线激光视觉测量机器人手眼标定方法研究

Research of Hand-eye Calibration Method for Line Laser Vision Measurement Robot

线激光视觉测量传感器与工业机器人组成三维测量系统时,法兰盘坐标系与摄像机坐标系之间变换关系求解较复杂。为解决此问题,提出一种基于固定参考点的手眼标定算法。该算法以标定球为靶标,根据标定球球心在机器人基坐标系中坐标不变原则,结合机器人运动学位置约束关系建立了矩阵变换方程,并在旋转矩阵求解中引入四元数,简化计算过程,实现机器人手眼标定。通过试验量化分析测头光平面与标定球相交位置对测量结果的影响,验证了该算法的有效性和实用性。

When linear laser vision measurement sensor and industrial robot are constituted a three-dimensional measurement system,the transformation relationship between the flange coordinate system and the camera coordinate system is more complicated to solve.In order to solve the problem,a hand-eye calibration algorithm based on fixed reference point was proposed.In this algorithm,the criterion sphere was taken as the target,and according to the coordinate invariance principle of the center of the criterion sphere in the basic coordinate system of the robot,the matrix transformation equation was established by combining the kinematic position constraint relation of the robot.The quaternion was introduced in the solution of the rotation matrix to simplify the calculations process and implement the hand-eye calibration of the robot.The influence of the intersection of the laser plane of scanning probe and the calibration sphere on the measurement results was quantified through experiments,and the effectiveness and practicability of the algorithm was verified.