| 一种用于机器人三维表面扫描系统的手眼标定算法 |
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| 引用本文： | 李爱国,马孜,张旭,吴德烽.一种用于机器人三维表面扫描系统的手眼标定算法[J].控制与决策,2009,24(6). |
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| 作者姓名： | 李爱国 马孜 张旭 吴德烽 |
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| 作者单位： | 大连海事大学,自动化研究中心,辽宁,大连,116026 |
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| 摘 要： | 将线结构光测头安装在机器人末端,构成自由曲面非接触测量系统,利用齐次坐标变换理论建立测量系统的数学模型,针对该模型中的手眼标定问题,使用平面作为参考物,控制机器人以特定的位姿测量该平面,建立关于手眼关系的约束方程,并给出手眼参数的封闭解.通过对实际系统进行标定实验,验证了算法的有效性.
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| 关 键 词： | 线结构光测头 机器人 平面标靶 手眼标定 |
Hand-eye calibration for robot 3D surface scanning system |
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| LI Ai-guo,MA Zi,ZHANG Xu,WU De-feng.Hand-eye calibration for robot 3D surface scanning system[J].Control and Decision,2009,24(6). |
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| Authors: | LI Ai-guo MA Zi ZHANG Xu WU De-feng |
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| Affiliation: | Automation Research Center;Dalian Maritime University;Dalian 116026;China |
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| Abstract: | A platform composed of a structure-light vision sensor and an industrial robot is established for noncontact freedom surface measurement.A mathematic model for measuring system is constructed by using homegenous coordinate transform principle.A reference plane with unknown orientation and position information is ultilized to calibrate the hand-eye transformation.In this method,the equations about the hand-eye parameters are estabished by measuring the reference plane at special robot hand poses.Test results... |
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| Keywords: | Line-structured-light sensor Robot Planar calibration target Hand-eye calibration |
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