一种结合 TCP 标定的深度相机手眼标定方法

手眼标定是机器人实现视觉引导下精准作业中的关键技术。传统手眼标定和机器人工具中心点(TCP)标定分开进行，存在较大累积误差，同时针对深度相机的手眼标定存在精度不足的缺点。本文提出了一种结合TCP标定过程同步标定深度相机手眼关系的新方法。方法基于深度相机观测和TCP标定相同的标定平面，相机坐标系下标定平面方程和机械臂坐标系下标定平面方程为对应关系，通过平面方程之间的变换来计算手眼关系。本文方法减少了TCP和手眼关系独立标定累积误差影响，节约标定时间和标定件成本。仿真和实测结果表明，本文方法提高了深度相机手眼标定精度，标定后实测位置误差平均为0.2 mm,为机器人视觉控制系统高精度作业所需标定提供了一种新的思路。

A hand-eye calibration method of depth camera combined with TCP calibration

The hand-eye calibration is a key technology in robot vision guided precision operation. The traditional hand-eye calibration and the robot tool center point (TCP) calibration are carried out separately, which has a large cumulative error. Meanwhile the handeye calibration for depth cameras has a disadvantage of insufficient accuracy. In this article, a new method for simultaneous calibration of hand-eye relationship of depth camera and TCP calibration is proposed. Based on the calibration plane in the camera coordinate system and the calibration plane in the robot arm coordinate system are actually the same plane, and the hand-eye relationship is calculated through the transformation between the two plane equations. This method reduces the cumulative error effect of independent calibration of TCP and hand-eye relationship, and saves calibration time and calibration cost. The results of simulation and measurement show that the proposed method can improve the hand-eye calibration accuracy of depth camera, and the average measured position error after calibration is 0. 2 mm, which provides a new idea for the calibration required for high-precision operation of the robot vision control system.