Research on Hand-Eye Calibration Method of Bin-Packing Robot Based on 3D Camera
In order to improve the accuracy of hand-eye calibration of bin-packing robot,an improved parti-cle swarm optimization algorithm combining ordered-point cloud and dual quaternion was designed.Firstly,the hand-eye calibration data with different gestures were obtained by the three-layer ladder sampling meth-od,and then the center of the circular calibration plate was extracted.The rotation and translation matrix of the calibration point was solved by the weighted singular value decomposition scheme,which reduced the noise interference.Finally,the rigid transformation matrix is converted into dual quaternion,and the rotation and shift parts of the hand-eye matrix are solved by an improved adaptive particle swarm optimization algo-rithm.The experimental results show that the proposed method can process the calibration data stably and the av-erage error is less than 2.5 mm,which is better than Tsai's method and the traditional dual quaternion method.
NETL
NSTL
万方数据
维普
