基于双目视觉的机器人位姿标定技术研究  

Study on the Calibration of Robot Position and Posture Based on Binocular Vision Technology

作　　者：吴年祥[1,2] 殷蔚民[1] 邹华东[2] 

机构地区：[1]中国地质大学自动化学院,武汉430074 [2]安徽国防科技职业学院机电工程系,安徽六安237001

出　　处：《大理学院学报（综合版）》2015年第6期33-36,共4页Journal of Dali University

基　　金：安徽省教育厅自然科学研究基金资助项目(KJ2013B045);安徽国防科技职业学院骨干教师项目(gfggjs201211)

摘　　要：针对机器人位姿的测量,建立双目立体视觉传感器三坐标的数学模型。匹配相关的特征点,采用最小二乘法得到空间特征点的三维坐标。利用外部位姿线性方程的建立与求解确立机器人基坐标与工件坐标的矩阵关系。通过靶标法来确定机器人在某一位姿时工件坐标系和视觉传感器坐标系之间的齐次坐标变换矩阵的关系。实验结果显示,在没有噪声因素情况下,利用线性方法求解机器人外部位姿是可行的,能够满足系统精度要求。In this paper, the CMM mathematical model of binocular stereo visual sensor has been proposed for the measurements of the robot position and posture. Matching the related feature points, three-dimensional coordinates of feature points is obtained by using the least squares method. This study establishes the matrix relationship between the robot base coordinate and the workpiece coordinate utilizing establishment and solution of the linear equations of external position and posture. This paper confirms the homogeneous coordinate transformation matrix relationship between the workpiece and the vision sensor coordination when the robot is in any position and posture through the target method. The experimental results show that the linear method for solving robot external posture is feasible without the impact of noise, and it can meet the accuracy requirements.

关 键 词：机器人 数学模型 视觉传感器 靶标法 位姿标定 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]