一种固定视点的机器人手眼关系标定方法

摘要

Aiming at the problem of hand-eye calibration of robot with stationary viewpoint,a new hand-eye calibration method is proposed according to the characteristics of robot with stationary viewpoint and visual system.Based on the binocular vision measurement,the end of the manipulator is controlled to achieve three translational movements,and the rotation matrix is calibrated by the translation amount of the end and the binocular visual measurement value.Then the end of the manipulator is controlled to perform one rotation movement,and the translation matrix in hand-eye relationship is calibrated by the rotation amount of end and the binocular visual measurement value.The visual-robot positioning accuracy test shows that,after calibrating the hand-eye relationship,the average spatial distance deviation of positioning accuracy is 0.53mm and the standard deviation is 0.19mm.This method can achieve high accuracy without solving complex solutions and the calibration process is simple,which means the method has certain application value.%针对固定视点的机器人手眼关系标定问题,根据固定视点机器人及视觉系统结构特点,提出一种固定视点机器人手眼关系求解方法.该方法在双目视觉测量的基础上,首先控制机械臂末端进行3次平移运动,通过末端平移量及双目视觉测量值标定手眼关系中的旋转矩阵;接下来控制机械臂末端进行1次旋转运动,通过末端旋转量及双目视觉测量值标定手眼关系中的平移矩阵.经视觉关联机器人定位准确度试验验证,使用该方法进行手眼关系标定后,定位准确度空间距离偏差均值为0.53 mm,标准差为0.19 mm.该方法无需复杂求解,即可实现较高准确度,具有一定应用价值.