PAMC: POSTURE ALIGNMENT METHOD BASED ON CRBM FOR CAMERA ROBOT SYSTEM

By acquiring the posture information of the rigid body with markers on the gripper frame, the camera motion on the robot flange can be controlled remotely. The essential step of posture alignment in teleoperation is to calibrate the transformation matrix of the robot base coordinate system and the world coordinate system of the optical tracking system. In this paper, a novel Posture Alignment Method Based on the Customized Rigid Body with Markers (PAMC) was proposed, which was an automatic, accurate and quick method to complete the posture alignment for related coordinate systems without non-systematic errors. PAMC was applied to teleoperation for the camera robot based on the customized rigid body with markers and optical tracking system. The comparative experiments prove that PAMC is better than manual method, with more stable, more flexible physical setting for reference coordinate system, and shorter operation time-consuming. Meanwhile, PAMC is more suitable for camera robot teleoperation than the existed automatic method due to arbitrary calibration posture and collision avoidance.