一种机器人手眼关系自标定方法.pdfVIP

30 4 ROBOT Vol.30, No.4 2008 7 July, 2008 1002-0446(2008)04-0373-06 12 1 1 1 1. 410082 2. 411105 5 2 TP24; TP391 A A Self-calibration Approach to Hand-Eye Relation of Robot 12 1 1 1 XU Hai-xia , WANG Yao-nan , WAN Qin , ZHU Jiang (1. College of Electrical and Information Engineering, Hunan University, Changsha 410082, China; 2. The College of Information Engineering, Xiangtan University , Xiangtan 411105, China) Abstract: A self-calibration approach to hand-eye relation of robot based on a single point in the scene is proposed. The manipulator end-effector is accurately controlled to perform five (or more) pure translational motions and two (or more) pure rotational motions, and the camera is required to image a single point in the scene. Motions of the camera are estimated based on the disparity and depth value of the point, relative position constraint equations between coordinates of the manipulator end-effector and the camera are set up, and the intrinsic parameters of camera and the hand-eye relation are obtained linearly. In the calibration process, only one point in the scene needs to be extracted, and neither matching nor orthogonal motion is required, therefore, motions of the manipulator can be controlled conveniently and the algo