| 结构光视觉测量机器人的标定 |
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| 引用本文： | 李爱国,马孜,王文标.结构光视觉测量机器人的标定[J].控制理论与应用,2010,27(5):663-667. |
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| 作者姓名： | 李爱国 马孜 王文标 |
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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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| 基金项目： | 辽宁省科技厅资助项目(2007219003). |
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| 摘 要： | 构建了由线结构光测头和机器人组成的视觉测量系统. 利用齐次坐标变换的方法建立了测量系统的数学模型. 针对数学模型中的手眼关系, 使用半径已知的球体, 采用定点变位姿的方法, 进行粗略的估计. 考虑到机器人的绝对精度较低, 将定点信息和尺度信息作为优化条件, 对计算机器人的运动学参数和手眼关系做进一步寻优. 实验表明文中的方法能够有效提高测量机器人的重复精度.
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| 关 键 词： | 结构光视觉 运动学标定 手眼标定 |
| 收稿时间： | 2009/5/12 0:00:00 |
| 修稿时间： | 2009/12/11 0:00:00 |
Calibration for robot-based measuring system |
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| LI Ai-guo,MA Zi and WANG Wen-biao.Calibration for robot-based measuring system[J].Control Theory & Applications,2010,27(5):663-667. |
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| Authors: | LI Ai-guo MA Zi and WANG Wen-biao |
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| Affiliation: | Automation Research Center, Dalian Maritime University,Automation Research Center, Dalian Maritime University,Automation Research Center, Dalian Maritime University |
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| Abstract: | A platform composed of a line-structured-light vision scanner and an industrial robot is established for 3D surface digitalization. A mathematical model for the measuring system is constructed by using the homogenous coordinate transform principle and a solution to hand-eye matrix is proposed through measuring a fixed point at different robot hand postures. Considering the absolute accuracy of the robot, a scheme involving scale information and fixed point information is proposed to estimate the robot kinematic parameter errors and hand-eye errors. Test results of real experiments on an industrial robot are reported and analyzed. |
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| Keywords: | structured-light vision robot calibration hand-eye calibration |
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