激光视觉机器人焊接中摄像机和手眼的同时标定

Simultaneous Calibration of Camera and Hand-Eye in Robot Welding with Laser Vision

摄像机和机器人手眼标定是视觉机器人应用中的重要问题.文中针对激光视觉机器人焊接的具体应用系统,提出了一种同时标定摄像机和机器人手眼的方法.该方法依据机器人手眼矩阵和机器人手爪对基坐标系位姿矩阵之间的特定关系,进行一次标定实验而同时求解出摄像机参数和机器人手眼关系矩阵.此方法简单、实用、快捷,避免了传统方法复杂的实验和解答过程.计算结果表明,标定精度能满足机器人焊缝跟踪的应用要求.

The camera and hand-eye calibrations are two important elements in the applications of vision robot. Aiming at a robot welding system with laser vision, this paper proposes a method for the simultaneous calibration of camera and hand-eye. The proposed method, which is based on the relationship between the hand-eye matrix and the matrix of the robot hand frame to the robot base frame, can simultaneously solve the camera parameters and the hand-eye matrix by one test. Calculated results show that the proposed method, which is easy to implement with high speed and feasibility, avoids the complicated experiments and solution process arising from the traditional methods, and is of a high calibration precision, thus meeting the requirements of seam tracking by robots.