七个坐标系，其中机器人根坐标系9与法兰坐标系10由机器人系统自身结构确定，其他五个坐标系需要根据装配系统实际布局位置确定。具体坐标系如下所述：Industrial robots, end-effectors, multi-eye vision measurement systems, T-Mac 6D measurement systems, and measurement and control software systems require the following preparations before performing precise spatial positioning of objects without deterministic positioning features: clarifying the robot system, The spatial motion relationship between the measurement system and the positioning object. The assembly system mainly involves seven coordinate systems, among which the robot root coordinate system 9 and the flange coordinate system 10 are determined by the structure of the robot system itself, and the other five coordinate systems need to be determined according to the actual layout position of the assembly system. The specific coordinate system is as follows:
机器人根坐标系9：机器人本身固有的坐标系，固定在机器人底座中心，表示机器人本体所在的位置；在装配进程中，该坐标系与地面固定不动；Robot root coordinate system 9: The inherent coordinate system of the robot itself, which is fixed at the center of the robot base, indicating the position of the robot body; during the assembly process, the coordinate system is fixed with the ground;
法兰坐标系10：定义在法兰盘中心的坐标系，其与机器人根坐标系的空间关系由机器人六个轴的角度确定；Flange coordinate system 10: a coordinate system defined at the center of the flange, and its spatial relationship with the robot root coordinate system is determined by the angles of the six axes of the robot;
工具坐标系11：反映末端执行器或部件相对于法兰坐标系的空间位置与姿态。Tool coordinate system 11: Reflects the spatial position and attitude of the end effector or component relative to the flange coordinate system.
基坐标系12：将飞机设计坐标系作为基坐标系，认为是装配系统的全局坐标系。该坐标系从机器人根坐标系偏置出来，机器人系统显示的机器人TCP位置即为工具坐标系相对于基坐标系的位置。Base coordinate system 12: The aircraft design coordinate system is used as the base coordinate system, which is considered to be the global coordinate system of the assembly system. The coordinate system is offset from the robot root coordinate system, and the robot TCP position displayed by the robot system is the position of the tool coordinate system relative to the base coordinate system.
视觉测量坐标系13：视觉系统的坐标系；Vision measurement coordinate system 13: the coordinate system of the vision system;
激光跟踪仪测量坐标系14：激光跟踪仪的默认坐标系；Laser tracker measurement coordinate system 14: the default coordinate system of the laser tracker;
T-Mac坐标系15：固联在T-Mac上的坐标系，表示T-Mac相对于测量坐标系的相对位置与姿态。T-Mac coordinate system 15: The coordinate system fixed on the T-Mac, indicating the relative position and attitude of the T-Mac relative to the measurement coordinate system.
其中法兰坐标系10、工具坐标系11、T-Mac坐标系15、视觉测量坐标系13固联在同一个刚体中，知道任意一个就能确定其他三个的空间位置与姿态。The flange coordinate system 10, the tool coordinate system 11, the T-Mac coordinate system 15, and the visual measurement coordinate system 13 are fixed in the same rigid body, and the spatial position and attitude of the other three can be determined by knowing any one.
装配系统的运动学模型通过以下几步建立：The kinematic model of the assembly system is established by the following steps:
首先，建立激光跟踪仪测量坐标系14与基坐标系12的转换关系将测量坐标转换到基坐标系下：First, establish the conversion relationship between the laser tracker measurement coordinate system 14 and the base coordinate system 12 Convert the measurement coordinates to the base coordinate system:
PiMeasurement表示被测量点在测量坐标系下的坐标值，PiBase表示被测量点在基坐标系下的坐标值，坐标系与测量坐标系间的转换矩阵，T-Mac坐标系与基坐标系间的转换矩阵。PiMeasurement represents the coordinate value of the measured point in the measurement coordinate system, PiBase represents the coordinate value of the measured point in the base coordinate system, The transformation matrix between the coordinate system and the measurement coordinate system, The transformation matrix between the T-Mac coordinate system and the base coordinate system.
