摘要
为实现对焊缝空间坐标的精确采集,需要对焊缝跟踪系统进行标定。提出了一种用于工业现场环境的高效标定方案,使用张正友标定方法确定相机内参与畸变,通过SVD平面拟合求解光平面方程,通过测量机器人基坐标系与标定参照物坐标系间的关系完成手眼标定。线结构光视觉传感器与SCARA机器人进行配合,实施现场作业,现场测试结果表明,标定方案具有高效,精度高的特点,系统整体标定误差为±1.0mm,能够满足工业现场应用要求。
In order to acquire the space coordinates of the welding seam, the welding seam tracking system needs to be calibrated. Presenting a calibration scheme for efficient industrial environment. Zhang Zhengyou method was used to calibrate camera. SVD plane fitting was used to calculate the light plane equation. Do-ing hand-eye calibration by means of calculating the pose from the robot base coordinate system to the cali-brate plane coordinate system. The actual result, done with SCARA robot, shows that the calibration meth-od meets the application requirement of the industrial field.
出处
《组合机床与自动化加工技术》
北大核心
2017年第5期96-99,共4页
Modular Machine Tool & Automatic Manufacturing Technique
