微型机与应用Issue(17)：70-74,5.
带激光笔的机器人主动视觉手眼标定
Robotic hand-eye calibration based on active vision with laser pointer
摘要
Abstract
In terms of the rotation matrix calibration of the hand-eye relation, the calibration method based on active vision for eye-in-hand system which is consisted of Googol GRB-400 robot and camera is analyzed. The world coordinates of the feature point on the workpiece platform are obtained by laser pointer mounted on the mechanical arm which is proposed for the calibration of translation vector of the hand-eye relation combined with the calibrated rotation matrix. Finally , the result can be get that the measurement error range of the lengths between the plane feature points is ±0 . 8 mm, which indicates the hand-eye calibration precision is high, through calculating the distances between multiple feature points from the image and comparing the error with the actual values, and it can meet the requirements of workpiece positioning and automatic grabbing for robot.关键词
机器人/手眼系统/主动视觉/激光笔/标定Key words
robot/eye-in-hand system/active vision/laser pointer/calibration分类
信息技术与安全科学引用本文复制引用
黄朝兴,陈丹,唐旭晟..带激光笔的机器人主动视觉手眼标定[J].微型机与应用,2015,(17):70-74,5.基金项目
国家自然科学基金资助项目（61174051）；福建省自然科学基金项目 （）
