机器人手眼标定的初步估计

Hong-Jian Liu, Fanhuai Shi, Yun-cai Liu, Yi Luo
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引用次数: 1

摘要

提出了一种用于机器人手眼关系标定的初始估计方法。经典方法主要集中于求解基本方程AX=XB,其中X为未知传感器相对于机械手的位置,A为机器人运动,B为摄像机运动。在求解方程的优化过程中,需要有初始值。不合适的初始值往往会导致很大的误差。该方法在获得良好的初始值方面具有很大的优势,可以有效地避免经验引入的误差。通过实际实验验证了所提出的方法,取得了良好的效果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Initial estimates for robotic hand-eye calibration
An initial estimates method for calibration of a robotic hand-eye relationship is presented in the paper. Classical methods mainly concentrate on solving the basic equation AX=XB, where X is the unknown sensor position relative to the robot hand, A is the robot motion, B is the camera motion. In optimizing process of solving the equation, initial values are needed. Unsuitable initial values often lead to a big error. The proposed method has a large advantage on getting a fine initial value, which can avoid errors introduced by experience effective. Real experiments have been used to test the proposed method and good results have been obtained.
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