基于眼固定安装方式的机器人定位系统

研发了基于眼固定安装方式的机器人定位系统,提出了一种方便有效的手眼标定方法。通过最小二乘法求解手眼坐标的变换关系,再根据工作台平面与摄像机成像模型的约束关系,求解出目标物体的三维位姿,并最终实现了机械手的精确定位。

We developed a fixed in workspace vision positioning system of robot, and present a convenience and effective hand- eye calibration method. Getting the transform matrix of eye and robot coordinate by least square method, and with restrict of working plane and camera model, we get position of aim object in three- dimensional coordinate. Accurate positioning was aquired at last.

国家863引导项目资助项目号:2004AA001090