华中科技大学学报（自然科学版）2025，Vol.53Issue(6)：1-6,6.DOI:10.13245/j.hust.240601
基于视觉多点位姿约束的机器人校准方法
Robot calibration method based on visual multi-point pose constraint
摘要
Abstract
To enhance the absolute kinematic positioning accuracy of a 6-axis robot,a closed-loop calibration method was presented.First,a multi-point pose constraint was established through a visual pose measurement technique.Then,a differential method was used to construct an identification equation.Finally,the robot's kinematic parameters were identified using the weighted least squares method.The measurement device employed was a camera mounted on the robot's end effector,which was used in conjunction with a fixed high-precision calibration board to achieve multi-point pose constraints.According to the inverse kinematic parameter constraints in industrial applications and the kinematic coupling relationship of the hand-eye system,a minimal calibration parameter set consisting of 14 parameters was identified.Based on this parameter set,parameter identification was conducted using the weighted least squares method,thus accomplishing the calibration of the robot's kinematic parameters.After applying the proposed method to calibrate the Huashu HSR-JR605 robot,the average distance error in the robot's end effector's point-around motion was significantly reduced,from 2.77 mm to 0.42 mm.关键词
机器人运动学校准/单目视觉测量/多点位姿约束/差分方法/参数辨识Key words
robot kinematic calibration/monocular visual measurement/multi-point pose constraint/differential method/parameter identification分类
计算机与自动化引用本文复制引用
刘永兴,唐小琦,周向东,陈天航..基于视觉多点位姿约束的机器人校准方法[J].华中科技大学学报（自然科学版）,2025,53(6):1-6,6.基金项目
国家重点研发计划资助项目(2023YFB4704000) （2023YFB4704000）
湖北省重点研发计划资助项目(2022BAA061). （2022BAA061）
