微装配机器人手眼标定方法研究  

Research on hand-eye calibration method for micro-assembly robot

作　　者：胡小平[1] 左富勇[1] 谢珂[1] 

机构地区：[1]湖南科技大学机械设备健康维护湖南省重点实验室,湘潭411201

出　　处：《仪器仪表学报》2012年第7期1521-1526,共6页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(60975069);湖南省自然科学市州联合基金(10JJ9010)资助项目

摘　　要：在视觉反馈的机器人控制中,手眼系统的标定非常重要,直接影响机器人的作业精度。针对微装配机器人系统操作空间小的特点,提出了一种固定视觉的手眼系统标定算法,该方法通过3个空间点在机械手基坐标系中的坐标,采用P3P位姿测量原理获得相应空间点在摄像机坐标系中的坐标,建立了标定方程组,基于最小二乘法,标定出了手眼系统之间的转换矩阵。该方法无需复杂的辅助设备,标定过程简单。相关实验得到了待标定的手眼系统之间的转换矩阵,验证了该方法的标定精度和有效性。In the field of robot control with vision feedback, hand-eye system calibration is very important, which directly affects the precision of the task. Aiming at the feature that the micro-assembly robot operating space is small, a hand-eye system calibration method was developed. The method makes use of the coordinates of three points in the robot base coordinate system to obtain the coordinates of the corresponding points in the camera coordinate system based on P3P position measurement principle. The calibration equations are established, and the transformation matrix between hand-eye systems is calibrated based on least square method. The method does not need complex auxiliary devices, and the calibration process is very simple. Related simulation experiment obtains the transformation matrix between hand-eye systems under calibration, which shows the precision and efficiency of the method.

关 键 词：微装配机器人 手眼标定 P3P 变换矩阵 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]