Location deviation compensation of feature point in vision-based pose measurement of parallel mechanism

GUO Yu-bo; YAO Yu; DI Xiao-guang

doi:10.13873/j.1000-97872007.09.016

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Location deviation compensation of feature point in vision-based pose measurement of parallel mechanism

更新时间：2025-09-11

- Location deviation compensation of feature point in vision-based pose measurement of parallel mechanism
- Issue 9, Pages: 23-25+28(2007)
- 作者机构：
  
  1. 哈尔滨工业大学控制与仿真中心
  2. 哈尔滨工业大学控制与仿真中心,黑龙江,哈尔滨,150001
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872007.09.016
  CLC： TP391.41
- Published：2007
- 稿件说明：
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[1]郭玉波,姚郁,遆晓光.并联机构位姿视觉测量的特征点定位偏差补偿[J].传感器与微系统,2007(09):23-25+28.

GUO Yu-bo, YAO Yu, DI Xiao-guang. Location deviation compensation of feature point in vision-based pose measurement of parallel mechanism[J]. 2007, (9): 23-25+28.
[1]郭玉波,姚郁,遆晓光.并联机构位姿视觉测量的特征点定位偏差补偿[J].传感器与微系统,2007(09):23-25+28. DOI： 10.13873/j.1000-97872007.09.016.

GUO Yu-bo, YAO Yu, DI Xiao-guang. Location deviation compensation of feature point in vision-based pose measurement of parallel mechanism[J]. 2007, (9): 23-25+28. DOI： 10.13873/j.1000-97872007.09.016.

摘要

针对并联机构位姿视觉测量中特征点像点定位偏差大的问题

提出了基于并联机构位姿近似求解的补偿方法。首先

建立了定位偏差的数学模型;然后

根据并联机构小位姿差异时特征点像点定位偏差相近的特点

利用含有定位偏差的特征点像点求取并联机构的近似位姿

从而实现近似补偿;最后

通过仿真实验验证了该补偿方法的有效性。

Abstract

In view of large location deviation of the feature point images in vision-based pose measurement of parallel mechanism

a compensation method is proposed on the basis of approximation solution of parallel mechanism pose.Firstly

mathematical model of location deviation is established.Then considering feature point images have similar location deviation at small parallel mechanism pose variation

approximated pose of parallel mechanism is obtained by use of feature point images with location deviation to realize approximate compensation.Finally

simulation experiments are conducted to prove the validity of the compensation method.

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