一种新的四自由度SCARA机器人手眼标定方法

摘要

针对四自由度机器人手眼标定精度不高的问题,提出了基于标定块的手眼标定系统.通过引入亚像素角点提取算法,提取特征点的精确像素坐标;结合机械手平移规则,完成手眼系统旋转矩阵的标定,通过标定块提取机器人第三连杆中心在工作平台上的投影点所对应的世界坐标,计算系统平移矩阵.实验表明:方法不仅提高了手眼系统标定精度,而且简化了特征点世界坐标的提取过程.%Aiming at problem that calibration accuracy of four DOF robot is not high,hand-eye calibration system based on the calibration cube is proposed by introducing sub-pixel corner extraction algorithm,extract accurate pixel coordinates of feature point,combining with manipulator translation rules,complete calibration of hand-eye system rotation matrix. Through calibration cube,extract the robot the third link center on working platform of projection point corresponding world coordinate,calculate hand-eye system translation matrix. Experiments show that this method not only improves calibration precision of hand-eye system,but also simplifies extracting process of feature points of the world coordinates.