计算机工程与应用Issue(19)：262-266,270,6.DOI:10.3778/j.issn.1002-8331.1310-0410
结构光视觉引导的焊接机器人系统自标定技术
Self-calibration technique for structured light vision guided welding robot system
摘要
Abstract
To achieve the structured light vision guided welding robot system calibration, and solve the problem of complex, and difficult to make target in the existing calibration methods, a new self-calibration technique based on active vision is proposed. This self-calibration technique calibrates the camera inner parameter, rotating section of hand-eye matrix by controlling the robot 5 pure translational motions. And it calibrates the translation section of hand-eye matrix and the equa-tion of the light plane by controlling the robot 2 motions with revolving with three feature points in the scene without a specific target. The actual test results in the structured light vision guided welding robot system based on Denso robot show that the calibration approach is stable, and can reach the precision of ±0.93 mm. This self-calibration method to the structured light vision guided welding robot system with easy feature selection is simple, and has significance to the actual use in the field of industry.关键词
焊接机器人/激光视觉传感器/手眼系统/结构光/主动视觉/光平面标定Key words
welding robot/laser vision sensor/eye-in-hand system/structured light/active vision/light plane calibration分类
信息技术与安全科学引用本文复制引用
郭新年,白瑞林,王秀平,刘子腾..结构光视觉引导的焊接机器人系统自标定技术[J].计算机工程与应用,2014,(19):262-266,270,6.基金项目
江苏省产学研前瞻性联合研究项目（No.BY2012056）；江苏高校优势学科建设工程资助项目（PAPD）。 （）
