A localization method of manipulator towards achieving more precision control

Abstract

The monocular vision system is a crucial branch of machine vision research widely used in multiple industries as a research hotspot in the field of vision. Although the monocular vision system is of simple structure and cost-effectiveness, its positioning accuracy is insufficient in some industries. This article researched the robot arm positioning method via monocular vision. First, we built a vision system model and designed the style of a cooperative target for target positioning. Second, a target feature screening method based on conditions is composed for the existence of interference. Furthermore, combining the principle of pose estimation on the PNP (Perspective-n-Point) problem with the results of the visual system calibration to realize the positioning of the target. Finally, complete the construction of the experimental platform and design accuracy evaluation experiments and positioning experiments. The experimental results show that the location measurement error range of the system in this article is below 4 mm, and the measurement error of the rotation angle is below 2${}^{\circ }$. The system can adapt to the requirements of general industrial use.