双机器人系统的快速手眼标定方法

魏振忠; 张博; 张广军

doi:10.3788/OPE.20111908.1895

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双机器人系统的快速手眼标定方法

信息科学 | 更新时间：2020-08-12

- 双机器人系统的快速手眼标定方法
- Rapid hand-eye calibration of dual robot system
- 光学精密工程 2011年19卷第8期页码：1895-1902
- 作者机构：
  
  北京航空航天大学精密光机电一体化技术教育部重点实验室北京,100191
- 作者简介：
- 基金信息：
  
  国家自然科学基金资助项目(No.50875014)();北京市自然科学基金资助项目(No.3092014)()
- DOI：10.3788/OPE.20111908.1895
  中图分类号： TP391.41
- 收稿日期：2010-12-27，
  
  修回日期：2011-01-14，
  
  网络出版日期：2011-08-25，
  
  纸质出版日期：2011-08-25
- 稿件说明：
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魏振忠, 张博, 张广军. 双机器人系统的快速手眼标定方法[J]. 光学精密工程, 2011,19(8): 1895-1902

WEI Zhen-zhong, ZHANG Bo, ZHANG Guang-jun. Rapid hand-eye calibration of dual robot system[J]. Editorial Office of Optics and Precision Engineering, 2011,19(8): 1895-1902
魏振忠, 张博, 张广军. 双机器人系统的快速手眼标定方法[J]. 光学精密工程, 2011,19(8): 1895-1902 DOI： 10.3788/OPE.20111908.1895.

WEI Zhen-zhong, ZHANG Bo, ZHANG Guang-jun. Rapid hand-eye calibration of dual robot system[J]. Editorial Office of Optics and Precision Engineering, 2011,19(8): 1895-1902 DOI： 10.3788/OPE.20111908.1895.

摘要

针对双机器人仿真测量系统的手眼标定问题

提出一种由机器视觉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的转换关系 H

。然后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 H

并由机器人单轴旋转运动得出双机器人基坐标系转换关系 H

由此形成闭环得出机器人手眼关系 H

。将法兰盘运动到共面的多个不同位置分别拍摄图像

通过图像融合来提高标定精度。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和0.187

满足双机器人视觉仿真测量系统的精度要求。

Abstract

For the hand-eye calibration of a dual robot measurement system

a method based on machine vision to calculate the target robot flange pose and center coordinate was presented. By moving the target robot flange to a proper pose to take an image by the camera and extract the ellipse contour of the flange in the image to calculate the flange pose and its circle center data

the coordinate transform H

between camera coordinate system and flange coordinate system was obtained by using the location of pinhole on the flange. Then

the coordinate transforms between flange coordinate system and robot base coordinate systems

namely

and H

are gotten

respectivity

from the robot controllers. Furthermore

the coordinate system transform H

between two robots were derived from single axis movements of robots

so that a hand-eye expression H

was obtained to calculate the hand-eye coordinate transform. Finally

by moving the target flange to some coplanar poses to take their images

the calibration accuracy was improved by image fusion. Experimental results indicate that the cal ibration precisions of single image and coplanar poses using image fusion are 0.345 and 0.187

re- spectively. It can satisfy the the requirements of dual robot systems for vision guiding measurement.

关键词

Keywords

references

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