一种线结构光视觉传感器手眼标定方法及仿真

Line Structured Light Visual Sensor Hand-eye Calibration Method and Simulation

研究线结构光视觉传感器安装于多关节测量臂平台上形成复合式测量系统的手眼精确标定,提出了将传感器测量坐标建于激光测量面,通过变姿态测量固定标定点的手眼标定方法。利用机器人运动构型与标定点在传感器的坐标,推导了手眼标定模型。设计标准球为标定靶标,提起球心为标定点。建立了标定仿真模型,基于机构仿真分析平台-InteMech设计了一套仿真试验,试验验证了方法的可行性与有效性。

Hand-eye calibration of the compound measuring system that line structure light visual sensor was mounted on multi-joints measuring arm was researched. A calibration method was proposed,which the measuring coordinate system set on laser plane,a fixed point was measured with sensor from different poses. The hand-eye calibration equation was deduced using robot kinematical parameters and the coordinates of the calibration point in measuring coordinate system. A standard ball was designed as calibration object. And the centre of the ball was the fixed calibration point. Computer simulation modal was discussed. Simulation example was designed in the simulation platform of mechanism analysis-InteMech. The experiments show the calibration method is effective and feasible.