摘要
在分析微操作机器人结构特点的基础上确定了待标定参数,提出了一种基于显微视觉的自标定方法。通过动态跟踪随机器人运动的目标来计算其图像坐标,采用最小二乘法拟合目标运动轨迹在显微镜坐标平面中的投影直线,并结合高精度机器人的位移量,经过几何投影和变换,标定出待标定坐标到显微镜坐标的转换矩阵。该标定方法无需特殊辅助测量仪器。实验表明,角度标定重复性好,位置标定误差小于 2 个像素。
The selection of calibration parameters is analyzed on the basis of analyzing the structural properties of micromanipulation robot and a systematic method based on micro-vision applying to self-calibration of micromanipulation robot is developed. By dynamically tracking and identifying a selected target on the moving robot and using the Least Square Error method to process the coordinate data calculated, a line, which is the projection of the target track on the plane in the microscope frame, can be derived. By geometrical transformation between the coordinates of target and the displacement of robot, the transformation matrix between the calibration frame and the microscope frame can be calibrated. The calibration method is economical since no further special devices are needed during calibration. Experiments show that the angular calibration has a good repeatability and position calibration error is less than 2 pixels.
出处
《光电工程》
EI
CAS
CSCD
北大核心
2005年第3期32-35,共4页
Opto-Electronic Engineering
基金
国家"863"项目
关键词
机器人显微视觉
微操作机器人
自标定
转换矩阵
Robot micro-vision
Micromanipulation robot
Self-calibration
Transformation matrix
