单目机器人手眼标定研究  

Research on Hand-eye Calibration of Monocular Robot

作　　者：邓仕超[1,2] 梅枫 高兴宇[1,2] 杨龙 梁晨光[1,2] DENG Shi-chao;MEI Feng;GAO Xing-yu;YANG Long;LIANG Chen-guang(School of Mechanical and Electrical Engineering,Guilin University of Electronic Technology,Guilin Guangxi 541004,China;Guangxi Key Laboratory of Manufacturing Systems and Advanced Manufacturing Technology,Guilin University of Electronic Technology,Guilin Guangxi 541004,China)

机构地区：[1]桂林电子科技大学机电工程学院,广西桂林541004 [2]桂林电子科技大学广西制造系统与先进制造技术重点实验室,广西桂林541004

出　　处：《组合机床与自动化加工技术》2021年第12期53-57,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：桂林电子科技大学研究生教育创新计划资助项目(2021YCXS017,2020YCXB01);广西科技基地和人才专项(2018AD19077);广西创新型发展专项基金项目(AA 18118002-3);广西自然科学基金(2018JJA170110)。

摘　　要：手眼标定是研究机械手工具坐标系与相机坐标系之间的转换关系。提出了一种单位八元数手眼标定算法,具有较好的精度和抗噪声能力。该算法在传统的对偶四元数的基础上结合数据在特殊正交群上的特点,有效地恢复数据在特殊欧几里得群的同步问题,通过手眼关系AX=XB的模型,实现旋转和平移矩阵的同步最优解,使手眼标定以一种更简单的方法来解决。实验结果表明,相比于传统的对偶四元数算法速度更快、鲁棒性好,具有较好的稳定性和实用性的优良效果。Hand-eye calibration is to study the conversion relationship between the robot coordinate system and the camera coordinate system.This paper presents a unit octet hand-eye calibration algorithm,which has better accuracy and anti-noise ability.Based on the traditional dual quaternion,the algorithm combines the characteristics of the data on the special orthogonal group,and effectively recovers the synchronization problem of the data in the special Euclidean group.Through the hand-eye relationship AX=XB model,the rotation and The synchronized optimal solution of the translation matrix enables the hand-eye calibration to be solved in a simpler way.The experimental results show that compared with the traditional dual quaternion algorithm,the speed is faster,the robustness is better,and it has better stability and good practicability.

关 键 词：机器人 手眼标定 八元数 

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]