摘要：

传统的手眼关系齐次矩阵方程求解过程繁琐、复杂,且精度易受环境影响。为此,引入将图像坐标直接转换为机器人坐标的思想,利用OpenCV库函数的分析计算能力,提出基于两平面单应矩阵的手眼关系标定方法。采用虚拟“九宫格”和一个固定参考点的标定方式,建立线性 摄像机成像模型,得到两平面的单应矩阵,据此引导机械臂定位。实验结果表明,该方法完成标定程序只需38 s,且系统精度高于传统的齐次矩阵方程标定方法。

关键词: 手眼关系, OpenCV库函数, 单应矩阵, 摄像机成像模型, 机械臂定位

Abstract:

The traditional hand-eye relationship homogeneous matrix equation solving process is cumbersome and complicated,and the accuracy is susceptible to environmental influences.Therefore,based on the idea of converting image coordinates directly into robot coordinates,using the analysis computing ability of OpenCV library function,a hand-eye relationship calibration method based on two-plane homography matrix is proposed.Using the virtual “nine squares” and a fixed reference point calibration mode,a linear camera imaging model is established,and a two-plane homography matrix is obtained,thereby guiding the manipulator positioning.Experimental results show that the method is only 38 s,and the accuracy is higher than the traditional calibration method.

Key words: hand-eye relationship, OpenCV library function, homography matrix, camera imaging model, manipulator positioning

中图分类号: 

• TP18