关键词: 标定, 机器人, 摄像机, 轴线

Abstract: To identify the accurate parameters of the robot model, a method of robot calibration based on monocular vision is presented. A camera is fixed on the robot or the prolonged stick, and rotates with the joint axes. By photographing a calibration points target, the radial-alignment-constraint (RAC) camera calibration method is done and the coordinate of the camera optical center in the world coordinate system can be obtained. The linear equation of joint axes can be gained by using camera optical centers’ coordinates. The robot kinematics model is established, and the accurate robot model geometrical parameters are obtained by the linear equation of joint axes. The experiments show that the results are accurate and the calibration procedure is simple and facilitative for practical application.

Key words: Calibration, Camera, Joint axes, Robot