摘要
针对机器人激光扫描系统现场标定问题,提出了一种基于交比不变性的线结构光传感器标定方法,允许平面参照物在传感器测量空间中自由移动,通过摄像机拍摄多幅平面参照物的图像即可对光平面进行标定;同时,提出一种定点变位姿的机器人手眼关系标定方法,采用一个直径已知的标准球作为手眼标定参照物,控制机器人分别以纯平移运动和变姿态运动的方式带动视觉传感器对标准球的球心坐标进行测量,根据固定点约束标定手眼关系。实验结果表明,本文标定方法有效、快速,可以用于机器人激光扫描系统现场标定。
In order to calibrate the robotic laser scanning system in the industrial field, this paper proposes a line structured laser sensor calibration method based on the principle of cross-ratio invariance. The structural parameters of the laser plane in the sensor coordination system are calibrated by taking several photos of a planar target at different positions in the working range of the laser sensor, and the planar target is allowed to move freely. Then a robot hand-eye calibration method by measuring a fixed point from different robot poses is advanced. In this method, a reference sphere with known diameter is adopted as the calibration target and the robot drives the laser sensor to measure the center of the reference sphere from different poses. Translational and orientational motions of the robot are performed successively in the hand-eye calibration process and the hand-eye relationship is calibrated based on the fixedpoint constraint. Calibration results show that the calibration method proposed in this paper is efficient, fast and well suited to the calibration work of robotic 3D shape scanning system in the industrial field.
出处
《光电子．激光》
EI
CAS
CSCD
北大核心
2014年第12期2336-2342,共7页
Journal of Optoelectronics·Laser
关键词
机器人
视觉传感器
三维扫描
标定
industrial robot
visual sensor
3D scanning
calibration
