基于立体视觉的机器人位姿标定技术研究  

STUDY ON CALIBRATION OF ROBOT POSITION AND ATTITUDE BASED ON STEREO VISION TECHNOLOGY

作　　者：吴年祥[1,2] 邹华东[2] 

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

出　　处：《井冈山大学学报（自然科学版）》2015年第3期71-75,共5页Journal of Jinggangshan University (Natural Science)

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

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。Measurements of the robot Position and Attitude, the CMM mathematical model of binocular stereo visual sensor has been proposed. Matching feature points related, we obtain three-dimensional coordinates of feature points based on the least squares method. We also establish the matrix relationship between the robot base coordinate and the workpiece coordinate utilizing establishment and solution of equations which external pose linear. Radicate the homogeneous coordinate transformation matrix relationship between the workpiece and the vision sensor frame by the way of system calibration bar method when the system is at any pose in space. The experimental results show that the method for solving robot external posture is feasible using the linear without the noise factors, and 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]