| 引用本文: | 李爱国,马孜,王文标.结构光视觉测量机器人的标定[J].控制理论与应用,2010,27(5):663~667.[点击复制] |
| LI Ai-guo,MA Zi,WANG Wen-biao.Calibration for robot-based measuring system[J].Control Theory & Applications,2010,27(5):663~667.[点击复制] |
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| 结构光视觉测量机器人的标定 |
| Calibration for robot-based measuring system |
| 摘要点击 3199 全文点击 2382 投稿时间：2009-05-12 修订日期：2009-12-11 |
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| DOI编号 10.7641/j.issn.1000-8152.2010.5.CCTA090600 |
| 2010,27(5):663-667 |
| 中文关键词 结构光视觉 运动学标定 手眼标定 |
| 英文关键词 structured-light vision robot calibration hand-eye calibration |
| 基金项目 辽宁省科技厅资助项目(2007219003). |
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| 中文摘要 |
| 构建了由线结构光测头和机器人组成的视觉测量系统. 利用齐次坐标变换的方法建立了测量系统的数学模型. 针对数学模型中的手眼关系, 使用半径已知的球体, 采用定点变位姿的方法, 进行粗略的估计. 考虑到机器人的绝对精度较低, 将定点信息和尺度信息作为优化条件, 对计算机器人的运动学参数和手眼关系做进一步寻优. 实验表明文中的方法能够有效提高测量机器人的重复精度. |
| 英文摘要 |
| A platform composed of a line-structured-light vision scanner and an industrial robot is established for 3D surface digitalization. A mathematical model for the measuring system is constructed by using the homogenous coordinate transform principle and a solution to hand-eye matrix is proposed through measuring a fixed point at different robot hand postures. Considering the absolute accuracy of the robot, a scheme involving scale information and fixed point information is proposed to estimate the robot kinematic parameter errors and hand-eye errors. Test results of real experiments on an industrial robot are reported and analyzed. |