机器人手眼标定的仿真分析(英文)  

Simulation Analysis on Robotic Hand-Eye Calibration

作　　者：刘宏建 [1] 石繁槐 [1] 刘允才 [1] 罗毅 [1] LUO-Yi  

机构地区：[1]上海交通大学图像处理与模式识别研究所,上海,200030 [2]Institute of Image Processing & Pattern Recognition,Shanghai Jiao Tong University, Shanghai 200030,China

出　　处：《系统仿真学报》2004年第11期2541-2543,2551,共4页Journal of System Simulation

摘　　要：研究了一种新的机器人手眼标定的方法。在实际中,手-双目系统有着广泛的应用。传统方法主要集中在手-单目系统中。直接将传统方法应用到手-双目系统中将会很容易受到噪声的干扰。与传统方法相比,文章充分利用了双目摄像机之间以及摄像机与机器人手爪之间的约束关系进行机器人手眼标定,大大提高了抗干扰的能力。最后仿真结果证明了新方法的精确性与有效性。A new method for calibration of robotic hand-eye relationship is proposed. In practice, binocular hand-eye system is widely used. In classical methods, researches mainly concentrate on the hand and mono-eye system. If the methods are applied to the binocular system directly, the result may be easily corrupted by noise. Compared with classical methods, the constraint relationship between cameras and robot hand is well considered to lessen noise sensitivity. Simulation results have verified that the proposed method is accurate and effective.

关 键 词：手—眼标定 机器人 双目摄像机 噪声敏感性 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]