双机器人系统的基坐标系标定

Base Calibration for Dual Robot System

多机器人协调系统研究中，机器人基坐标系之间的关系标定是一个重要而困难的问题，本文研究一种基于视觉传感的双机器人基坐标系关系的标定方法，通过一个机械手持有的摄像机观察另一个机械手末端的主动运动来实现．该方法独立于机器人系统中的其它关系的标定过程，可由系统自动完成，且不需要任何人工标定辅助．文中还给出了消除标定误差的直角坐标系坐标轴正交归一化的方法．仿真研究表明所给方法的有效性．

Calibration of the base coordinate systems of the two robot manipulators in a dual robot system has not received enough attentions,though its importance is obvious. This paper describes a base calibration method by taking advantage of a visual sensor held by one of the manipulators. This method is based on,but separated from the calibrations of the robot manipulators and the visual sensor themselves. Moreover,the algorithm proposed estimates the rotational and translational parameters with the help of the same set of instrumental variables,thus no errors propagate between them. Simulations are provided to show the properties of the mehod.