一种机器人手眼关系混合标定方法

针对机器人手眼关系的求解问题，在现有研究方法基础上，将传统方法高精度的优点和主动视觉方法的简单易实现性相结合，提出了一种新的混合求解方法；只需机器人进行两次正交平移运动及分别对标定板成像一次，即可标定手眼旋转矩阵R，再指导机器人移动到标定板原点，即可求解手眼平移矩阵T。以自主研发的平方六轴串联机器人为实验对象，应用所提出方法求解出手眼关系，并用传统方法对所求结果进行分析，证明该方法误差在1 mm以内，不需要求解复杂的传统方程，且准确度高、易实现。

Mixed calibration approach for hand eye relation of robot

For the solution of the robotic hand eye calibration, on the basis of existing research methods, a new method which combines the advantage of the high precision of traditional calibration method with the active visual method was proposed.This method lets the robot perform orthogonal translational motion only twice and photograph the calibration plate in each position separately, so it can solve the hand eye rotation matrix R, then it guides the robot move to the origin of the calibration plate, and can solve the hand eye translation matrix T. Using the Pingfang 6 degree of freedom( DOF) serial robot as an experiment example, we applied the proposed method to calculate the hand eye relation matrix, then used the traditional equation to analyze the accuracy of the calculation result, finally proved that the error of this method was within 1 mm. This method can achieve high accuracy and easy implement without the consideration of solving complex traditional equation.