| 两步法标定机器人手眼关系研究 |
| |
| 引用本文： | 谢发忠,吴年祥.两步法标定机器人手眼关系研究[J].长春工程学院学报(自然科学版),2012,13(3):112-116. |
| |
| 作者姓名： | 谢发忠 吴年祥 |
| |
| 作者单位： | 安徽国防科技职业技术学院机电工程系,安徽六安,237011;安徽国防科技职业技术学院机电工程系,安徽六安,237011 |
| |
| 基金项目： | 安徽省教育厅自然科学资助项目(KJ2011B036);院级教科研项目(2011gfyy12) |
| |
| 摘 要： | 基于齐次坐标变换矩阵的几何意义,采用两步法对机器人手眼方程进行求解,并结合手眼方程的解存在唯一性的条件,设计编写求解程序,验证机器人手眼空间位置关系,结果表明,该方法完全能够满足系统精度要求。
|
| 关 键 词： | 机器人 手眼关系 两步法 |
Robot calibration technology by two steps hand-eye relationship |
| |
| Institution: | XIE Fa-zhong,etc.(Department of Mechanical & Electrical Engineering,Anhui Vocational College of Defence Technology,Liuan Anhui 237011,China) |
| |
| Abstract: | Based on the geometric meaning of coordinate transformation matrix of the homogeneous,by using two steps work to solve robot hand-eye equation,and connecting with the condition of existence and uniqueness of the solution to the hand-eye equation,the author designs solving program,and verifies robot hand-eye space relationship.The results show that this method can completely meet to the accuracy in the system. |
| |
| Keywords: | robot hand-eye relationship two steps |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
