一种高精度机器人手眼标定方法

手眼系统的标定是机器人视觉中的一个重要研究内容,标定的准确性直接影响机器人的作业精度。对于机器人眼在手系统,介绍了标定的原理并给出标定方程的求解方法。指出摄像机外参是构建标定方程的重要数据,为确保摄像机外参的准确性,提出利用图像校正的原理对摄像机外参进行验证。通过对基于标定方程的精度影响因素进行分析,对标定过程中的机器人运动轨迹进行规划。最后通过实验,对比了摄像机外参筛选前后的标定结果,证明经过摄像机外参筛选后,对标定精度和稳定性有一定提高,展示了实验过程中各步骤的完整数据,并验证了最终的标定精度。

A high precision hand-eye calibration method for robot

The calibration of the hand-eye system is an important research content in robot vision.The accuracy of the calibration directly affects the robot’s job accuracy.For the robotic eye-in-hand system,the principle of hand-eye calibration is introduced and the solution method of the calibration equation is given.It is pointed out that the exterior camera parameters is an important data for constructing the hand-eye calibration equation,which is very important for ensuring the calibration accuracy.In order to ensure the accuracy of the exterior camera parameters,the principle of image rectification was proposed to verify the exterior camera parameters.By analyzing the influence factors of the accuracy based on the calibration equation,the motion of the robot is planned in the calibration process to reduce the calibration error.Finally,through the experiment,the calibration results before and after the external reference screening were compared,and it was proved that the accuracy and stability of the calibration were improved after the selection of the precise external parameters.The complete data of each step in a set of experiments was displayed,and the final calibration accuracy was verified.