Patent ID: 11919177
Assignee: GUANGDONG UNIVERSITY OF TECHNOLOGY
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 0:
1. A tracking measurement method for a pose of a tail end of a manipulator, comprising the following steps of:
shooting a first calibration board mounted at the tail end of the manipulator by a monocular measurement camera, acquiring multiple sets of first transformation matrices, and mounting the monocular measurement camera on a pitch axis of a pan-tilt;
shooting a second calibration board mounted on the monocular measurement camera by a global camera, and acquiring multiple sets of second transformation matrices;
when a calibration center of the first calibration board is in a center of a field of view of the monocular measurement camera, calculating a measured pose of the tail end of the manipulator based on the first transformation matrix and the second transformation matrix; and
when the calibration center of the first calibration board deviates from the center of the field of view of the monocular measurement camera, calculating a direction deviation angle based on the calibration center and the center of the field of view, and adjusting the pitch axis and a horizontal axis of the pan-tilt based on the direction deviation angle.