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Alternative TitleMethod for optimizing drill bit pose in robot drill point
徐静; 陈喆2; 饶刚; 于海斌2; 陈恳; 吴丹
Rights Holder清华大学 ; 中国科学院沈阳自动化研究所
Patent Agent北京清亦华知识产权代理事务所(普通合伙) 11201
Other AbstractThe method involves constructing a robot by a drilling system based on fringe projection and vision servo controlling function, where the drilling system includes a robot base, a robot end effector, a fixed base, a drilling device, a projector, a camera and a computer. A to-be-drilled workpiece is fixed on an optical platform by a screw thread. A coordinate of the robot base is detected. A reference matrix of a projector imaging model is calculated by camera and projector parameter calibration process. Offline planning of a robot drill point is performed. A position of a drilling point on a three-dimensional model of the to-be-drilled workpiece is detected. A path point of the robot is marked as a current path point. A pose of an expected phase diagram is detected at a current path point. Visual servo controlling function is performed until completed convergence of path points.
PCT Attributes
Application Date2019-05-27
Date Available2020-06-02
Application NumberCN201910443683.0
Open (Notice) NumberCN110125455A
Contribution Rank2
Document Type专利
Recommended Citation
GB/T 7714
徐静,陈喆,饶刚,等. 一种用于机器人钻孔中优化钻头位姿的方法[P]. 2019-08-16.
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