公开(公告)号：US11959743B1

公开(公告)日：2024-04-16

申请号：US18482870

申请日：2023-10-07

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian Gao ,  Disai Chen ,  Yuheng Luo ,  Lanyu Zhang ,  Zhuojun Zheng ,  Guoqing Wu ,  Xin Chen

IPC: A61B6/00 ,  G01B9/02 ,  G01C15/00 ,  G05B13/04

CPC classification number: G01B9/02083 ,  G01C15/00 ,  G05B13/042

Abstract: A dimensionless kinematics calibration method based on a virtual point and a related apparatus thereof. The method comprises: establishing a kinematics model of a motion mechanism, and arranging a plurality of virtual points at a tail end of the motion mechanism to establish a dimensionless kinematics model and a dimensionless error model; converting a measurement coordinate system into a motion mechanism coordinate system, acquiring a rotation matrix and a translation matrix of a target virtual point measured by the measurement device, and calculating actual coordinates of all virtual points to obtain a measured value of the dimensionless kinematics model; calculating a theoretical value of the dimensionless kinematics model according to a spatial relationship between a reflecting head and the tail end of the motion mechanism; and optimizing the dimensionless error model according to the measured value and the theoretical value to obtain a calibration result.

公开(公告)号：US11992959B1

公开(公告)日：2024-05-28

申请号：US18402139

申请日：2024-01-02

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian Gao ,  Guoqing Wu ,  Zhuojun Zheng ,  Lanyu Zhang ,  Yuheng Luo ,  Disai Chen ,  Xin Chen

IPC: B25J9/16 ,  G06T7/70

CPC classification number: B25J9/1692 ,  G06T7/70 ,  G06T2207/30244

Abstract: A kinematics-free hand-eye calibration method comprises: controlling translation axes of a five-axis motion platform to perform a single-axis point location motion, using a camera to obtain a first spatial coordinate of a calibration plate, fitting all first spatial coordinates into a spatial straight line to obtain a unit direction vectors of the spatial straight line, carrying out Schmidt orthogonalization on the unit direction vectors of the spatial straight lines of an X direction, a Y direction and a Z direction to obtain a pose relationship matrix combined by the orthogonalized direction vectors; obtaining a second spatial coordinate of the calibration plate in a mode of rotating an X-axis and a C-axis, fitting all second spatial coordinates into a spatial spherical surface, calculating a spherical center coordinate to obtain a position relationship matrix, and obtaining a hand-eye relationship matrix combined by the pose relationship matrix and the position relationship matrix.

公开(公告)号：US12138802B1

公开(公告)日：2024-11-12

申请号：US18769309

申请日：2024-07-10

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian Gao ,  Disai Chen ,  Yuheng Luo ,  Lanyu Zhang ,  Zhuojun Zheng ,  Guoqing Wu ,  Xin Chen

IPC: B25J9/16

Abstract: The present application provides a kinematics modeling method, apparatus and device for a multi-degree-of-freedom mechanism and a storage medium. The method includes: constructing a point coordinate system, and constructing the transformation matrix; constructing transformation matrices of two rotating axes and the transformation matrix; constructing the forward kinematics model based on the transformation matrices of the point coordinate system, the two rotating axes and the workpiece coordinate system; solving the motor value of the rotating axis through the rotation matrix of the end-effector, using the translation matrix of the end-effector as a non-homogeneous linear equation set, solving the motor value of linear axis. Thus solving the technical problem in the prior arts that the redundant parameters are introduced as a cost to separate the linear axis and the rotating axis for step-by-step kinematics calibration, which affects the error calibration precision of the overall end-effector movement of the mechanism.

公开(公告)号：US12109714B1

公开(公告)日：2024-10-08

申请号：US18483499

申请日：2023-10-09

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian Gao ,  Guoqing Wu ,  Yuheng Luo ,  Lanyu Zhang ,  Zhuojun Zheng ,  Disai Chen ,  Xin Chen

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1697

Abstract: Disclosed are a kinematics parameter calibration method and system of a multi-axis motion platform. The method comprises the following steps of: collecting calibration board images in different spatial positions according to a position relation between the platform and a camera, recording a corresponding motor motion amount, solving a hand-eye pose relation matrix and a pose matrix of a calibration board coordinate system in a platform tail end coordinate system, further solving a coordinate measured value of an angular point on the calibration board in a platform base coordinate system and a coordinate theoretical value of a position matrix of the tail end of the motion platform, determining a residual error matrix according to the measured value and the theoretical value, and identifying an error parameter by the residual error matrix to complete kinematics parameter calibration of the platform.