摘要
针对相机姿态估计及机器人运动学正解存在测算偏差时,手眼标定及机器人坐标系一世界坐标系标定结果不能准确收敛到全局最优解的问题,提出了一种基于对偶四元数理论的机器人方位与手眼关系同时标定方法.该方法首先将标定方程中坐标系刚体变换关系用螺旋轴、旋转角度和平移量参数化表示,再结合全局优化算法对平移量进行优化.搭建了PUMA560机器人数值仿真系统和工业机器人实测实验平台,将该方法与经典的四元数和对偶四元数标定方法进行了比较分析.仿真和实测结果表明,在相机姿态估计及机器人运动学正解存在测量误差的情况下,该方法无需初值估计和数据筛选依然可以保证求解结果的最优性.
When there are errors in camera external parameters calibration and robot forward kinematics, the calibration results of robot-world coordinate system and hand-eye relationship can't converge to the global optimum. To solve this problem, a dual quaternion theory based method for simultaneous calibration of the robot-world and hand-eye relation is proposed. Firstly, the coordinate rigid transformations in calibration equation are parameterized by the screw axis, rotation angle and translation. Secondly, the translation is optimized based on global optimization algorithm. A numerical simulation system of PUMA560 robot and a real experiment platform of industrial robot are developed, on which the proposed method are analyzed and compared with the classical quaternion and dual quaternion calibration methods. Both the simulation and experimental results show that the proposed method can get global optimal solution even without initial estimation or data selection before calibration, when there are errors in camera external parameters calibration and robot forward kinematics.
出处
《机器人》
EI
CSCD
北大核心
2018年第3期301-308,共8页
Robot
基金
国家863计划(2015AA042308)
光电测试技术北京市重点实验室开放课题(GDKF2016005)
