Hand-Eye Calibration Method for Robot and Binocular Camera
In order to obtain the model data of drill bit in the coordinate system of laser cladding robot,the robot and binocular camera are needed to calibrate.A method of hand-eye calibration is proposed to solve this problem.Change the robot posture to measure the same point.The DH model of the robot was established and the transformation matrix between the coordinate system at the end of the robot and the binocular camera was calculated by using the forward kinematics equation of the robot.The calibra-tion of the hand-eye measurement system was completed.Based on this calibration method,error measurement and laser cladding experiments were carried out.The reason of error is analyzed and the method of reducing error is put forward.The experimental re-sults show that the hand-eye calibration method of robot and binocular camera is effective and can be used in the laser cladding system of PDC bit.
Hand-Eye CalibrationIndustrial RobotDH ModelBinocular Camera
NETL
NSTL
万方数据
维普
