System Calibration and Error Rectification of Binocular Active Visual Platform for Parallel Mechanism

Authors:
Liqiang Zhao;Lingfu Kong;Xiaoyong Qiao;Yanhong Zhou
Affiliations:
School of Information Science and Engineering, Yanshan University, and Department of Math. & Phy., Hebei Normal University of Science & Technology, Qinhuangdao, P.R. China 066004;School of Information Science and Engineering, Yanshan University,;School of Information Science and Engineering, Yanshan University,;School of Information Science and Engineering, Yanshan University, and Department of Math. & Phy., Hebei Normal University of Science & Technology, Qinhuangdao, P.R. China 066004
Venue:
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Year:
2008

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Abstract

This paper presents a novel binocular active visual platform for monitoring the workspace of a parallel mechanism. Its cameras are mounted on two independent controlled kinematic chains which moving along a circular orbit. The system is designed for precise kinematic calibration of the end-effector on the parallel mechanism and other deepening application. At first, the geometric model of the platform and the 3D reconstruct model based stereo vision are established. Then, in order to eliminate the influence of monitoring accuracy because of the own accuracy of visual system, A dynamic system calibration and error rectification method is proposed. Experiment results show that the approach is effective with respect to dynamic property and calibration accuracy.