激光测量机器人手眼标定共轭对建立方法

摘要

It is a very important topic to increase eye-end calibration accuracy forlaser measurement robot.We present a method to establish conjugate pairs for eye-end calibration.By using calibrating vision coordination and TCP of robot a transformational matrix can be obtained.Because accurate sphere target with its diameter is known,it can be used to set up a conjugate pairs between position of robot and the center of the sphere.%提高测量机器人系统的手眼标定精度是激光测量机器人推广应用的关键问题,提出了一种测量机器人手眼标定共轭对建立的方法,通过半径已知的精密靶球标定激光器坐标系与工业机器人末端法兰坐标系间的相对变换矩阵,建立机器人位置姿态信息和靶球球心坐标组成的共轭对.