China Mechanical Engineering ›› 2022, Vol. 33 ›› Issue (03): 339-347.DOI: 10.3969/j.issn.1004-132X.2022.03.010
Previous Articles Next Articles
LYU Rui1;PENG Zhen2;LYU Yuanjian1;TIAN Linli1;ZHU Dahu1
Online:
2022-02-10
Published:
2022-02-25
吕睿1;彭真2;吕远健1;田林雳1;朱大虎1
通讯作者:
朱大虎(通信作者),男,1983年生,副教授、博士研究生导师。研究方向为智能制造与机器人技术。E-mail:dhzhu@whut.edu.cn。
作者简介:
吕睿,男,1997年生,硕士研究生。研究方向为机器人加工。E-mail:1272739971@qq.com。
基金资助:
CLC Number:
LYU Rui, PENG Zhen, LYU Yuanjian, TIAN Linli, ZHU Dahu. Relocalization-based Hand-eye Calibration Algorithm for Blade Robotic Grinding Systems[J]. China Mechanical Engineering, 2022, 33(03): 339-347.
吕睿, 彭真, 吕远健, 田林雳, 朱大虎. 基于重定位的叶片机器人磨抛系统手眼标定算法[J]. 中国机械工程, 2022, 33(03): 339-347.
Add to citation manager EndNote|Ris|BibTeX
URL: http://www.cmemo.org.cn/EN/10.3969/j.issn.1004-132X.2022.03.010
[1]ZHU Dahu, FENG Xiaozhi, XU Xiaohu, et al. Robotic Grinding of Complex Components:a Step towards Efficient and Intelligent Machining-challenges, Solutions, and Applications[J]. Robotics and Computer-Integrated Manufacturing, 2020, 65:101908. [2]黄云, 肖贵坚, 邹莱. 航空发动机叶片机器人精密砂带磨削研究现状及发展趋势[J]. 航空学报, 2019, 40(3):53-72. HUANG Yun, XIAO Guijian, ZOU Lai. Current Situation and Development Trend of Robot Precise Belt Grinding for Aero-engine Blade[J]. Acta Aeronautica et Astrinantica Sinica, 2019, 40(3):53-72. [3]朱大虎, 徐小虎, 李文龙. 复杂叶片机器人磨抛加工工艺技术研究进展[J]. 航空学报, 2021, 42(10):8-30. ZHU Dahu, XU Xiaohu, LI Wenglong. ResearchProgress in Robotic Grinding Technology for Complex Blades[J]. Acta Aeronautica et Astronautica Sinica, 2021, 42(10):8-30. [4]李巍, 董明利, 吕乃光, 等. 基于二阶锥规划无标定参照物的手眼标定[J].光学精密工程, 2018, 26(10):2536-2545. LI Wei, DONG Mingli, LYU Naiguang, et al. Hand-eye Calibration Method without a Calibration Reference Based on Second-order Cone Programming[J]. Optics and Precision Engineering, 2018, 26(10):2536-2545. [5]LI W L, XIE H, ZHANG G, et al. Hand-eye Calibration in Visually-guided Robot Grinding[J]. IEEE Transactions on Cybernetics, 2015, 46(11):2634-2642. [6]CHENG Hongtai, ZHANG Zhifei, LI Wei. Efficient Hand Eye Calibration Method for a Delta Robot Pick-and-place System[C]∥IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems(CYBER). Shen-yang, 2015:175-180. [7]PACHTRACHAI K, ALLAN M, PAWAR V, et al. Hand-eye Calibration for Robotic Assisted Minimally Invasive Surgery without a Calibration Object[C]∥ IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS). Daejeon, 2016:2485-2491. [8]杨守瑞, 尹仕斌, 任永杰, 等. 机器人柔性视觉测量系统标定方法的改进 [J]. 光学精密工程, 2014, 22(12):3239-3246. YANG Shourui, YIN Shibin, REN Yongjie, et al. Improvement of Calibration Method for Robotic Flexible Visual Measurement Systems[J]. Optics and Precision Engineering, 2014, 22(12):3239-3246. [9]XIE H, PANG C, LI W L, et al. Hand-eye Calibration and Its Accuracy Analysis in Robotic Grinding[C]∥IEEE International Conference on Automation Science and Engineering(CASE). Gothenburg, 2015:862-867. [10]LEE K H, KIM H S, LEE S J, et al. High Precision Hand-eye Self-calibration for Industrial Robots[C]∥ International Conference on Electronics, Information, and Communication(ICEIC). Honolulu, 2018:1-2. [11]STARANOWICZ A N, BROWN G R, MORBIDI F, et al. Practical and Accurate Calibration of RGB-D Cameras Using Spheres[J]. Computer Vision and Image Understanding, 2015, 137:102-114. [12]任永杰, 尹仕斌, 邾继贵, 等. 