带激光笔的机器人主动视觉手眼标定

Robotic hand-eye calibration based on active vision with laser pointer

以固高GRB-400机器人和摄像机组成手眼系统,在手眼关系旋转矩阵的标定方面,分析了基于主动视觉的标定方法。为实现手眼关系平移向量的标定,提出以固定于机械臂末端的激光笔来获取工件平台上特征点的基坐标,并结合已标定的旋转矩阵来标定平移向量。最后,从图像求取多个特征点之间的距离并与实际值进行误差比较,平面特征点间的长度测量误差在±0.8 mm之间,表明手眼标定精度较高,可满足机器人进行工件定位与自动抓取的要求。

In terms of the rotation matrix calibration of the hand-eye relation, the calibration method based on active vision for eye-in-hand system which is consisted of Googol GRB-400 robot and camera is analyzed. The world coordinates of the feature point on the workpiece platform are obtained by laser pointer mounted on the mechanical arm which is proposed for the calibration of translation vector of the hand-eye relation combined with the calibrated rotation matrix. Finally, the result can be get that the measurement error range of the lengths between the plane feature points is ±0. 8 mm, which indicates the hand-eye calibration precision is high, through calculating the distances between multiple feature points from the image and comparing the error with the actual values, and it can meet the requirements of workpiece positioning and automatic grabbing for robot.