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Visual servoing based self-calibration of robotic inspection system using rigid body transformation parameters
参考中译:基于视觉伺服的机器人检测系统刚体变换参数自标定


          

刊名：International Journal of Mechatronics and Automation
作者：S. Joseph Winston（Indira Gandhi Centre for Atomic Research）
P. V. Manivannan（Indian Institute of Technology Madras）
刊号：780LD009
ISSN：2045-1059
出版年：2022
年卷期：2022, vol.9, no.4
页码：192-209
总页数：18
分类号：TH
关键词：Steam generator tube inspection robot；Rigid body parameters；Damped least squares inverse kinematics；Kinematic errors；Pattern matching；Visual servoing
参考中译：蒸汽发生器管子检测机器人；刚体参数；阻尼最小二乘逆运动学；运动学误差；模式匹配；视觉伺服
语种：eng
文摘：Calibration plays a vital role in maintaining the positing accuracy of the deployable type of industrial robots. A fully automatic deployable type of robotic manipulator has been developed for inspecting the steam tubes of a steam generator (SG). It uses damped least squares-based kinematic algorithm to position the tube inspection probe exactly over the centre of individual steam-tubes and pushes probe into the tube for detecting any flaws. As direct global referencing is not possible inside the space constrained SG, a novel robot calibration methodology has been developed that uses vision data for recognising the reference V-patterns of the steam tubes arrangement through a vector approach. Robotic arm kinematic errors are corrected using rigid body parameters estimation by exploiting the joint motor encoders used for sensing the pose. Further, using visual servoing technique, high order positioning accuracy of inspection probe has been achieved to reach every steam tube centre for inspection.
参考中译：标定对保持可展开型工业机器人的定位精度具有重要作用。研制了一种用于蒸汽发生器(SG)蒸汽管道检测的全自动可展开机械手。它采用基于阻尼最小二乘的运动学算法，将管道探头精确定位在单个蒸汽管道的中心，并将探头推入管道内，以检测任何缺陷。由于在空间受限的蒸汽发生器内不可能直接进行全局参考，因此开发了一种新的机器人校准方法，该方法使用视觉数据通过向量法识别蒸汽管道布置的参考V形图案。通过利用用于感知姿态的关节电机编码器，使用刚体参数估计来校正机械臂的运动学误差。此外，利用视觉伺服技术，实现了探头的高精度定位，可以到达每个蒸汽管道中心进行检测。



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