Research on Kinematic Calibration of Five-Axis Platform Based on Geometric Hand-Eye Calibration
Kinematic calibration is one of the effective ways to improve the absolute positioning accuracy of multi-axis moving platform.When the vision system is used as the terminal pose measurement equipment,the accurate hand-eye relationship should be calibrated first,so as to connect the measured data of the vision sys-tem with the movement of the terminal platform.The traditional hand-eye calibration method requires an ac-curate kinematic model to accurately calculate the hand-eye relationship matrix,but the kinematic geometric parameters are not calibrated,which leads to errors in the kinematic model,and also leads to errors in the ki-nematic hand-eye relationship matrix.To solve this problem,a geometric hand-eye calibration method is pro-posed,which can obtain accurate hand-eye relationship without calibration kinematics model.This method first calibrates the direction vector of the platform translation axis,and then establishes an optimization func-tion to identify the attitude matrix of the hand-eye relationship.Then,the position matrix of the hand-eye rela-tionship is obtained through the platform rotation axis movement calibration.Finally,the hand-eye matrix ob-tained by this method is used to calculate the end movement data of the platform for kinematic calibration.The experimental results show that the proposed method has good stability and accuracy,and the hand-eye calibration results meet the kinematic calibration requirements of multi-axis motion platform.
万方数据
维普
