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

Claim 7:
8. The tracking measurement apparatus for the pose of the tail end of the manipulator according to claim 6, wherein the pose calculation unit comprises:
an equation establishment subunit configured for, when the calibration center of the first calibration board is in the center of the field of view of the monocular measurement camera, establishing a pose relation equation based on the first transformation matrix and the second transformation matrix;
an equation solution subunit configured for solving the pose relation equation according to a quaternion algorithm to obtain a third transformation matrix of the monocular measurement camera relative to the second calibration board; and
a pose calculation subunit configured for calculating the measured pose of the tail end of the manipulator according to the first transformation matrix, the second transformation matrix and the third transformation matrix.