摘要
基于齐次坐标变换矩阵的几何意义,采用两步法对机器人手眼方程进行求解,并结合手眼方程的解存在唯一性的条件,设计编写求解程序,验证机器人手眼空间位置关系,结果表明,该方法完全能够满足系统精度要求。
Based on the geometric meaning of coordinate transformation matrix of the homogeneous,by using two steps work to solve robot hand-eye equation,and connecting with the condition of existence and uniqueness of the solution to the hand-eye equation,the author designs solving program,and verifies robot hand-eye space relationship.The results show that this method can completely meet to the accuracy in the system.
出处
《长春工程学院学报（自然科学版）》
2012年第3期112-116,共5页
Journal of Changchun Institute of Technology：Natural Sciences Edition
基金
安徽省教育厅自然科学资助项目(KJ2011B036)
院级教科研项目(2011gfyy12)
关键词
机器人
手眼关系
两步法
robot
hand-eye relationship
two steps
