Research On Measurement Method Of Object's Position And Orientation Based On Single Hand-Eye Vision

The hand-eye vision system is an important part of the space robot. It plays an essential role in the rendezvous docking of space robots and arm experiments. It provides the real-time position and orientation of the objects for space robot to perform the tasks, such as the functional tests, the in-orbit calibration, and identifying and capturing objects.This thesis studies the measurement method based on vision by single hand-eye camera, and realizes the real-time measurement of object's position and orientation. First, the guiding markers are designed. Second, the image acquiring equipment is introduced and image-processing methods are used. Next, the camera calibration methods are studied, including linear calibration and nonlinear calibration. The calibration between hand and eye is also researched, and the relationship of the position and orientation between the griper and camera is obtained. Furthermore, a measurement method of object's position and orientation is studied. This method is based on a closed-form solution through three time transforms of reference frame.Some experiments are conducted to validate the conclusions of this thesis in our laboratory and the department of automation at Anhui University. The experimental results show that the methods can meet the demands of vision measurement.