论文部分内容阅读
针对一种特殊的仿人双臂移动机器人,基于双目视觉算法,在分析其运动关系的基础上,利用移动机器人的本体手臂,采用几何法和位姿分离法相结合的算法,对仿人机器人头部相机的位姿进行了标定.该标定算法无须外部标定模板,可快速准确地建立移动机器人视线坐标系和基础坐标系的位姿转换矩阵.实验结果验证了该标定算法的有效性,算法能满足移动机器人的手臂作业要求.
Aiming at a special kind of humanoid two-arm mobile robot, based on the binocular vision algorithm, based on the analysis of its motion relationship, using the mobile robot’s body arm, a combination of geometric method and pose-separation algorithm, The pose of head camera is calibrated.The calibration algorithm can quickly and accurately establish the pose-and-transition matrix of the line-of-sight coordinate system and the basic coordinate system of the mobile robot without the external calibration template.The experimental results verify the effectiveness of the calibration algorithm, the algorithm Can meet the mobile robot arm operation requirements.