臂载线结构激光手眼矩阵的精确标定——多坐标系转换法

doi:10.16183/j.cnki.jsjtu.2019.033

摘要/Abstract

摘要： 针对臂载线结构激光手眼结构的标定问题，提出一种多坐标系转换法.该方法借助激光跟踪仪和标定物，测量末端连杆和线激光坐标系相对于激光跟踪仪的齐次变换矩阵，从而快速计算线激光坐标系相对于机械臂末端连杆坐标系的手眼矩阵.该方法具有操作简便、误差小、精度高、对实验器材没有严格要求等优点.使用移动-转动-移动(PRP)三自由度机械臂进行手眼矩阵标定实验.实验结果表明：手眼矩阵旋转轴测量误差小于0.001，旋转角度误差小于0.07°，位移矩阵误差小于0.25mm.该方法适用于任意二自由度及以上的机械臂与二维或三维传感器形成手眼结构的手眼矩阵标定.

关键词: 线激光, 手眼标定, 串联机械臂, 多坐标系转换法

Abstract: Aimed at the calibration of line-structured laser mounted on manipulator, this paper presents a novel method, i.e., multiple coordinates transformation (MCT) for calibrating the hand-eye matrix. With the help of a laser tracker and reference object, the coordinates of end-effector and line-structured laser are measured with respect to laser tracker coordinate. Thus, the hand-eye matrix of laser coordinate with respect to the end-effector coordinate can be calculated indirectly and quickly. This method is easy to operate. It has the advantages of small errors, high precision, and low requirements for the experimental equipment. Experiments on the prismatic-rotational-prismatic (PRP) 3 degree-of-freedom robot arm mounted with line-structured laser are conducted. The results show that the rotational axis error is within 0.001, the rotational angle error is within 0.07°, and the translational matrix error is within 0.25mm. The method proposed can be used to calibrate the hand-eye matrix of any two or more degree-of-freedom manipulator mounted with two- or three-dimensional laser sensors.

Key words: line-structured laser, hand-eye calibration, serial manipulator, multiple coordinates transformation (MCT)

中图分类号:

TP 242.6

经小龙, 胡源, 郭为忠. 臂载线结构激光手眼矩阵的精确标定——多坐标系转换法[J]. 上海交通大学学报, 2020, 54(6): 607-614.

JING Xiaolong, HU Yuan, GUO Weizhong. High-Accuracy Calibration of Hand-Eye Matrix of Line-Structured Laser Sensor: Multiple Coordinates Transformation[J]. Journal of Shanghai Jiaotong University, 2020, 54(6): 607-614.

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