Flexible mechanical arm synchronous measurement method, system and device

Abstract

The invention discloses a flexible mechanical arm synchronous measurement method and a flexible mechanical arm synchronous measurement system with the synchronous measurement method. The flexible mechanical arm synchronous measurement method includes the following steps that typical characteristic information of a flexible mechanical arm is acquired; coordinate system conversion is carried out, sothat the relative posture relationship of a base, all joint rotation centers and the tail end of the flexible mechanical arm is acquired; posture information of all rotation joints and the tail end of the flexible mechanical arm and a hand-eye camera relative to the movable base is acquired through the relative posture relationship; and a flexible mechanical arm motion model is established according to the posture information, the typical characteristic information of the flexible mechanical arm is rapidly acquired, coordinate conversion is carried out, then the posture information of all therotation joints and the tail end of the flexible mechanical arm is precisely acquired, and the flexible mechanical arm motion model is precisely established. According to the flexible mechanical armsynchronous measurement method, system and device, the flexible mechanical arm motion model can be precisely established, and precision measurement is carried out.

Description

technical field [0001] The invention relates to the field of visual measurement, in particular to a method, system and device for synchronous measurement of a flexible mechanical arm. Background technique [0002] With the rapid development of science and technology, the autonomous operation of intelligent robot technology in unstructured environments such as aerospace, nuclear power plants, narrow pipelines, and emergency rescue and disaster relief has become more and more important. In the working environment, it is of great significance to effectively perceive the environment and complete the specified tasks autonomously. [0003] In a confined and narrow environment, the traditional robotic arm is not suitable for unstructured working environments due to its low flexibility, while the flexible robotic arm has super-redundant degrees of freedom, dexterous structure, and small motion load, which is suitable for robots that require a sense of flexibility. where capacity is...

AI Technical Summary

Problems solved by technology

However, the flexible manipulator can bend through the tension of the rope, but the factors affecting its motion accuracy and the multi-level coupling mechanism are not clear, so that the flexible manipulator generally has problems such as difficult modeling and poor motion accuracy.

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