机器人与双目相机的手眼标定方法

Hand-Eye Calibration Method for Robot and Binocular Camera

为了得到钻头在激光熔覆机器人坐标系下的模型数据需要机器人与双目相机进行手眼标定,针对这一问题提出了一种手眼标定的方法。改变机器人位姿对同一点进行测量,建立机器人DH模型并利用机器人正运动学方程计算出机器人末端坐标系与双目相机坐标系之间的变换矩阵,完成了手眼测量系统标定。基于此标定方法进行了误差测试与激光熔覆实验,对误差产生的原因进行分析并提出了减小误差的方法。实验结果表明,机器人与双目相机的手眼标定方法有效,可用于PDC钻头激光熔覆系统。

In order to obtain the model data of drill bit in the coordinate system of laser cladding robot,the robot and binocular camera are needed to calibrate.A method of hand-eye calibration is proposed to solve this problem.Change the robot posture to measure the same point.The DH model of the robot was established and the transformation matrix between the coordinate system at the end of the robot and the binocular camera was calculated by using the forward kinematics equation of the robot.The calibra-tion of the hand-eye measurement system was completed.Based on this calibration method,error measurement and laser cladding experiments were carried out.The reason of error is analyzed and the method of reducing error is put forward.The experimental re-sults show that the hand-eye calibration method of robot and binocular camera is effective and can be used in the laser cladding system of PDC bit.