三维形貌柔性测量系统标定方法及验证
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摘要
为了避免机器人模型误差对三维形貌柔性测量系统手眼标定的影响,对手眼关系的标定方法进行了研究。提出了一种融合特征点拟合的手眼标定方法。将三维形貌扫描仪安装在工业机器人末端搭建三维形貌柔性测量系统。标定时,首先利用激光跟踪仪对工业机器人末端法兰盘坐标系进行测量,得到两者转换关系;然后,利用三维形貌扫描仪和激光跟踪仪对空间固定的特征点组进行测量,利用特征点约束和基于罗德里格矩阵的算法求解两者转换关系即可间接地求解出手眼关系。基于ATOS三维扫描仪、安川HP20D机器人和API公司生产的激光跟踪仪进行了手眼标定实验,并进行了精度验证。结果表明:标定后的三维形貌柔性测量系统,其重复性测量精度(3σ)不超过0.1mm,长度测量精度的均方根误差在0.2mm以内,点云拼接精度优于±0.7mm。该方法有效避免了传统手眼标定过程中会引入机器人模型误差的问题,在求解手眼关系解时采用了线性的解法,并且适用于三维形貌柔性测量系统。
In order to avoid the influence of robot model error on the hand-eye calibration of a three-dimensional shape flexible measurement system,the hand-eye calibration method was investigated.A calibration method based on the feature points fitting was proposed.The 3 Dshape measurement robotic system was established with a 3 Dshape scanner mounted on the robot end.In the calibration,the robot end coordinate system was measured with a laser tracker to obtain their transformation relationship.Then,3 Dshape scanner and laser tracker were used for measuring feature points which fixed in the measurement field,and the transformation relationship between them could be identified by the constraint of feature points and the algorithm of Rodrigues matrix.Consequently,the hand-eye relationship was established directly.Experiment of hand-eye calibration was based on ATOS 3 Doptical scanner,Yaskawa-Hp20 Drobot and API laser tracer,and accuracy verification experiments were carried out.The verification experimental results show that the repeatability accuracy(3σ)of 3 Dshape robotic measurement system is better than 0.1 mm,the root-mean-square(RMS)error of distance is within0.2 mm,and the accuracy of point cloud stitching is better than 0.7 mm after calibration.Meanwhile,this method can effectively avoid robotic model error which can be introduced in the process of traditional hand-eye calibration,the solution procedure adopts the linear method,and this method adapts to the3 Dshape measurement robotic system.
In order to avoid the influence of robot model error on the hand-eye calibration of a three-dimensional shape flexible measurement system,the hand-eye calibration method was investigated.A calibration method based on the feature points fitting was proposed.The 3 Dshape measurement robotic system was established with a 3 Dshape scanner mounted on the robot end.In the calibration,the robot end coordinate system was measured with a laser tracker to obtain their transformation relationship.Then,3 Dshape scanner and laser tracker were used for measuring feature points which fixed in the measurement field,and the transformation relationship between them could be identified by the constraint of feature points and the algorithm of Rodrigues matrix.Consequently,the hand-eye relationship was established directly.Experiment of hand-eye calibration was based on ATOS 3 Doptical scanner,Yaskawa-Hp20 Drobot and API laser tracer,and accuracy verification experiments were carried out.The verification experimental results show that the repeatability accuracy(3σ)of 3 Dshape robotic measurement system is better than 0.1 mm,the root-mean-square(RMS)error of distance is within0.2 mm,and the accuracy of point cloud stitching is better than 0.7 mm after calibration.Meanwhile,this method can effectively avoid robotic model error which can be introduced in the process of traditional hand-eye calibration,the solution procedure adopts the linear method,and this method adapts to the3 Dshape measurement robotic system.
引文
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[2]HELLER J,HENRION D,PAJDIA T.Hand-eye and robot-world calibration by global polynomoal[C].USA:IEEE,2014:3157-3164.
[3]TSAI R Y,LENZ R K.A new technique for fully autonomous and efficient 3Drobotics hand/eye calibration[J].IEEE Transactions on Robotics&Automation,1989,5(3):345-358.
[4]CHOU J C K,KAMEL M.Finding the position and orientation of a sensor on a robot manipulator using quaternions[J].International Journal of Robotics Research,1991,10(3):240-254.
[5]ZUANG H Q,SHIU Y C.A noise-tolerant algorithm for robotic hand-eye calibration with or without sensor orientation measurement[J].IEEE Transactions on Systems,Man and Cybernetics,1993,23(4):1168-1176.
[6]HORAUD R,DORNAIKA F.Hand-eye calibration[J].International Journal of Robot Research,1995,14(3):195-210.
[7]ZHAO Lei,ZHAO Xihua,WANG Shoujun,et al..RPY modeling and error cal8ibration of flexible measuring arm[J].Optics and Precision Engineering,2016,24(2):365-371.赵磊,赵新华,王收军,等.柔性测量臂的RPY建模与误差标定[J].光学精密工程,2016,24(2):365-371.
[8]YU Yueqing,TIAN Hao.Error and compensation of parallel robot with joint clearances[J].Optics and Precision Engineering,2015,23(5):1331-1339.余跃庆,田浩.运动副间隙引起的并联机器人误差及其补偿[J].光学精密工程,2015,23(5):1331-1339.
[9]LIU Changjie,DUAN Yu,WANG Yi,et al.Study on the field calibration technology of robot flexible coordinate measurement system[J].Journal of Mechanical Engineering,2010,46(18):1-5.刘常杰,段宇,王一,等.机器人柔性坐标测量系统现场校准技术研究[J].机械工程学报,2010,46(18):1-5.
[10]Tao Wuyong,LU Tieding,WU Fei,et al.Algorithm of structure total least squares in coordinate transformation based on Lodrigues matrix[J].Geotechnical Investigation&Surveying,2015,43(4):56-65.陶武勇,鲁铁定,吴飞,等.罗德里格矩阵坐标转换模型的结构总体最小二乘估计[J].工程勘察,2015,43(4):56-65.
[11]曾文宪,方兴,刘经南,等.通用EIV平差模型及其加权整体最小二乘估计[J].测绘通报,2016,45(8):890-894.ZENG Wenxian,FANG Xing,LIU Jingnan,et al.Weight total least squares of universal eiv adjustment model[J].Acta Geodaetica et Cartographica Sinica,2016,45(8):890-894.
[12]ZHAO Yanhui,LI Lijuan,LIN Xuezhu.Application of WTLS in coordinate transformation of laser tracker[J].Optics and Precision Engineering,2015,23(9):2570-2577.赵延辉,李丽娟,林雪竹.加权整体最小二乘法在激光跟踪仪转站中的应用[J].光学精密工程,2015,23(9):2570-2577.
[13]HUANG Peng,WANG Qing,LI Jiangxiong,et al.Comprehensive optimization for three-dimensional coordinate transformation[J].Computer Integrated Manufacturing Systems,2015,21(11):2912-2919.黄鹏,王青,李江雄,等.激光跟踪仪三维坐标转换综合优化方法[J].计算机集成制造系统,2015,21(11):2912-2919.