首页 | 本学科首页   官方微博 | 高级检索  
     

结构光内参数和机器人手眼关系的同时标定
引用本文:解则晓,牟楠,迟书凯,陈文柱.结构光内参数和机器人手眼关系的同时标定[J].激光与红外,2017,47(9):1142-1148.
作者姓名:解则晓  牟楠  迟书凯  陈文柱
作者单位:中国海洋大学工程学院,山东 青岛 266100
基金项目:国家自然科学基金项目(No.61571408)资助
摘    要:为实现对复杂工件的快速在线测量,构建了基于结构光的机器人视觉测量系统,提出一种该系统中结构光测头内参数和手眼关系同时标定的方法。标定时,在机器人工作空间内固定一个平面靶标作为参考物,精确控制机器人末端带动结构光测头做平移运动和变位姿运动,获取不同位姿下的靶标图像。通过平移运动,同时标定结构光测头内参数和手眼关系中的旋转矩阵;通过变位姿运动,同时标定摄像机内参数和手眼关系中的平移向量。考虑到旋转矩阵和平移向量分离标定会存在误差累积,采用非线性优化方法对手眼关系做进一步优化。对标准球及工件进行扫描测量实验,实验结果表明该标定方法简单高效,能保证测量系统具有较高的测量精度,适用于工业现场。

关 键 词:结构光测头  内参数  手眼关系  标定  机器人

Simultaneous calibration for the structured light intrinsic parameters and hand-eye relation of robot
XIE Ze-xiao,MU Nan,CHI Shu-kai,CHEN Wen-zhu.Simultaneous calibration for the structured light intrinsic parameters and hand-eye relation of robot[J].Laser & Infrared,2017,47(9):1142-1148.
Authors:XIE Ze-xiao  MU Nan  CHI Shu-kai  CHEN Wen-zhu
Affiliation:Engineering College,Ocean University of China,Qingdao 266100,China
Abstract:In order to realize rapid online measurement of complex workpiece,a robotic flexible optical measurement system based on structured light is established.A simultaneous calibration method for the intrinsic parameters of structured light sensor and hand-eye relation of robot is proposed.In the calibration process,a planar target is fixed as reference substance in the robot workspace.The robot end-effector is accurately controlled to perform translational motions and pose-changed motions,and the camera captures the image of the planar target in different poses.The intrinsic parameters of the structured light sensor and hand-eye rotation matrix are calibrated simultaneously by the translational motions.The camera intrinsic parameters and the hand-eye translation vector are calibrated simultaneously by the pose-changed motions.Considering the error propagation between the orientation and position calibration,the hand-eye relationship is further optimized.Scanning experiments are carried out for a standard sphere and a complex work-piece.The results show that the calibration method is simple,efficient and has high accuracy,and it is well suitable for the calibration work of on-line measurement system in industrial scenes.
Keywords:structured-light sensor  intrinsic parameters  hand-eye relation  calibration  robot
点击此处可从《激光与红外》浏览原始摘要信息
点击此处可从《激光与红外》下载全文
设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司  京ICP备09084417号