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提出了一种用于空间物体定位的机器人手 眼视觉标定新方法 .该方法用一恒定变换矩阵描述末端执行器坐标系与机器人坐标系的对应关系 ,并假定在标定过程中 ,物体至摄像机的距离保持不变 ,将三维定位的问题简化为二维问题处理 ,极大地减少了计算量 .当末端执行器的位置变化时 ,不需要对系统进行重新标定 .实验结果表明 ,该方法计算量小、定位准确、可靠性高
A new method for robot hand vision calibration is proposed in this paper, which uses a constant transformation matrix to describe the relationship between the end effector coordinate system and the robot coordinate system. It is assumed that the distance from the object to the camera during calibration The problem of three-dimensional positioning is reduced to two-dimensional problem processing, which greatly reduces the amount of calculation.When the position of the end effector changes, it is not necessary to re-calibrate the system.The experimental results show that the method is small in computation, Accurate positioning, high reliability