面向复杂、多样化的高效精密作业需求，实现机器人运动、力精确测量与传递。本项目融合机器人机构学、动力学和计算机视觉相关理论，探索基于高速立体视觉测量方式的工业机器人三维全局结构刚柔耦合交互动态特性测量与误差补偿新方法；研究采用视觉测量方式实现刚柔耦合等多扰动因素交互作用下工业机器人空间运动、力学行为可视化观测；通过测量真实环境下全局结构的运动、变形场分析结构、传动柔性等柔性效应对机器人运动、力学行为的影响；探究基于高速视觉的机器人全局结构运动信息实时采集与分析技术，寻求基于视觉反馈信息的精度调控方法。破解机器人高效高精度运动控制难题，实现机器人与作业环境之间的共融与柔性交互。为探索机器人动态特性视觉测量分析新方法、实现高精度轨迹柔顺跟踪、高能效传动以及轻量化设计提供理论和技术支撑。

In order to meet the requirements of complex and diversified high-efficiency precision operation, realize themeasurement and transmission of robot motion and force precisely. In this project, the theories relating to robot mechanism, dynamics and computer vision will be integrated. And a new method will be explored to measure the three-dimensional global structure rigid flexible coupling interaction dynamic characteristics and compensate the kinematic error of industrial robots based on high-speed stereo vision. The visual measurement method is researched to realize the visual observation of spatial motion and mechanical behavior of industrial robots under the interaction of multiple disturbance factors such as rigid flexible coupling. The global movement and deformation fields under the real working environment are measured to analyze the impact of the structure, transmission flexibility and other flexible factors on the robots’ motion and mechanical behavior. The vision-based real-time structure motion information acquisition and analysis technology will be studied, and the precision control method based on visual feedback information will be sought. The problem of high-efficiency and high-precision motion control of robots will be solved. And the integration and flexible interaction between the robots and the working environment can be achieved. The research work will provide theoretical and technical support for the exploration of new methods of robot dynamic characteristics visual measurement and analysis, the realization of high-precision trajectory compliance tracking, high energy-efficient transmission and lightweight design.