机器人定点变位姿手-眼标定方法  

Hand-eye calibration for the robot by measuring a fixed point from different poses

作　　者：王胜华[1] 都东[1] 张文增[1] 陈强[1] 邵家鑫[1] 

机构地区：[1]清华大学机械工程系,先进成形制造教育部重点实验室,北京100084

出　　处：《清华大学学报（自然科学版）》2007年第2期165-168,共4页Journal of Tsinghua University(Science and Technology)

基　　金：国家自然科学基金资助项目(50275083);国家教育部博士学科重点科研基金项目(20050003041)

摘　　要：在自由度冗余的机器人末端连杆上安装激光位移传感器可实现灵活的非接触测量。针对该机器人的手-眼标定问题,提出了一种定点变位姿标定方法(FPDP)方法。该方法采用多次改变机器人位姿对同一点进行测量,并利用机器人运动学方程和最小二乘原理,快速计算机器人末端坐标系与激光位移传感器坐标系的齐次变换矩阵。基于此标定方法,实现了机器人对凹坑深度的测量。实验结果表明,定点变位姿手-眼标定方法有效、快速,可用于三峡水轮机叶片蚀面检测。A robot can be used for noncontact measurements when a laser displacement sensor is fixed to its end-link. The robot＇s end-link and the laser displacement sensor can be calibrated by measuring a fixed point from different poses （FPDP） method. In this method, one point is measured from various robot＇s poses multiple times. The homogeneous transformation matrix between the coordinates of the end-link and the laser displacement sensor can be quickly calculated using the equations deduced from the robot kinematical equations and the least-squares principle. Experimental measurements of the depth of a pit show that the method is effective and quick. Further work will apply this method to the detection of ablation in hydroturbine blades in the Three Gorges Dam.

关 键 词：机器人技术 手-眼标定 激光位移传感器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]