基于差分进化算法的手眼标定方法

针对眼在手机器人视觉系统的手眼标定问题，提出了一种基于差分进化算法的手眼标定方法。首先建立了眼在手机器人视觉系统手眼标定的数学模型，通过李群李代数理论，将手眼标定问题转化为误差函数的优化问题，同时保证了优化问题的最优解落在特殊欧氏群ＳＥ（３）上。通过差分进化算法对优化问题进行求解，避免了求解过程中的局部最优问题。最后在实物平台上进行了手眼标定实验，实验结果验证了算法的可行性和有效性。

HandEye Calibration Method Based on the Differential Evolution Algorithm

For the handeye calibration problems of eyeinhand robot vision systems,a handeye calibration method was proposed based on the differential evolution algorithm.Firstly,the mathematical model of the handeye calibration of an eyeinhand robot vision system was established.Based on the Lie theory,the handeye calibration problem was transformed into the optimization problem of error functions and the optimal solution to this problem was ensured to belong to the special Euclidean group SE(3).By using the differential evolution algorithm to solve the optimization problem,the global optimal solution can be obtained.Finally,handeye calibration experiments were performed.The experimental result verifies the feasibility and effectiveness of the method.