一种基于EIH的装配机器人标定方法

doi:10.3901/JME.2018.07.038

机械工程学报 ›› 2018, Vol. 54 ›› Issue (7): 38-44.doi: 10.3901/JME.2018.07.038

一种基于EIH的装配机器人标定方法

李兵, 傅卫平, 王雯, 杨世强

西安理工大学机械与精密仪器工程学院西安 710048

收稿日期:2017-04-05 修回日期:2017-09-05 出版日期:2018-04-05 发布日期:2018-04-05
通讯作者: 傅卫平(通信作者),男,1957年出生,教授,博士研究生导师。主要研究方向为智能机器人、现代物流系统工程与技术、智能车辆及其控制理论与技术。E-mail:weipingf@xaut.edu.cn
作者简介:李兵,男,1988年出生。主要研究方向为智能机器人,机器视觉。E-mail:bing_ying@aliyun.com
基金资助:
国家自然科学基金（51475365）和陕西省科技统筹创新工程重点实验室（2014SZ10-P04）资助项目。

EIH Based Calibration Method for Assembly Robot

LI Bing, FU Weiping, WANG Wen, YANG Shiqiang

School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an 710048

Received:2017-04-05 Revised:2017-09-05 Online:2018-04-05 Published:2018-04-05

摘要/Abstract

摘要： 针对配置单目手眼相机（Eye in hand，EIH）的六自由度（Six degrees of freedom，6-DOF）串联装配机器人标定问题，提出了一种基于平面靶标的机器人标定方法。将平面靶标固定放置在工作台上，安装在机器人末端执行器处的EIH随机器人各关节依次转动，并拍摄靶标图像。利用ZHANG两步标定法对EIH进行标定，求出各拍摄位置处相机光心在靶面坐标系下的坐标。根据各关节单独运动时相机光心轨迹构成的圆，采用空间圆曲线拟合方法计算圆心坐标和转动关节轴线方向，并通过三焦张量约束优化各轴线方向，得到机器人各关节旋量。在此基础上，采用指数积建立机器人运动学模型。整个标定过程只需要一次安装，一组采集的标定图像。试验结果表明，该方法建立的机器人运动学模型简单有效。

关键词: EIH, 关节旋量, 机器人标定, 三焦张量, 指数积

Abstract: A method of robot calibration is proposed on the basis of planar target in 6 degrees of freedom (6 DOF) assembly manipulator mounted monocular eye in hand (EIH). A planar target is fixed on a workbench, and photographed by EIH when each robot joint orderly rotates. The EIH is calibrated by ZHANG two steps method and its every frame optical center is gained in the target's coordinate at the shooting position. With every trajectory circle of the optical center by each joint alone movement before, according space circle curve fitting, the center of the circle is gained, and then obtain the orientation of rotating axes, optimized by tirfocal tensor. Each joint screw is obtained. Then the robot kinematics model is established, based on the product of exponential (POE) by joints screws. The entire process requires only once installation and a collection of calibration images. Experiments show the method is feasible and convenient to set up the robot kinematics model.

Key words: EIH, joint screw, product of exponential, robot calibration, trifocal tensor

中图分类号:

TP24

李兵, 傅卫平, 王雯, 杨世强. 一种基于EIH的装配机器人标定方法[J]. 机械工程学报, 2018, 54(7): 38-44.

LI Bing, FU Weiping, WANG Wen, YANG Shiqiang. EIH Based Calibration Method for Assembly Robot[J]. Journal of Mechanical Engineering, 2018, 54(7): 38-44.

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一种基于EIH的装配机器人标定方法

EIH Based Calibration Method for Assembly Robot

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