结合精度补偿的机器人优化手眼标定方法

田鹏飞 1; 杨树明 1; 吴孜越 2; 李湛 3; 胡鹏宇 1; 瞿兴 1

doi:10.7652/xjtuxb202008013

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结合精度补偿的机器人优化手眼标定方法

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- 结合精度补偿的机器人优化手眼标定方法
- An Optimal Hand-Eye Calibration Method for Robots Based on Precision Compensation
- 西安交通大学学报 2020年54卷第8期页码：99-106
- 作者机构：
  
  西安交通大学机械制造系统工程国家重点实验室,西安,710049
- 作者简介：
- 基金信息：
  
  : 2019-11-04。作者简介: 田鹏飞(1995—),男,硕士生;杨树明(通信作者),男,教授,博士生导师。基金项目: 国家自然科学基金优秀青年基金资助项目(51722509);国家自然科学基金资助项目(51575440);陕西省创新人才推进计划 ——科技创新团队资助项目(2019TD-011)
- DOI：10.7652/xjtuxb202008013
  中图分类号： TP249
- 网络首发：2020-08-10，
  
  纸质出版：2020
- 稿件说明：
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田鹏飞 1, 杨树明 1, 吴孜越 2, 等. 结合精度补偿的机器人优化手眼标定方法[J]. 西安交通大学学报, 2020,54(8):99-106.

An Optimal Hand-Eye Calibration Method for Robots Based on Precision Compensation[J]. 2020, 54(8): 99-106.
田鹏飞 1, 杨树明 1, 吴孜越 2, 等. 结合精度补偿的机器人优化手眼标定方法[J]. 西安交通大学学报, 2020,54(8):99-106. DOI： 10.7652/xjtuxb202008013.

An Optimal Hand-Eye Calibration Method for Robots Based on Precision Compensation[J]. 2020, 54(8): 99-106. DOI： 10.7652/xjtuxb202008013.

摘要

为了解决制造现场机器人高精度视觉测量定位的问题提出了一种结合模型精度补偿的机器人方位与手眼关系同步标定方法。该方法首先将视觉系统与机器人之间的位姿关系即手眼关系以及标定板与机器人坐标系的空间转换关系作为待优化求解对象

用齐次坐标矩阵分别表示机器人运动学正解以及视觉系统与标定板之间的位姿关系

进而构建闭环的机器人手眼关系优化方程; 然后

使用三维旋转群表示旋转矩阵

建立了标定模型方程

用非线性全局优化的方式同步得到标定方程中矩阵的旋转和平移初始解

采用最小化相机的重投影误差提高了标定精度; 最后

使用机器人运动学标定设备提升了本体的模型精度

再进行视觉标定得到了更准确的标定结果。实验结果表明:该标定方法只需提前示教若干点即可自动完成

操作简易高效; 在补偿了机器人本体的臂长和关节零位误差后

算法精度从0.15 mm提升至0.10 mm。与经典的手眼标定方法相比

所提方法在不同测试数据集下的标定精度和稳定性均最优。

Abstract

A simultaneous calibration method based on Lie group theory and iterative optimi-ation for robot orientation and hand-eye calibration is proposed to solve the problem of high precision vision measurement and position for industrial manufacturing field robots. The method uses optimi-ation after enhancing the accuracy of robot. Firstly

the pose relationships between the vision system and the robot

that is

the hand-eye relationship and the spatial conversion relationship between calibration plate and robot coordinate system

are taken as the objects for optimi-ation. The forward kinematics solution of the robot and the pose relationship between the vision system and the calibration plate are represented by a homogeneous coordinate matrix

and then a closed-loop optimi-ation equation of the hand-eye relationship of the robot is constructed. Furthermore

a three-dimensional rotation group is used to represent a rotation matrix and to establish a calibration model equation. Then the nonli

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