Rapid hand-eye calibration in dual robots system

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Rapid hand-eye calibration in dual robots system

Information sciences | 更新时间：2020-08-12

- Rapid hand-eye calibration in dual robots system
- Optics and Precision Engineering Vol. 19, Issue 8, (2011)
- 作者机构：
  
  北京航空航天大学仪器科学与光电工程学院2. 北京航空航天大学仪器科学与光电工程学院测控系3. 北京航空航天大学仪器科学与光电工程学院院长
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP391.41
- Received：27 December 2010，
  
  Revised：27 January 2011，
  
  Published Online：21 October 2011，
  
  Published：25 August 2011
- 稿件说明：
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魏振忠,张博,张广军. 双机器人系统中的快速手眼标定方法[J]. 光学精密工程, 2011, 19(8): 0-0.

WEI Zhen-Zhong,ZHANG Bo,ZHANG An-Jun. Rapid hand-eye calibration in dual robots system[J]. Editorial Office of Optics and Precision Engineering, 2011, 19(8): 0-0.
魏振忠,张博,张广军. 双机器人系统中的快速手眼标定方法[J]. 光学精密工程, 2011, 19(8): 0-0. DOI：

WEI Zhen-Zhong,ZHANG Bo,ZHANG An-Jun. Rapid hand-eye calibration in dual robots system[J]. Editorial Office of Optics and Precision Engineering, 2011, 19(8): 0-0. DOI：

摘要

针对双机器人仿真测量系统中的手眼标定问题，提出一种由视觉方法求解法兰盘位姿得出手眼关系的方法。将目标机器人运动到合适的位姿，由视觉机器人拍摄其法兰盘图像，提取图像中法兰盘的椭圆轮廓，解算摄像机坐标系下的法兰盘姿态和圆心坐标，并由销孔位置约束得出摄像机与目标法兰盘坐标系转换关系H1。由控制器读数得出两台机器人各自法兰盘坐标系与基坐标系间的转换关系H2、H4，由机器人单轴旋转运动得出双机器人基坐标系转换关系H3，便可形成闭环得出机器人手眼关系HCG=H4H3H2H1。将法兰盘运动到共面的多个不同位置分别拍摄图像，由图像融合可提高标定精度。实验结果表明，单位置标定和多位置图像融合标定的精度分别为0.345度和0.187度，满足双机器人视觉仿真测量系统的精度要求。

Abstract

Aiming at hand-eye calibration in dual robots measurement system

a method based on machine vision by calculating target robot flange pose and center coordinate is presented. Move target robot flange to a proper pose to get an image by the camera

extract ellipse contour of the flange in the image

calculate the flange pose and its circle center data according to the camera coordinate system

then use location of the pinhole on the flange to obtain coordinate transformation H1 between camera coordinate system and flange coordinate system. Record coordinate transformations between flange coordinate system and robot base coordinate system separately

marked as H2 and H4

from the robot controllers. The coordinate system transformation H3 between two robots can be derived from single axis movements of robots

then the hand-eye coordinate transformation can be calculated by HCG=H4H3H2H1. Move the target flange to some coplanar poses and get their images

the calibration accuracy can be improved by image fusion. Experimental results indicate that the calibration precision of single image and coplanar poses using image fusion is 0.345° and 0.187° separately. It can satisfy the dual robot system requirements of vision guiding measurement.

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Keywords

references

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Rapid hand-eye calibration of dual robot system

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WEI Zhen-zhong

ZHANG Bo

ZHANG Guang-jun

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Key Laboratory of Precision Opto-mechatronics Technology, Ministry of Education,Beihang University

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