基于四元数乘法可易性的机器人手眼标定算法  

Robot Hand-Eye Calibration Algorithm Based on Quaternion Multiplication

作　　者：吴庆华[1,2] 李子奇 李宗耀 邱捷锋 WU Qing-hua;LI Zi-qi;LI Zong-yao;QIU Jie-feng(School of Mechanical Engineering,Hubei University of Technology,Wuhan 430068,China;Key Laboratory of Advanced Manufacture and Quality Engineering of Hubei Province,Hubei University of Technology,Wuhan 430068,China)

机构地区：[1]湖北工业大学机械工程学院,武汉430068 [2]湖北工业大学现代制造与质量工程湖北省重点实验室,武汉430068

出　　处：《组合机床与自动化加工技术》2021年第8期48-51,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：湖北工业大学高层次人才科研启动基金项目(BSQD13019)。

摘　　要：为解决在基于四元数和矩阵奇异值分解的传统手眼标定方法中,机器人末端执行器旋转角度受到限制的问题,提出一种基于四元数乘法可易性的机器人手眼标定算法。首先,使用四元数乘法可易性改写手眼标定旋转矩阵,将组合后的矩阵直接进行奇异值分解,使旋转角不受限制;其次,通过筛选最小奇异值求取旋转矩阵的最优解;最后,将旋转矩阵代入求解手眼标定平移向量。仿真和验证实验的结果表明,相对传统算法,文中算法旋转部分和平移部分的均方根误差分别减少了0.0074和0.0334。In order to solve the problem that the rotation angle of the robot end effector is limited in the traditional hand-eye calibration method based on quaternion and matrix singular value decomposition,a robot hand eye calibration algorithm based on quaternion multiplication is proposed.Firstly,the rotation matrix is rewritten by quaternion multiplication,and the combined matrix is decomposed by singular value directly,so that the rotation angle is not limited.Then the optimal solution of rotation matrix is obtained by selecting the minimum singular value.Finally,the rotation matrix is replaced to solve the hand-eye calibration translation vector.The results of simulation and verification experiments show that compared with the traditional algorithm,The RMSE of rotation part and translation part are reduced by 0.0074 and 0.0334 respectively.

关 键 词：手眼标定 四元数乘法可易性 机器人 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]