Abstract:

In this paper, the CMM mathematical model of binocular stereo visual sensor has been proposed for the measurements of
the robot position and posture. Matching the related feature points, three-dimensional coordinates of feature points is obtained by using
the least squares method. This study establishes the matrix relationship between the robot base coordinate and the workpiece
coordinate utilizing establishment and solution of the linear equations of external position and posture. This paper confirms the
homogeneous coordinate transformation matrix relationship between the workpiece and the vision sensor coordination when the robot is
in any position and posture through the target method. The experimental results show that the linear method for solving robot external
posture is feasible without the impact of noise, and it can meet the accuracy requirements.

Key words: robot, mathematical model, visual sensor, target method, calibration of pose