改进的单特征点机器人手眼自标定方法

针对手眼标定过程要求机器人运动次数过多的缺点,提出了一种改进的单特征点手眼自标定方法.引入手眼关系矩阵的解耦运算,分别标定手眼旋转矩阵和平移向量.运算过程无需计算特征点位置,操作过程仅需机器人末端有5次以上平移运动和2次以上旋转运动.实验与误差分析结果表明,所提方法满足工业机器人手眼视觉测量的需求.

Improved Self-Calibration Method to Hand-Eye Relation of Robot Based on a Single Feature Point

For the shortcoming that the excessive number of robot movement is required during the hand-eye calibration, an improved self-calibration method to hand-eye relation of robot based on a single fea-ture point was proposed. The decoupling operation for hand-eye relation matrix was introduced, and also the hand-eye rotation matrix and translation vector were calibrated respectively. In the calibration process, the feature point position is not necessary to be calculated, but and the manipulator end effector is needed also to perform more than five times translational motions and two times rotation motions. Cali-bration experiment and error analysis verify that the method can meet the demand for industrial robot hand-eye vision measurement.