单目视觉双臂机器人相对位姿的快速标定

Research of Relative Position and Pose Fast Calibration Method for Dual-arm Robot Based on Monocular Vision

由两个独立机械臂组成的双臂机器人系统,两个机械臂分别有各自独立的基坐标系,针对此类双臂机器人基坐标系相对位姿的确定问题,提出了单目视觉双臂机器人相对位姿标定方法。将相机安装在其中一机械臂末端执行器上组成手眼系统,标定板安装在另一机械臂末端执行器上,保持安装有相机的机械臂位姿固定不动,控制安装有标定板的机械臂运动达到任意不同的拍照位置,相机拍照并同时从机器人返回并记录下每个拍摄位置的机器人参数,联立解出基坐标系间的相对位姿关系。将实验结果应用于智能变电站隔离断路器自动检修双臂机器人,证明此方法能够满足实际工作需求,便于实际应用。

For a dual-arm robot system consisting of two independent robot arms,each arm has its own base coordinate system. To calculate the accurate pose between thebase coordinates of two arms,a method of robot calibration based on monocular vision is presented. A camera is fixed on one arm to form an eye-in-hand system and a calibration plate is fixed on the other arm. The arm with camera always keeps still and the arm with calibration plate moves to different photo location. When taking photo,the current robot parameter should be recorded. Finally,the set equation of pose between the arms will be acquired. The experiment result is applied to a dual-arm robot used to fix isolated circuit breaker automatically in smart substations. It shows that the method can satisfy the actual work needs and it is also facilitative for practical application.