机器人激光扫描系统现场标定技术[J]. 光电子·激光, 2014, 25(12):2336-2342. REN Yongjie, YIN Shibin, ZHU Jigui, et al. Calibration Technology for Robotic Laser Scanning System[J]. Journal of Optoelectronics · Laser, 2014, 25(12):2336-2342. [13]YIN Shibin, REN Yongjie, GUO Yin, et al. Development and Calibration of an Integrated 3D Scanning System for High-accuracy Large-scale Metrology[J]. Measurement, 2014, 54:65-76. [14]XIN R, ROSEN J, ZAHARIA M, et al. Shark:SQL and Rich Analytics at Scale[C]∥International Conference on Management of Data. New York, 2013:13-24. [15]张启福, 孙现申. 三维激光扫描仪测量方法与前景展望[J]. 北京测绘, 2011(1):39-42. SUN Qifu, SUN Xianshen. Measuring Principle and Developmental Prospect of 3D Laser Scanner[J]. Beijing Surveying and Mapping, 2011(1):39-42. [16]CARLSON F B, JOHANSSON R, ROBERTSSON A. Six DOF Eye-to-hand Calibration from 2D Measurements Using Planar Constraints[C]∥ IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS). Hamburg, 2015:3628-3632. [17]张宗郁, 高洪明, 韩庆璘, 等. 飞机导管机器人焊接手眼关系标定[J]. 上海交通大学学报, 2015, 49(3):392-394. ZHANG Zongyu, GAO Hongming, HAN Qinglin, et al. Hand-eye Calibration in Robot Welding of Aero Tube[J]. Journal of Shanghai Jiao Tong University, 2015, 49(3):392-394. [18]张铁, 叶景杨, 刘晓刚. 面向机器人砂带打磨的加权手眼标定算法 [J]. 机械工程学报, 2018, 54(17):142-148. ZHANG Tie, YE Jingyang, LIU Xiaogang. Weighted Hand-eye Calibration Algorithm for Robot Grinding[J]. Journal of Mechanical Engineering, 2018, 54(17):142-148. [19]XU X H, ZHU D H, ZHANG H Y, et al. TCP-based Calibration in Robot-assisted Belt Grinding of Aero-engine Blades Using Scanner Measurements[J]. The International Journal of Advanced Manufacturing Technology, 2017, 90(1/4):635-647. [20]CHEN W, DU J, XIONG W, et al. A Noise-tolerant Algorithm for Robot-sensor Calibration Using a Planar Disk of Arbitrary 3-D Orientation[J]. IEEE Transactions on Automation Science and Engineering, 2016, 15(1):251-263. [21]MUIS A, OHNISHI K. Eye-to-hand Approach on Eye-in-hand Configuration within Real-time Visual Servoing[J]. IEEE/ASME Transactions on Mechatronics, 2005, 10(4):404-410. [22]LI W, DONG M, LU N, et al. Simultaneous Robot-world and Hand-eye Calibration without a Calibration Object[J]. Sensors, 2018, 18(11):3949. [23]ZHAN Q, WANG X. Hand-eye Calibration and Positioning for a Robot Drilling System[J]. The International Journal of Advanced Manufacturing Technology, 2012, 61(5):691-701. |
[1] | QIU Shicheng, WU Jianbo, ZHAO Hengzhong, WANG Shen, HU Qifan, YAN Rong. Body Design of a Storage Tank Wall-climbing Robot Based on Magnetic Adsorption [J]. China Mechanical Engineering, 2022, 33(03): 270-278. |
