The optimization of fitting a mobile robot’s position and pose to its measured coordinates’ data by single vision

Abstract

This paper is about a kind of mobile robot used to polish free form surface of large metal model above and a method is presented for fitting the robot's configuration to the measured data obtained by machine vision system. In the close loop of control system of the robot, a single camera machine vision system is employed to measure robot's position and pose. Due to 2-d state data can only be obtained by signal camera, the real 3-d parameters of robot must be calculated out when it is moving on uneven surface. But errors usually exist in the calculated data.

Vision Sensor Application for Intelligent Polishing Robotic Cell

“…However, it never indicates the automation features of the system although the on-site inspection can be realized. The optimization of fitting an autonomous mobile robot position by using a single vision camera is studied by C. Guiliang et al [7]. The function of the autonomous mobile robot is to polish a large free form surface.…”