摘要
为了辨识出机器人模型的准确参数,提出一种利用单目视觉标定机器人的方法。将摄像机安装在机器人或其延长杆上,使其随机器人转轴转动并拍摄固定的平面点靶标,利用基于径向排列约束(Radial-alignment-constraint,RAC)的标定法对摄像机进行标定并求出摄像机光心在世界坐标系中的坐标。利用得到的光心的坐标,即可获得关节轴线在世界坐标系下的轴线方程。建立机器人运动学模型,利用关节轴线方程得到了模型的准确几何参数。试验结果表明,此方法具有较高的精度,且该方法标定过程简单,便于实际应用。
To identify the accurate parameters of the robot model,a method of robot calibration based on monocular vision is presented.A camera is fixed on the robot or the prolonged stick,and rotates with the joint axes.By photographing a calibration points target,the radial-alignment-constraint（RAC） camera calibration method is done and the coordinate of the camera optical center in the world coordinate system can be obtained.The linear equation of joint axes can be gained by using camera optical centers＇ coordinates.The robot kinematics model is established,and the accurate robot model geometrical parameters are obtained by the linear equation of joint axes.The experiments show that the results are accurate and the calibration procedure is simple and facilitative for practical application.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2011年第5期35-39,共5页
Journal of Mechanical Engineering
基金
国家高技术研究发展计划(863计划
2009AA12Z33003)
国家自然科学基金(40976059)资助项目
关键词
机器人
标定
摄像机
轴线
Robot Calibration Camera Joint axes