[2] | TIAN Mingrui, , YANG Hao, HU Yongbiao. Large-field and High-precision Dynamic Positioning Method of Indoor Mobile Robots [J]. China Mechanical Engineering, 2022, 33(02): 194-201. |
[3] | LI Famin, ZHENG Tianjiang, SHEN Wenjun, WANG Huixiao, FANG Zaojun, LIANG Dongtai. Calibration Method for Cable-driven Continuum Robots [J]. China Mechanical Engineering, 2022, 33(02): 202-208. |
[4] | ZHANG Yanbin, WANG Keming, LU Fenglin, WEI Xuemin, WANG Kefeng. Type Synthesis of Uncoupled Two-rotational Parallel Mechanism with One Pure Constraint Branch [J]. China Mechanical Engineering, 2022, 33(01): 54-61. |
[5] | YAN Sheng, ZHANG Runfeng, YANG Shaoqiong, , NIU Wendong, ZHANG Yuhang, LI Baoyu, . Modelling and Control Optimization for Underwater Gliders of Variable Buoyancy Processes in Vertical Plane [J]. China Mechanical Engineering, 2022, 33(01): 109-117. |
[6] | WU Qingcong, CHEN Bai, ZHANG Zuguo, LIANG Conghui, LI Xiong, WU Hongtao. Muscle Torque Estimation and Neural Network Compensation Coordination Control of Soft Elbow Exoskeletons [J]. China Mechanical Engineering, 2021, 32(23): 2868-2875. |
[7] | JI Aihong, LIU Rongxing, CHEN Hui, SUN Ke. Kinematics Analysis and Teleoperation Technology of Multi-joint Continuum Robots [J]. China Mechanical Engineering, 2021, 32(23): 2883-2889. |
[8] | JIANG Dezheng, HU Jun, ZHONG Heng, WANG Hongguang, SONG Yifeng, YUAN Bingbing, . Analysis of Safe Adsorption Conditions and Motion Characteristics of Rolling Sealed Tracked Wall-climbing Robot [J]. China Mechanical Engineering, 2021, 32(22): 2757-2764. |
[9] | ZHANG Jianxun, YAO Bin, DAI Yu, XIA Guangming, . A Review of Force Sensing Technology in Robot-assisted Laparoscopic Surgery [J]. China Mechanical Engineering, 2021, 32(21): 2521-2531. |
[10] | PAN Guowei, CHEN Wenliang. Optimization of Posture Adjustment Trajectory of a Redundant and Hybrid ADRM [J]. China Mechanical Engineering, 2021, 32(21): 2571-2576,2589. |
[11] | FANG Lijin, WU Zhenghan, WANG Huaizhen. Multi-scene Motion Planning of Manipulators Based on Improved RRT*FN Algorithm [J]. China Mechanical Engineering, 2021, 32(21): 2590-2597. |
[12] | DONG Chenglin, LIU Haitao, YANG Junhao. Dimensional Synthesis of a Novel Asymmetric 5-DOF Hybrid Robot [J]. China Mechanical Engineering, 2021, 32(20): 2418-2426. |
[13] | GE Jimin, DENG Zhaohui, LI Wei, LI Chongyang, CHEN Xi, PENG Deping. Research Progresses of Robot Grinding and Polishing Force Compliance Controls [J]. China Mechanical Engineering, 2021, 32(18): 2217-2230,2238. |
[14] | LIU Mingyuan, CHEN Ping, MA Jianshe. Structural Optimization Design and Research of Direct-drive Quadruped Robots [J]. China Mechanical Engineering, 2021, 32(18): 2246-2253. |
[15] | SUN Xiaojun, SONG Daiping, LIN Jingzhou, HAN Weihang. Research and Implementation of Trajectory Planning Algorithm for Attacking Robots on Wind Tunnel [J]. China Mechanical Engineering, 2021, 32(16): 1963-1971. |
Viewed | ||||||
Full text |
|
|||||
Abstract |
|
|||||