基于机器人手眼视觉的立体定位系统研究.pdfVIP

Proceedings of the 25th Chinese Control Conference 7–11 August, 2006, Harbin, Heilongjiang 1. 3. 1, 1, 2, 3 , 266510 E-mail: h?x?wang@163.com 2. , 250002 E-mail: leo?joh@126.com , 116028 E-mail: wchy@ : :, , , Research of Stereo Positioning System Based on Robot Hand-eye Vision Haixia Wang 1, Xuecheng Su1, Zhigang Zhang2, Chunyan Wang3 1. Key Laboratory for Robot Intelligent Technology of Shandong Province, Shandong University of Science and Technology, Qingdao 266510, China E-mail: h?x?wang@163.com 2. Shandong Electric Power Research Institute, Jinan 250002, China E-mail: leo?joh@126.com 3. School of Traf?c and Transportation Engineering, Dalian Jiaotong University, Dalian 116028, China E-mail: wchy@ Abstract: Stereo positioning system is studied based on robot hand-eye vision, and system calibration consists of camera calibration and hand-eye geometric relation calibration, a method of simultaneously realizing the two ones is presented in this paper. The key content of the method is that the camera internal parameters and the rotate part of handeye relation are integrated into a whole matrix. However, there is not any restriction to the course of system positioning, a camera can take images at any pose and needn’t recalibration. Additionally, the implement of the method is very simple, only need take two images from which the system can be calibrated for three known points at different position. This method simpli?es the complicated process of robot hand-eye system calibration and improves the positioning precision, meanwhile, it extends the application range of hand-eye vision system. Key Words: Robot, Hand-eye vision, Stereo positioning, System calibration 1 (Introduction) IEEE Catalog Number: 06EX1310 , : 1634 70 [6, 7] [1]-[8] [1]-[7], [9]-[12], [14]-[16] AX = XB T sai Lenz [2] R1R = RR2 Chou Kamel [7] Y oung [11] Denavit ? Hartenberg(D ? H) Horaud Dornika [14] MX = XMT M X AX = XB [8] AX = XB 2 (Mathematical Modeling For Robotics Vision System) 1R