机器人与双目相机的手眼标定方法  

Hand-Eye Calibration Method for Robot and Binocular Camera

作　　者：颜京森 郝卫东[1] 杨道国[1] 王瑞卿 YAN Jing-sen;HAO Wei-dong;YANG Dao-guo;WANG Rui-qing(School of Mechanical and Electrical Engineering,Guilin University of Electronic Technology,Guangxi Guilin 541000,China)

机构地区：[1]桂林电子科技大学机电工程学院,广西桂林541000

出　　处：《机械设计与制造》2024年第4期314-316,324,共4页Machinery Design & Manufacture

基　　金：广西创新驱动发展专项—高价值钻头自动测量激光熔覆再制造生产线专用机器人研发(桂科AA17204018)。

摘　　要：为了得到钻头在激光熔覆机器人坐标系下的模型数据需要机器人与双目相机进行手眼标定,针对这一问题提出了一种手眼标定的方法。改变机器人位姿对同一点进行测量,建立机器人DH模型并利用机器人正运动学方程计算出机器人末端坐标系与双目相机坐标系之间的变换矩阵,完成了手眼测量系统标定。基于此标定方法进行了误差测试与激光熔覆实验,对误差产生的原因进行分析并提出了减小误差的方法。实验结果表明,机器人与双目相机的手眼标定方法有效,可用于PDC钻头激光熔覆系统。In order to obtain the model data of drill bit in the coordinate system of laser cladding robot,the robot and binocular camera are needed to calibrate.A method of hand-eye calibration is proposed to solve this problem.Change the robot posture to measure the same point.The DH model of the robot was established and the transformation matrix between the coordinate system at the end of the robot and the binocular camera was calculated by using the forward kinematics equation of the robot.The calibra-tion of the hand-eye measurement system was completed.Based on this calibration method,error measurement and laser cladding experiments were carried out.The reason of error is analyzed and the method of reducing error is put forward.The experimental re-sults show that the hand-eye calibration method of robot and binocular camera is effective and can be used in the laser cladding system of PDC bit.

关 键 词：手眼标定 工业机器人 DH建模 双目相机 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]