结构光视觉引导的轨迹跟踪系统的标定技术

摘要

To achieve the tracking for the three-dimensional features by the Robotic arm in industrial field, this paper pro-poses a general calibration method based on structure-light vision and six-axis manipulator. It works out a single mapping matrix by using the home-made plane target, calibrates the cameral internal and corresponding outer parameters with Zhang Zhengyou calibration method, and optimizes the parameters with LM algorithm, to demarcate the plane equation under the laser light plane cameral coordinate system by parameter equation and corresponding outer parameters. It works out the cameral coordinate system and the conversion matrix X of Robotic arm end coordinate system by solving equation AX=XB, and does correction on the offset workpiece in certain position. The actual tests show that it meets the application requirement of the industrial field if the static tracking data can be within tolerance of ±1.2 mm.%为实现机械臂对工业现场三维特征点的跟踪，提出一种基于结构光视觉，六轴机械臂的整体标定方法。利用自制平面靶标求取单映射矩阵，根据张正友标定方法标定相机内参以及对应外参，利用LM算法优化参数，根据激光光条在靶标平面的参数方程和对应的外参标定出激光光平面在相机坐标系下的平面方程，通过求解 AX=XB方程得到相机坐标系与机械臂末端坐标系的齐次变换矩阵 X，并对特定位姿下的工件偏移进行修正。实际测试表明：静态跟踪误差在±1.2 mm，满足工业现场应用要求。