改进的单特征点机器人手眼自标定方法-北京邮电大学学报.PDF

2016年2月 北 京 邮 电 大 学 学 报 Feb.2016 第39卷 第1期 Journal of Beijing University of Posts and Telecommunications Vol.39 No.1 摇 摇 文章编号:1007鄄5321(2016)01鄄0096鄄06 DOI:10.13190/ j.jbupt.2016.01.018 改进的单特征点机器人手眼自标定方法 1 2 1 2 洪摇 磊 ,摇 嵇保健 ,摇 王玉国 ,摇 凌摇 超 (1.南京工程学院汽车与轨道交通学院,南京211167;2.南京工业大学 电气工程与控制科学学院,南京211800) 摘要:针对手眼标定过程要求机器人运动次数过多的缺点,提出了一种改进的单特征点手眼自标定方法. 引入手 眼关系矩阵的解耦运算,分别标定手眼旋转矩阵和平移向量. 运算过程无需计算特征点位置,操作过程仅需机器人 末端有5次以上平移运动和2次以上旋转运动. 实验与误差分析结果表明,所提方法满足工业机器人手眼视觉测 量的需求. 关摇 键摇 词:手眼关系; 自标定;单特征点;机器人视觉 中图分类号:TP24;TP391摇 摇 摇 摇 文献标志码:A Improved Self鄄Calibration Method to Hand鄄Eye Relation of Robot Based on a Single Feature Point 1 2 1 2 HONG Lei ,摇 JI Bao鄄jian ,摇 WANG Yu鄄guo ,摇 LING Chao (1.School of Automotive and Rail Transit,Nanjing Institute of Technology,Nanjing211167,China; 2.College of Electrical Engineering and Control Science,Nanjing University of Technology,Nanjing211800,China) Abstract:For the shortcomingthat the excessive number of robot movement isrequired duringthehand鄄 eye calibration,an improved self鄄calibration method to hand鄄eye relation of robot based on a single fea鄄 ture point was proposed. The decoupling operationfor hand鄄eye relation matrix wasintroduced,and also the hand鄄eye rotation matrix and translation vector were calibrated respectively. In the calibration process,thefeaturepoint position isnot necessary to be calculated,but andthe manipulator end effector is needed also to perform more thanfive timestranslational motionsand two timesrotation motions. Cali鄄 bration experiment and error analysis