摘要
提出了一种基于矩阵直积的机器人手眼标定改进算法。应用矩阵直积、Moore-penrose逆以及最小二乘法对机器人手眼关系方程CX=XD进行线性化处理,并运用F范数分析了标定结果的测量精度。该方法与传统两步法和一般性矩阵直积的手眼标定算法相比,能够克服由于误差传递引起的精度下降问题。结果表明:基于矩阵直积改进算法的标定精度高于另外两种现有算法,并且具有强鲁棒性的特点。
An improved algorithm for robot hand-eye calibration based on kronecker product is proposed.The linearity of the hand-eye relation equation CX=XD is solved by using kronecker product,Moore-penrose inverse and least squares method,and the measurement accuracy of the calibration result is analyzed by F norm.This method can overcome the problem of precision degradation due to error propagation compared with traditional two-step method and general kronecker product hand-eye calibration algorithm.The results show that the calibration accuracy of the improved algorithm based on kronecker product is higher than that of the other two algorithms,and it has strong robustness.
作者
胡为
刘冲
傅莉
陈新禹
HU Wei;LIU Chong;FU Li;CHEN Xin-yu(School of Aerospace Engineering,Shenyang Aerospace University,Shenyang 110136,China;School of Automation,Shenyang Aerospace University,Shenyang 110136,China)
出处
《火力与指挥控制》
CSCD
北大核心
2018年第9期19-24,共6页
Fire Control & Command Control
基金
国家自然科学基金(61074090)
中航创新基金(cxy2013SH16)
辽宁省自然科学基金(2015020061)
辽宁省自然科学基金(联合基金)资助项目(2015020069)
关键词
手眼标定
矩阵直积
传统两步法
最小二乘法
hand-eye calibration
kronecker product algorithm
traditional two-step method
least squares method
