Hand-eye Calibration Method for Visual Robot Based on Circular Calibration Board
A hand-eye calibration method based on a circular hole calibration board is proposed for the robot system guided by a line laser sensor.This method uses the centroid of the circular holes on the calibration board as fixed points of constraint and establishes a hand-eye calibration model that combines the robot's kinematic parameters.It is compared with the traditional standard sphere method on the same experimental platform.After obtaining the calibration results,a high-precision plane is scanned and the point cloud of the plane is obtained.The root mean square error between the point cloud and the least squares fitted plane is calculated as the evaluation parameter for the hand-eye calibration accuracy.Compared with the standard sphere method,this method achieves more accurate collection of the position coordinates of fixed points in the space under the coordinate system of the line laser sensor.Additionally,it incorporates the robot's kinematic parameters into the hand-eye calibration model.As a result,the root mean square error of the plane measurement is reduced from 0.212 mm in the standard sphere method to 0.065 mm,proving the superiority of the proposed method.
万方数据
维普
