基于空间转换模型的工业机械臂手眼标定方法研究

Research on the Hand-eye Calibration Method of Industrial Manipulator Based on the Spatial Transformation Model

针对反射镜质量大、尺寸大且装配精度要求高的需求,文章研究了一种机械臂装配系统手眼标定优化方法。有别于传统手眼标定方法仅求解相机与末端执行器相对位姿矩阵的关系,文章将相机成像模型、机械臂运动学模型与eye-to-hand形式的手眼模型进行整体建模,建立了基于装配系统的空间转换模型,采用递推最小二乘参数识别算法对机械臂进行运动学参数标定,研究了机械臂运动学误差分布,完成了手眼标定,提高了机械臂系统的装配精度,绝对定位精度由1.81mm提高至0.29mm,提高了83.98%,实验验证了该方法的有效性。

Aiming at the assembly requirements of heavy load and large size of workpieces,an optimization method of hand-eye calibration of manipulator assembly system guided by a photogrammetry system is studied.Different from the traditional hand-eye calibration method,which only solves the relationship between the camera and the end effector,the camera imaging model,the manipulator kinematics model and the eye to hand model are integrated to establish the spatial transformation model based on the assembly system.The recursive least square parameter identification algorithm is used to calibrate the kinematic parameters of the manipulator on the basis of the former,the arm eye calibration is completed,and the assembly accuracy of the manipulator system is improved.The absolute positioning accuracy is increased from 1.81 mm to 0.29 mm in the optical axis coordinate plane,which is 83.98%higher than that of the traditional method.The experimental results show that the method is effective.