Next Article in Journal
Efficient Smart CMOS Camera Based on FPGAs Oriented to Embedded Image Processing
Previous Article in Journal
Application of Flexible Micro Temperature Sensor in Oxidative Steam Reforming by a Methanol Micro Reformer
Article Menu

Export Article

Open AccessArticle
Sensors 2011, 11(2), 2257-2281; doi:10.3390/s110202257

Development of a Stereo Vision Measurement System for a 3D Three-Axial Pneumatic Parallel Mechanism Robot Arm

Department of Engineering Science and Ocean Engineering, National Taiwan University, No.1, Sec. 4, Roosevelt Rd., Taipei 10617, Taiwan
*
Author to whom correspondence should be addressed.
Received: 22 November 2010 / Revised: 7 January 2011 / Accepted: 12 January 2011 / Published: 21 February 2011
(This article belongs to the Section Physical Sensors)

Abstract

In this paper, a stereo vision 3D position measurement system for a three-axial pneumatic parallel mechanism robot arm is presented. The stereo vision 3D position measurement system aims to measure the 3D trajectories of the end-effector of the robot arm. To track the end-effector of the robot arm, the circle detection algorithm is used to detect the desired target and the SAD algorithm is used to track the moving target and to search the corresponding target location along the conjugate epipolar line in the stereo pair. After camera calibration, both intrinsic and extrinsic parameters of the stereo rig can be obtained, so images can be rectified according to the camera parameters. Thus, through the epipolar rectification, the stereo matching process is reduced to a horizontal search along the conjugate epipolar line. Finally, 3D trajectories of the end-effector are computed by stereo triangulation. The experimental results show that the stereo vision 3D position measurement system proposed in this paper can successfully track and measure the fifth-order polynomial trajectory and sinusoidal trajectory of the end-effector of the three- axial pneumatic parallel mechanism robot arm. View Full-Text
Keywords: stereo vision; 3D reconstruction; passive perception; circle detection; image rectification; parallel mechanism robot arm stereo vision; 3D reconstruction; passive perception; circle detection; image rectification; parallel mechanism robot arm
Figures

This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Chiang, M.-H.; Lin, H.-T.; Hou, C.-L. Development of a Stereo Vision Measurement System for a 3D Three-Axial Pneumatic Parallel Mechanism Robot Arm. Sensors 2011, 11, 2257-2281.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top