基于圆孔标定板的视觉机器人手眼标定方法

Hand-eye Calibration Method for Visual Robot Based on Circular Calibration Board

针对由线激光传感器引导的机器人系统手眼标定问题,提出了一种基于圆孔标定板的手眼标定方法。该方法以标定板圆孔的圆心为固定点作为约束,建立了结合机器人运动学参数的手眼标定模型,在同等实验平台下与传统标准球方法进行对比实验。得到标定结果后,参考平面度误差的评价方法对某高精度平面进行扫描,得到平面的点云并计算点云与最小二乘拟合平面的距离均方根误差,以此作为手眼关系标定精度的评价参数。相较于标准球方法,该方法在线激光坐标系下对空间中固定点的位置坐标采集更加精确,且将机器人运动学参数纳入手眼标定模型中。使得该方法平面测量均方根误差由标准球方法的0.212 mm下降到0.065 mm,验证了所提方法的优越性。

A hand-eye calibration method based on a circular hole calibration board is proposed for the roboT-System guided by a line laser sensor.This method uses the centroid of the circular holes on the calibration board as fixed points of constraint and establishes a hand-eye calibration model that combines the robot’s kinematic parameters.It is compared with the traditional standard sphere method on the same experimental platform.After obtaining the calibration results,a high-precision plane is scanned and the point cloud of the plane is obtained.The root mean square error between the point cloud and the leasT-Squares fitted plane is calculated as the evaluation parameter for the hand-eye calibration accuracy.Compared with the standard sphere method,this method achieves more accurate collection of the position coordinates of fixed points in the space under the coordinate system of the line laser sensor.Additionally,it incorporates the robot’s kinematic parameters into the hand-eye calibration model.As a result,the root mean square error of the plane measurement is reduced from 0.212 mm in the standard sphere method to 0.065 mm,proving the superiority of the proposed method.