激光视觉机器人焊接中同时标定摄像机和手眼关系的方法

摄像机和机器人手眼标定是视觉机器人应用中的重要组成部分。针对激光视觉机器人焊接，根据机器人手眼矩阵和机器人末端对基坐标系的位姿矩阵的特定关系，提出了一种同时标定摄像机和机器人手眼的方法。用所设计的标定物对此方法进行标定试验，由非线性最小二乘优化法求解待标定的参数。从焊缝上取20个样点，利用标定结果恢复其三维空间坐标，并与实际三维坐标对比，平均误差为0.12mm，满足焊缝跟踪要求。

Simultaneous Calibration for Camera and Hand-Eye in Robot Welding with Laser Vision

Camera calibration and robot hand-eye calibration are important parts in applications of vision robot. A way to simultaneously carry out camera calibration and robot hand-eye calibration is presented to robot welding with laser vision, which is based on a certain relation between hand-eye matrix and that of robot hand frame to robot base frame. Calibration experiments are performed in this way with specifically designed calibration objects and parameters to be calibrated are solved out in nonlinear least square optimization method. 3D space coordinates of 20 sample points selected from a seam are reconstructed with the calibration results. Contrasting real coordinates, even error is 0.12mm, which is sufficient to the requirement of seam tracking.