为了求取采用激光跟踪仪测量飞机上基准点(≥3)，记Pm＝[x y z]T为激光跟踪仪测量坐标系下测量坐标，Pg＝[x y z]T为基坐标系下理论坐标(直接从CAD 模型中读取)。通过迭代法求取in order to seek Use the laser tracker to measure the reference point (≥3) on the plane, note Pm = [xyz]T is the measurement coordinate under the laser tracker measurement coordinate system, Pg = [xyz]T is the theoretical coordinate under the base coordinate system (directly from read from the CAD model). get iteratively
使用相同的迭代法求取基坐标系与工具坐标系的转换矩阵基坐标系与机器人根坐标系的转换关系如下：Use the same iterative method to obtain the transformation matrix of the base coordinate system and the tool coordinate system The conversion relationship between the base coordinate system and the robot root coordinate system is as follows:
其中，表示法兰坐标系与工具坐标系间的转换矩阵，表示机器人根坐标系与法兰坐标系间的转换矩阵，将与对应的位置与姿态参数输入机器人控制器，TCP点即从法兰中心移至工具坐标系原点，机器人控制器当前位姿读数表示工具坐标系相对于基坐标系的理论位置与姿态。in, represents the transformation matrix between the flange coordinate system and the tool coordinate system, represents the transformation matrix between the robot root coordinate system and the flange coordinate system. and The corresponding position and attitude parameters are input to the robot controller, the TCP point is moved from the center of the flange to the origin of the tool coordinate system, and the current position and attitude of the robot controller is read. Indicates the theoretical position and attitude of the tool coordinate system relative to the base coordinate system.
激光跟踪仪测量T-Mac位置与姿态数据则 T-Mac坐标系相对于基坐标系的转换矩阵如下：Laser tracker measures T-Mac position and attitude data Then the transformation matrix of the T-Mac coordinate system relative to the base coordinate system is as follows:
其中，crx＝cos(rx)，srx＝sin(rx)，cry,crz,sry,srz同理。Among them, crx=cos(rx), srx=sin(rx), cry, crz, sry, srz are the same.
以上三步构建了从机器人控制器到TCP的空间映射及从T-Mac到TCP的空间映射：前者反映机器人的理论运动位置，后者反映机器人实际到达位置，这两者的差异是后面误差补偿的关键。The above three steps construct the spatial mapping from the robot controller to the TCP and the spatial mapping from the T-Mac to the TCP: the former reflects the theoretical motion position of the robot, and the latter reflects the actual arrival position of the robot. The difference between the two is the latter error compensation. key.
明确装配系统通过工业机器人与T-Mac 6D测量系统集成，构成了一个闭环反馈系统。在装配进程中，工业机器人通过装有真空吸盘的末端执行器抓取部件，并移动至欲定位目标位置，该过程是依据CAD数模规划出的轨迹运行的。在目标位置附近，工业机器人根据T-Mac测量系统反馈的误差信息反复迭代补偿，直到误差小于设定的阈值停止补偿运动。该阈值是根据装配部件的定位公差要求而设定的。在飞机部件装配中，公差通常 0.1-0.5mm范围内。The clear assembly system is integrated with the T-Mac 6D measurement system via an industrial robot, forming a closed-loop feedback system. During the assembly process, the industrial robot grabs the part through the end effector equipped with the vacuum suction cup and moves to the target position to be positioned. This process runs according to the trajectory planned by the CAD digital model. Near the target position, the industrial robot repeatedly iteratively compensates according to the error information fed back by the T-Mac measurement system, until the error is less than the set threshold and stops the compensation movement. The threshold is set according to the positioning tolerance requirements of the assembled components. In aircraft component assembly, the tolerance is usually in the range of 0.1-0.5mm.
典型的无确定性定位特征物体装配流程由以下7步组成：A typical assembly process for objects without deterministic positioning features consists of the following 7 steps:
(1)在CAD软件中规划系统布局，规划机器人工具在装配坐标系下的运行轨迹，并生成离线程序；(1) Plan the system layout in CAD software, plan the trajectory of the robot tool in the assembly coordinate system, and generate an offline program;
(2)机器人在导轨上大概运动到系统布局中的合适位置，采用上述所确定七个坐标系的方法来标定装配系统；(2) The robot moves roughly to the appropriate position in the system layout on the guide rail, and uses the method of the seven coordinate systems determined above to calibrate the assembly system;
(3)机器人运动到部件工装，抓取部件。使用多目视觉测量位姿控制点，位姿控制点的测量值与其在零件坐标系下坐标值拟合获取，获得其与机器人末端执行器的空间位姿关系。(3) The robot moves to the part tooling and grabs the part. Using polycular vision to measure the pose control point, the measured value of the pose control point and its coordinate value in the part coordinate system are obtained by fitting, and the spatial pose relationship with the robot end effector is obtained.
