基于手眼标定方程AX=XB的精度影响因素研究

机器人手位姿数据对手眼标定精度的影响不可忽略,将对基于手眼标定方程AX=XB的精度影响因素进行分析.通过手眼标定仿真和实测实验验证上述两个因素对手眼标定精度的影响与理论分析的一致性.通过仿真与实测实验,总结得出了减小摄像机与靶标间距离、减小机器人手的运动前后到基坐标空间距离的相差距离,可提高手眼标定精度,通过四元数法和矩阵直积法验证了此规律在解AX=XB标定方程时的通用性,并且在摄像机与靶标间距约为230 mm以及机器人手的运动前后到基坐标空间距离的相差距离为3.2401 mm时,手眼标定平移向量相对误差最高精度可达0.0403%.

Research on precision influence factors based on hand-eye calibration equations AX=XB

Hand pose data of robot affect hand-eye calibration precision can not be ignored. Influence factor based on hand-eye calibration equation AX=XB which affect on precision is analyzed. Calibration simulation and real experiments verify that influence of the above two factors on eye-hand calibration precision is consistent with theoretical analysis. Through simulation and actual experiments,the results are summarized that reducing distance between camera and target,reducing the difference between distance between the front and rear movement of the hand to the base coordinate space distances of robot,can improve hand-eye calibration precision,and by quaternion and matrix direct product method,verify that this rule of law in the solution AX =XB universal calibration equations,when distance between camera and target is about 230 mm and distance from movement of robot hand to based coordinate space is 3. 2401 mm,precision of relative error of hand-eye calibration translation vector is up to 0. 0403%.