基于两步法的激光轮廓仪手眼标定方法研究

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DENG Li¹，ZHANG Yilian²，LIU Gangl*，ZHANG Yue 2 ，MIAO Yuqi²

（1. School ofMechanical and Automotive Engineering，Shanghai University of Engineering Science， Shanghai 201620，China; 2. School ofMechatronic Engineering and Automation，Shanghai University，Shanghai 2OO444，China） * Corresponding author， E -mail： liugang @sues. edu. cn

Abstract： In order to improve the accuracy of hand-eye calibration in the cooperative operation between line laser profilers and robots，a calibration method based on the two-step method was proposed． The method utilized a commonly available calibration sphere as thecalibration object，and constructed the solution equations according to the characteristic of the sphere center coordinates being constant in the robot coordinate system.By changing the atitude once and translating once in a special measurement way，the direction and position matrices were solved independently by associating the solution equations in diferent attitudes.The experimental results show that the standard deviations of the spherical center coordinates in the X and Y directions of the two-step method are 0.3249mm and 0.2462mm ，respectively，which are （204号 29.5% and 61.5% higher than those of the one-step method of 0.4608mm and 0.6391mm ，respectively. In addition，in the sphere fiting experiments，the difference between the radius of the sphere fitted by the two-step method and the nominal radius of 14.996mm is 0.019mm ，while that of the one-step method is 0.278mm ，which is a higher fitting accuracy of the two-step method. The two-step hand-eye calibration method proposed in this paper significantly improves the calibration accuracy and 3D fiting accuracy compared to the one-step method.

Key words： hand-eye calibration；line laser profiler；calibration sphere；homogeneous transformation matrix

1引言

工业4.0技术的快速发展加速了机器视觉系统在机器人自动化中的集成，激光轮廓仪以其高精度和无损测量能力而闻名，可提供密集的轮廓点云数据[1]，广泛应用于逆向工程2、质量检测[3]，精密测量[4-5]和自动涂胶[]等。（剩余10377字）