摘要
为简化手眼标定算法的同时保证标定结果的准确性,提出一种基于四元数的机器人手眼标定算法。首先基于四元数改写手眼标定方程的形式,用奇异值分解方法(SVD)求解手眼关系的旋转部分,再将旋转部分代入手眼标定方程求解手眼关系的平移部分。通过数值仿真和机器人标定实验,将新算法和基于矩阵直积的手眼标定算法进行比较。结果表明:所提算法的稳定性和准确性均优于矩阵直积标定算法。
In order to simplify the hand-eye calibration algorithm and ensure the accuracy of the calibration results,a quaternion-based hand-eye calibration algorithm for robot is proposed.Rewrite the hand-eye calibration equation as quaternion form,and the singular value decomposition(SVD)method is used to solve the rotating part between hand and eye,then the solved rotating part is substituted into the calibration equation to solve the component translation between hand and eye.The numerical simulation and robot calibration experiments are used to compare the new algorithm with the hand-eye calibration algorithm based on matrix product.The results show that the new algorithm is more stable and more accurate than the other one.
作者
王昌云
李立君
WANG Changyun;LI Lijun(School of Mechanical and Electrical Engineering,Center South University of Forestry and Technology,Changsha 410004,China)
出处
《传感器与微系统》
CSCD
2019年第12期133-135,共3页
Transducer and Microsystem Technologies
基金
湖南省研究生科研创新项目(CX2016B326)
中南林业科技大学青年基金资助项目(QJ201509)
关键词
奇异值分解(SVD)
四元数
矩阵直积
手眼标定
singular value decomposition(SVD)
quaternion
matrix product
hand-eye calibration
