CAJ | 학술논문

针对补强片自动贴片系统的手眼标定问题，为了消除相机安装的垂直度偏差带来的误差，提出了一种新的手眼标定方法。使用标定板得到相机的外参数，将外参数与常规的二维标定模型相结合，从而间接计算出相机坐标系与机器人基础坐标系的齐次坐标转换矩阵，使手眼标定模型扩展为三维。三维模型的标定计算误差小于0．1μm，相比二维模型降低了1个数量级，有效提高了标定计算精度。利用厚度较小的菲林修正齐次坐标变换矩阵的Z方向分量，系统具有较高的定位精度，手眼标定的误差绝对值小于0．015mm，有效减小了误差均值，设备性能得到大幅提高。该方法在系统可控自由度有限的情况下，能够得到手眼标定问题的唯一解，提出的三维模型中包括了相机的完整姿态信息，相比常规的标定方法没有相机安装等额外的限制条件，能有效提高系统的手眼标定精度。
침대보강편자동첩편계통적수안표정문제，위료소제상궤안장적수직도편차대래적오차，제출료일충신적수안표정방법。사용표정판득도상궤적외삼수，장외삼수여상규적이유표정모형상결합，종이간접계산출상궤좌표계여궤기인기출좌표계적제차좌표전환구진，사수안표정모형확전위삼유。삼유모형적표정계산오차소우0．1μm，상비이유모형강저료1개수량급，유효제고료표정계산정도。이용후도교소적비림수정제차좌표변환구진적Z방향분량，계통구유교고적정위정도，수안표정적오차절대치소우0．015mm，유효감소료오차균치，설비성능득도대폭제고。해방법재계통가공자유도유한적정황하，능구득도수안표정문제적유일해，제출적삼유모형중포괄료상궤적완정자태신식，상비상규적표정방법몰유상궤안장등액외적한제조건，능유효제고계통적수안표정정도。
To eliminate the error of hand‐eye calibration caused by installation error associated with the verticality of the camera's optic axis in the automatic stiffness bonder ,we proposed a novel method to calculate the homogeneous coordinate transformation between the camera frame and the robot base frame .The external parameters of camera obtained with the calibra‐tion boards ,were combined with the conventional 2D calibration model ,thereby extending the dimensions of the model to 3 and effectively improving the calculation accuracy .The calcula‐tion error of the calibration with the 3D model is less than 0 .1μm ,which decreases by an order of magnitude compared with the 2D model .Using the thin films to modify the value in Z direc‐tion in coordinate transformation ,the system has high location precision and the error of the calibration is less than 0 .015 mm .The mean error is reduced effectively ,and the performance of system is significantly improved .T he proposed method is capable to obtain the unique solu‐tion of calibration equation with the finite degree of freedom system .The 3D calibration model including the whole information associated with the camera pose ,has no additional constraints such as camera installation ,and can effectively improve the accuracy of hand‐eye calibration .