| 简便高精度的机器人手眼视觉标定方法 |
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| 引用本文： | 戚芳,席锋. 简便高精度的机器人手眼视觉标定方法[J]. 传感器与微系统, 2006, 25(1): 27-29 |
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| 作者姓名： | 戚芳 席锋 |
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| 作者单位： | 哈尔滨工业大学,深圳研究生院,控制理论与控制工程系,广东,深圳,518055 |
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| 摘 要： | 对摄像机成像模型进行了分析,论述了机器人手眼系统标定原理。在此基础上,不改变机器人的外臂与基坐标系的旋转关系,设计了一种机器人手眼视觉的标定方法,与传统的方法比较,它不需要预先标定摄像机的内外参数。实验证明:该方法具有算法方便快捷、实验过程简单易行,且精度高等优点,可用于机器人进行运动目标定位与跟踪。
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| 关 键 词： | 机器人 手眼系统 标定 定位 |
| 文章编号： | 1000-9787（2006）01-0027-03 |
| 收稿时间： | 2005-08-03 |
| 修稿时间： | 2005-08-03 |
Easy accurate calibration method for eye-in-hand system |
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| QI Fang,XI Feng. Easy accurate calibration method for eye-in-hand system[J]. Transducer and Microsystem Technology, 2006, 25(1): 27-29 |
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| Authors: | QI Fang XI Feng |
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| Affiliation: | Dept of Cont Theory and Cont Engin,Shenzhen Graduate School,Harbin Institute of Technology, Shenzhen 518055, China |
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| Abstract: | The imaging model of the camera is analyzed; the calibration principle of robot eye-in-hand system is discussed. Based on this principle, a calibration method for eye-in-hand system is schemed out. Compared with the traditional method in which the inner and outer parameters of the camera should be calibrated in advance, the experiments prove that this algorithm is quick and convenient to be applied;the experimental procedure is simple and it has high precision. It can be used to locate and track a moving object in robot vision system. |
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| Keywords: | robot eye-in-hand system calibration locate |
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