The Study Of Robot Hand Eye Calibration Technique For Visual Three-dimensional Measurement

Since 21 th century,all kinds of robots have gradually stepped onto the historical stage and infiltrated into many fields.In particular,the robot with hand eye function plays an important role in industry,machinery manufacturing,aviation exploration and other fields.In addition,in order to make robot with vision coordinate hand-eye relationship accurately,it is necessary to increase the research on hand-eye calibration technology.In this paper,Eye-in-Hand type robot hand-eye system and robot hand-eye calibration technology are studied.The specific contents of the study are as follows:Firstly,the background and significance of robot vision measurement and hand eye calibration are discussed in this paper.The development and key technologies of robot hand eye calibration based on machine vision are comprehensively discussed.The internal and external parameters of the camera are obtained by establishing the camera aperture imaging model.Finally,the validity of the camera calibration is verified by the 3D reconstruction experiment based on the point.Secondly,the traditional two-step method,the matrix-based algorithm and the direct matrix-based algorithm is given to improve the overall design.At the same time,the method of calculating the rotation axis and angle of general rotation transformation are discussed.An improved algorithm based on kronecker product is proposed in this paper to linearize the calibration equation and analyze it in detail.Finally,according to the three algorithms proposed in this paper,the robot hand-eye calibration experiment is completed.In this paper,the traditional two-step method and the kronecker product algorithm are used to calibrate the hand-eye relationship.Secondly,the improved algorithm based on the kronecker product is validated by C++ language.Through three-dimensional measurement point experiment and error analysis show that there is a certain error based on the kronecker product improvement algorithm,but the error is within the allowable range.Compared with the traditional two-step method and kronecker product algorithm,the improved algorithm has higher stability and accuracy.The effectiveness of the improved algorithm based on the kronecker product is verified by experimental data and error analysis.