针对机器人手臂上装载的工件等对象与摄像机之间空间关系的标定问题,本文在传统机器人手眼标定的基础上提出了机器人延伸手眼标定的概念,将机器人手眼关系拓展为延伸手眼关系。该方法通过引入辅助摄像机,利用平面标定靶标以及由机器人延伸手上的矩形特征衍生出的大量标定特征点,实现了机器人延伸手眼标定。实验结果表明,该算法可有效的解决机器人延伸手眼标定问题,标定精度取决于机器人延伸手的几何尺寸精度和获得特征点的精度,文中实验结果的RMS为0.113mm。

In order to solve the problem of calibrating the position and orientation of an object on the robot hand with respect to the camera, Extended-eye-in-hand calibration is proposed from traditional eye-in-hand calibration, which extends the robot hand-eye relationship to extended hand-eye relationship. An assistant camera is introduced to accomplish robot extended-eye-in-hand calibration by using a planar calibration target and plenty of calibration points derived from the image feature of a rectangle on the robot extended hand. The results of the conducted real experiment illustrate the feasibility and validity of the method. The precision of the calibration depends on the precision of extended hand and the precision of the derived calibration points. In our experiment, the final Root Mean Square (RMS) is 0.113 mm.