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研究服务机器人智能空间中顶棚投影器的运动学建模和外参数标定问题.首先,利用D-H方法对投影器进行运动学建模;然后,给出一种全新的求解一类关于旋转矩阵方程组的非线性迭代优化算法,以完成投影器的外参数标定;最后进行了实验验证.实验结果表明,所提出的投影器建模方法和外参数标定算法具有很高的精度,经过标定后的投影器能够在地面上投射出完全按期望路径引导机器人运动的激光斑点,从而实现低成本服务机器人高效和精确地导航.
The problem of kinematic modeling and external parameter calibration of ceiling projector in service robot intelligent space is studied.Firstly, the projector is modeled by using DH method.And then, a new solution to a class of equations Nonlinear iterative optimization algorithm to complete the external parameters of the projector calibration; the last experimental verification.The experimental results show that the proposed projector modeling method and the external parameter calibration algorithm with high accuracy, after the projection The device projects laser spots that direct the robot’s movement exactly as expected on the ground, enabling efficient, precise navigation of low-cost service robots.