(4)机器人沿规划的运动轨迹运动到目标点，运动过程中T-Mac实时在线测量机器人位置与姿态，可以根据需求实时提取运动轨迹上任意点的测量值与理论值。通过软件(可采用现有技术自行编制)解算出目标点的误差；(4) The robot moves to the target point along the planned motion trajectory. During the motion, T-Mac measures the position and attitude of the robot online in real time, and can extract the measured value and theoretical value of any point on the motion trajectory in real time according to requirements. Calculate the error of the target point through software (which can be prepared by using existing technology);
(5)若误差量小于设定的阈值，跳到(6)，否则基于误差量，机器人作补偿运动；系统基于T-Mac测量数据计算当前点的误差。再次执行(5)。(5) If the error amount is less than the set threshold, skip to (6), otherwise, based on the error amount, the robot makes a compensating motion; the system calculates the error of the current point based on the T-Mac measurement data. Execute (5) again.
(6)以(4)中获取的运动轨迹中的点的测量值与理论值为样本，进行相对直线运动。(6) Take the measured value and theoretical value of the point in the motion trajectory obtained in (4) as a sample, and perform a relative linear motion.
(7)根据装配工艺对部件固定通过螺栓连接、铆接或胶接，机器人回到HOME。由于T-Mac是在线实时测量的，因此步骤(4)到(6)都是自动进行的。(7) According to the assembly process, the components are fixed by bolting, riveting or gluing, and the robot returns to HOME. Since the T-Mac is measured online in real time, steps (4) to (6) are all performed automatically.
本发明未涉及部分均与现有技术相同或可采用现有技术加以实现。The parts not involved in the present invention are the same as the prior art or can be implemented by using the prior art.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811555836 | 2018-12-19 | ||
| CN2018115558362 | 2018-12-19 |
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| CN109591019Atrue CN109591019A (en) | 2019-04-09 |
| CN109591019B CN109591019B (en) | 2021-07-27 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910044445.2AActiveCN109591019B (en) | 2018-12-19 | 2019-01-17 | An accurate spatial positioning method for objects without deterministic positioning features |
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|---|---|
| CN (1) | CN109591019B (en) |
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| CN111203861A (en)* | 2020-01-06 | 2020-05-29 | 珠海格力电器股份有限公司 | Calibration method and calibration system for robot tool coordinate system |
| CN111956325A (en)* | 2020-07-01 | 2020-11-20 | 北京和华瑞博医疗科技有限公司 | Accurate positioning device, method and system for medical instrument |
| CN112268548A (en)* | 2020-12-14 | 2021-01-26 | 成都飞机工业（集团）有限责任公司 | Airplane local appearance measuring method based on binocular vision |
| CN113682828A (en)* | 2020-05-18 | 2021-11-23 | 北京京东乾石科技有限公司 | Method, device and system for stacking objects |
| CN114630739A (en)* | 2019-10-02 | 2022-06-14 | 丰田研究所股份有限公司 | System and method for determining pose of object held by flexible end effector |
| CN115674171A (en)* | 2021-07-30 | 2023-02-03 | 中国科学院微电子研究所 | Robot pose measurement and compensation method and system, control device, storage medium |
| CN117047430A (en)* | 2023-08-17 | 2023-11-14 | 南京航空航天大学 | Aircraft curved surface structural member assembly positioning end actuating mechanism and positioning method |
| CN118011444A (en)* | 2024-02-06 | 2024-05-10 | 上海华测导航技术股份有限公司 | Positioning method, device, system, electronic equipment and storage medium |
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| CN102679937A (en)* | 2011-03-17 | 2012-09-19 | 镇江亿海软件有限公司 | Ship steel plate dynamic three-dimension measurement method based on multi-camera vision |
| CN103148806A (en)* | 2011-12-07 | 2013-06-12 | 史金龙 | Ship steel plate dynamic three-dimensional measuring system based on projection and multi-view vision |
| CN103278091A (en)* | 2013-06-07 | 2013-09-04 | 上海发那科机器人有限公司 | Space positioning system for intelligent assembly and space positioning method for intelligent assembly |
| CN105627926A (en)* | 2016-01-22 | 2016-06-01 | 尹兴 | Four-camera group planar array feature point three-dimensional measurement system and measurement method |
