协作机械臂末端执行器的快速定位算法

doi:10.3969/j.issn.1000-1158.2021.07.01

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Abstract Aiming at the poor real-time positioning effect of the traditional cooperative manipulator end-effector, AprilTag tag positioning was adopted to propose a fast positioning algorithm based on geometry to extract ROI. The algorithm uses a downsampling method to search the effective local range for macro-size targets, and establishes geometric constraints to extract edge pixels to accelerate the speed of target recognition. In order to verify the effectiveness of the proposed algorithm, a visual positioning system experiment is designed for the end-effector of the manipulator. The experimental results show that the speed of the proposed algorithm is improved to 40frame/s under the average relative error of corner detection is lower than 0.1pixel. Therefore, the proposeed algorithm realizes the rapid positioning of the end of the manipulator.

Key words： metrology end-effector cooperative vision fast positioning monocular vision AprilTag recognition downsampling image processing

Received: 19 June 2020 Published: 15 July 2021

PACS:	TB92
	TP241.2

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	Articles by authors
	YU Jing
	JIANG Wen-song
	LUO Zai
	YANG Li
	ZHOU Gen-ming

Cite this article:

YU Jing,JIANG Wen-song,LUO Zai, et al. Fast Positioning Algorithm for End-effector of Cooperative Manipulator[J]. Acta Metrologica Sinica, 2021, 42(7): 833-839.

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http://jlxb.china-csm.org:81/Jwk_jlxb/EN/10.3969/j.issn.1000-1158.2021.07.01 OR http://jlxb.china-csm.org:81/Jwk_jlxb/EN/Y2021/V42/I7/833

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