一种新的机器人手眼关系标定方法

通过控制装有摄像机的机械手的运动，给出了一种新的机器人手眼系统标定方法．与以往算法的不同之处在于，在计算手眼关系的平移向量时，对摄像机坐标系进行虚设旋转变换使旋转转化为平移问题．该方法需要机械手平台做两次平移运动和一次旋转运动，只需要场景中两个特征点，所以具有方便性和实用性．同时，也给出了基于主动视觉的空间点深度值计算方法．

A New Calibration Approach to Hand-Eye Relation of Manipulator

We present a new hand-eye calibration method on the basis of controlling motion of manipulator mounted with a camera. Different from other algorithms, this method utilizes nominal rotation for camera coordinate to make rotation transform into translation. The algorithm needs the manipulator to execute two translation motions and a rotation motion, and requires only two feature points in the scene. The algorithm is both convenient and practical in application. At the same time we also present an active-vision-based calculational method for depth value of points in the scene.