| CN105834735A (en)* | 2016-04-19 | 2016-08-10 | 北京航空航天大学 | Automatic part assembling method based on laser tracker |
| CN108444383A (en)* | 2018-03-08 | 2018-08-24 | 大连理工大学 | The box-like process integral measurement method of view-based access control model laser group |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008113783A2 (en)* | 2007-03-21 | 2008-09-25 | Abb Technology Ab | A method and an apparatus for compensating for geometrical errors between work objects and a holding device |
| CN102062576A (en)* | 2010-11-12 | 2011-05-18 | 浙江大学 | Device for automatically marking additional external axis robot based on laser tracking measurement and method thereof |
| CN102679937A (en)* | 2011-03-17 | 2012-09-19 | 镇江亿海软件有限公司 | Ship steel plate dynamic three-dimension measurement method based on multi-camera vision |
| CN103148806A (en)* | 2011-12-07 | 2013-06-12 | 史金龙 | Ship steel plate dynamic three-dimensional measuring system based on projection and multi-view vision |
| CN103278091A (en)* | 2013-06-07 | 2013-09-04 | 上海发那科机器人有限公司 | Space positioning system for intelligent assembly and space positioning method for intelligent assembly |
| CN105627926A (en)* | 2016-01-22 | 2016-06-01 | 尹兴 | Four-camera group planar array feature point three-dimensional measurement system and measurement method |
| CN105834735A (en)* | 2016-04-19 | 2016-08-10 | 北京航空航天大学 | Automatic part assembling method based on laser tracker |
| CN108444383A (en)* | 2018-03-08 | 2018-08-24 | 大连理工大学 | The box-like process integral measurement method of view-based access control model laser group |
| Title |
|---|
| 罗润馨: ""工业机器人末端精确定位技术"", 《中国优秀硕士学位论文全文数据库 信息科技辑》* |
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| CN114630739B (en)* | 2019-10-02 | 2023-07-18 | 丰田研究所股份有限公司 | Systems and methods for determining the pose of an object held by a flexible end effector |
| CN114630739A (en)* | 2019-10-02 | 2022-06-14 | 丰田研究所股份有限公司 | System and method for determining pose of object held by flexible end effector |
| CN111203861A (en)* | 2020-01-06 | 2020-05-29 | 珠海格力电器股份有限公司 | Calibration method and calibration system for robot tool coordinate system |
| CN113682828B (en)* | 2020-05-18 | 2023-05-30 | 北京京东乾石科技有限公司 | Method, device and system for stacking articles |
| CN113682828A (en)* | 2020-05-18 | 2021-11-23 | 北京京东乾石科技有限公司 | Method, device and system for stacking objects |
| CN111956325B (en)* | 2020-07-01 | 2021-08-20 | 北京和华瑞博医疗科技有限公司 | Precise positioning device, method and system for medical instruments |
| CN111956325A (en)* | 2020-07-01 | 2020-11-20 | 北京和华瑞博医疗科技有限公司 | Accurate positioning device, method and system for medical instrument |
| US12201376B2 (en) | 2020-07-01 | 2025-01-21 | Beijing Hurwa Robot Medical Technology Co.Ltd | Accurate position determining device, method and system for surgical tool |
| CN112268548A (en)* | 2020-12-14 | 2021-01-26 | 成都飞机工业（集团）有限责任公司 | Airplane local appearance measuring method based on binocular vision |
| CN112268548B (en)* | 2020-12-14 | 2021-03-09 | 成都飞机工业（集团）有限责任公司 | Airplane local appearance measuring method based on binocular vision |
| CN115674171A (en)* | 2021-07-30 | 2023-02-03 | 中国科学院微电子研究所 | Robot pose measurement and compensation method and system, control device, storage medium |
| CN115674171B (en)* | 2021-07-30 | 2025-03-07 | 中国科学院微电子研究所 | Robot posture measurement and compensation method and system, control device, and storage medium |
| CN117047430A (en)* | 2023-08-17 | 2023-11-14 | 南京航空航天大学 | Aircraft curved surface structural member assembly positioning end actuating mechanism and positioning method |
| CN118011444A (en)* | 2024-02-06 | 2024-05-10 | 上海华测导航技术股份有限公司 | Positioning method, device, system, electronic equipment and storage medium |
| CN118011444B (en)* | 2024-02-06 | 2024-11-26 | 上海华测导航技术股份有限公司 | A positioning method, device, system, electronic device and storage medium |
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| CN109591019B (en) | 2021-07-27 |
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