两步法标定机器人手眼关系研究  

Robot calibration technology by two steps hand-eye relationship

作　　者：谢发忠 吴年祥 

机构地区：[1]安徽国防科技职业技术学院机电工程系,安徽六安237011

出　　处：《长春工程学院学报（自然科学版）》2012年第3期112-116,共5页Journal of Changchun Institute of Technology：Natural Sciences Edition

基　　金：安徽省教育厅自然科学资助项目(KJ2011B036);院级教科研项目(2011gfyy12)

摘　　要：基于齐次坐标变换矩阵的几何意义,采用两步法对机器人手眼方程进行求解,并结合手眼方程的解存在唯一性的条件,设计编写求解程序,验证机器人手眼空间位置关系,结果表明,该方法完全能够满足系统精度要求。Based on the geometric meaning of coordinate transformation matrix of the homogeneous,by using two steps work to solve robot hand-eye equation,and connecting with the condition of existence and uniqueness of the solution to the hand-eye equation,the author designs solving program,and verifies robot hand-eye space relationship.The results show that this method can completely meet to the accuracy in the system.

关 键 词：机器人 手眼关系 两步法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]