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针对空间缺少标定靶标物的难题,基于空间机器人机械手的精确末端定位能力,提出了一种通过规划机械手运动路径生成靶标从而实现在轨视觉标定的方法.首先介绍了视觉标定方法的总体框架.然后对该标定方法进行了误差分析,根据棋盘靶标标定误差与控制点图像坐标误差满足线性关系的先验知识,推导了从机械手末端定位到控制点图像坐标的误差传递关系,并对两类误差进行合成得到了等效的控制点图像坐标误差.最后利用仿真实验验证了标定误差与等效误差满足线性关系,分析了靶标尺寸、相对距离、控制点密度和靶标结构因素对标定精度的影响.
Aiming at the problem of lacking of calibration target in space, a method of on-orbit visual calibration is proposed based on the precise end positioning ability of robot manipulator by planning the path of robot’s movement path.Firstly, the general framework of visual calibration method is introduced. Then The error analysis of the calibration method is carried out. According to the prior knowledge of the linear relationship between the calibration error of the checkerboard target and the coordinates error of the control point, the error transfer relationship from the end of the manipulator to the coordinates of the control point is deduced. The simulation results show that the calibration error and the equivalent error satisfy the linear relationship, and the influences of target size, relative distance, density of control points and target structure factors on the calibration accuracy are analyzed.