关键词: 手眼关系, 自标定, 单特征点, 机器人视觉

Abstract:

For the shortcoming that the excessive number of robot movement is required during the hand-eye calibration, an improved self-calibration method to hand-eye relation of robot based on a single feature point was proposed. The decoupling operation for hand-eye relation matrix was introduced, and also the hand-eye rotation matrix and translation vector were calibrated respectively. In the calibration process, the feature point position is not necessary to be calculated, but and the manipulator end effector is needed also to perform more than five times translational motions and two times rotation motions. Calibration experiment and error analysis verify that the method can meet the demand for industrial robot hand-eye vision measurement.

Key words: hand-eye relation, self-calibration, single feature point, robot vision