SCARA机器人实验平台视觉标定研究

Research on visual calibration of SCARA industrial robot experimental platform

文中针对eye-to-hand视觉标定中机械手的移动可能对目标造成遮挡的问题,利用eye-in-hand摄像机和eye-to-hand摄像机结合的方式,以SCARA工业机器人为研究对象,建立双摄像机视觉标定系统。同时,文中提出了一种简单有效的eye-in-hand的标定方式,以机器人末端坐标系为辅助坐标系,建立基坐标到辅助坐标再到摄像坐标的对应关系,从而为实验室平台下工业机器人的目标定位提供了一种有效的方式。

Aiming at the case where target occlusion probably exists in the eye-to-hand visual system due to the motion of manipulator,this paper combines eye-to-hand system with eye-in-hand system,taking SCARA robot as research object,constructing two-camera visual calibrating system.Meanwhile,a simple approach to visual calibration in the eye-in-hand system is proposed.Suppose that the robot end coordinate system is the auxiliary coordinate system,then corresponding relation is established between the robot base coordinate,auxiliary coordinate and camera coordinate,which provides an effective way to object orientation of industrial robot on laboratory platform.