井冈山大学学报（自然科学版）Issue(3)：71-75,5.DOI:10.3969/j.issn.1674-8085.2015.03.014
基于立体视觉的机器人位姿标定技术研究
STUDY ON CALIBRATION OF ROBOT POSITION AND ATTITUDE BASED ON STEREO VISION TECHNOLOGY
摘要
Abstract
Measurements of the robot Position and Attitude, the CMM mathematical model of binocular stereo visual sensor has been proposed. Matching feature points related, we obtain three-dimensional coordinates of feature points based on the least squares method. We also establish the matrix relationship between the robot base coordinate and the workpiece coordinate utilizing establishment and solution of equations which external pose linear. Radicate the homogeneous coordinate transformation matrix relationship between the workpiece and the vision sensor frame by the way of system calibration bar method when the system is at any pose in space. The experimental results show that the method for solving robot external posture is feasible using the linear without the noise factors, and can meet the accuracy requirements.关键词
机器人/数学模型/视觉传感器/靶标法/位姿标定Key words
robot/mathematical model/visual sensor/bar method/clibration of pose分类
信息技术与安全科学引用本文复制引用
吴年祥,邹华东..基于立体视觉的机器人位姿标定技术研究[J].井冈山大学学报（自然科学版）,2015,(3):71-75,5.基金项目
安徽省教育厅自然科学研究项目（KJ2013B045),安徽国防科技职业学院骨干教师项目 （）
