Study on the Measuring System of the Planar Parallel Micro-motion Worktable's Location and Orientation

Due to the smallness of micro-motion parallel manipulators' work spaces, the installation of sensors for the measurement of location and orientation is very difficult. To overcome this disadvantage, a measuring method is deliverd in this paper based on the binocular vision principle. Utilizing corresponding relationship between the image coordinate and the world coordinate, some essential information of characteristic point is extracted from two corresponding images. A model for detecting the location and the orientation of 3-DOF micro-motion worktable is established based on characteristic points' matching consideration. The method of solving the location and orientation problem has such merits as small information content, small computation, high processing speed, less time consuming, and so on. So, it is fit for dynamic measurement. The measure system is composed of two high-resolution vidicons, high-speed image acquisition card, industrial PC and the related software. The correlative error is analyzed in the measuring process. Some countermeasures are proposed to minimize the adverse influence of error at the same time. The technologies used are comparatively mature and the prices of equipment used are moderate in the whole measuring solution. All of these factors help to realize and popularize the solution in the industry environment conveniently.