基于HALCON的机器人视觉标定  

Robot visual calibration based on HALCON

作　　者：陈阳光[1] 王磊[1] 

机构地区：[1]厦门大学机电工程系,福建厦门361005

出　　处：《光学仪器》2016年第4期320-324,共5页Optical Instruments

摘　　要：基于HALCON平面标定板,充分考虑机器人末端中心和摄像机镜头径向畸变的影响,设计了一种新的Eye-to-Hand机器人视觉标定方法。该方法不仅标定了摄像机的内外参数,同时也建立了摄像机图像坐标系和机器人世界坐标系的关系。实验证明,该方法具有较高的标定精度和实用性,适用于工业机器人的视觉系统标定。Based on plate calibration board of HALCON, a new Eye-to-Hand calibrationmethod is schemed out. The method sufficiently involves the influence on robot terminalcenter and the radial distortion of camera lens. It calibrates the camera parameters andestablishes the relationship between image coordinate and robotic coordinate. According toresults of experiments, the method has more precision and it is applicable to industrial robotvision calibration.

关 键 词：HALCON 机器视觉 Eye-to-Hand 工业机器人 

分 类 号：TB133[机械工程—光学工程]