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基于迭代的旋轉視覺(jué)元件針腳位姿估計精度優(yōu)化
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華南理工大學(xué)

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廣州市科技項目(20190420020)


Accuracy optimization of pin pose estimation based on iterative rotating vision
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    摘要:

    高效率型插件機通過(guò)同步帶拖動(dòng)旋轉軸,插件模塊緊湊重量輕,但大角度轉動(dòng)時(shí)旋轉角定位誤差偏大,針對旋轉角定位誤差影響針腳位姿估計精度的問(wèn)題,提出基于位置約束和迭代擬合的位姿估計精度優(yōu)化方法;元件針腳的相對位置固定,因此旋轉測量時(shí)所有針腳轉過(guò)相同角度,且針腳軌跡為圓周,該方法根據這兩種約束構造了圓軌跡擬合方程和旋轉角擬合方程,通過(guò)迭代實(shí)施這兩種擬合得到旋轉角的精確估計值,從而實(shí)現了元件針腳位姿精密估計;為了驗證本文方法的有效性,進(jìn)行了理論分析和仿真,仿真結果表明該方法可抑制大角度轉動(dòng)時(shí)旋轉角的定位誤差的增大,在常用針腳元件及工作參數下,迭代仿真的位姿誤差控制在±0.018mm之內,耗時(shí)低于65ms,精度和實(shí)時(shí)性均能滿(mǎn)足異形插件機的實(shí)際需求。

    Abstract:

    The rotating shafts of high efficiency inserting machine are drive with synchronous belt, it makes the new design insertion module compact and light, but the error of shafts rotation increases when rotate large angle, this will degrade the estimation accuracy of pin pose. In order to solve this problem, a improved pose estimation method based on location constraints and iterative fitting is proposed. The pin of the component is fixed, so all pins pass same angle every time they rotate during rotation measurement, and the rotation trajectories of all the pins are on circles. Base on these two constraints, circular trajectory fitting function and rotation angle fitting function was constructed, by iteratively implementing these two fitting operations, accurate estimation of the rotation angle is obtained, as result the precise position estimation of component pin is achieved. To verify the proposed method, theoretical analysis and simulation was conducted, the results show that the method can restrain the increase of the shafts rotation error when rotate large angle. Under the common pin components and working parameters, the pose error of iterative simulation is controlled within ± 0.018mm and the time costs less than 65ms .The accuracy and efficiency of the proposed method can meet the requirements of automatic inserting machine.

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鄺泳聰,陳澤田.基于迭代的旋轉視覺(jué)元件針腳位姿估計精度優(yōu)化計算機測量與控制[J].,2022,30(5):231-237.

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  • 收稿日期:2022-03-17
  • 最后修改日期:2022-03-18
  • 錄用日期:2022-03-21
  • 在線(xiàn)發(fā)布日期: 2022-05-25
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