基于运动路径靶标的空间机器人视觉标定方法

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基于运动路径靶标的空间机器人视觉标定方法

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基于运动路径靶标的空间机器人视觉标定方法

张李俊, 黄学祥, 冯渭春, 胡天健, 梁书立

北京跟踪与通信技术研究所, 北京 100094

Space Robot Vision Calibration with Reference Objects from Motion Trajectories

ZHANG Lijun, HUANG Xuexiang, FENG Weichun, HU Tianjian, LIANG Shuli

Beijing Institute of Tracking and Telecommunications Technology, Beijing 100094, China

摘要 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． 关键词 ： 视觉标定,  靶标,  运动路径,  误差分析,  机械手    Abstract：For lack of reference objects in space, an on-orbit vision calibration method is proposed based on the precise localization of manipulator end of space robot, which generates reference objects through programming motion trajectories of the manipulator. Firstly, a general framework of the method is introduced. Secondly, error analysis is applied to the calibration method. According to the prior knowledge that the calibration error of the chessboard target is linear to the image coordinate error of the control point, the error transfer from localization of manipulator end to the image coordinate of the control point is derived, and an equivalent error of the image coordinate of the control point is further derived by the combination of the two kinds of errors. Finally, the linear relationship between the calibration error and the equivalent error is validated by simulation experiments, and the effects of reference object size, relative distance, control point density and structure factors on the accuracy of the proposed vision calibration method are analyzed. Key words： vision calibration           reference object           motion trajectory           error analysis           manipulator 收稿日期: 2015-11-11      1: TP391 基金资助:国家自然科学基金（11402004） 通讯作者: 张李俊，zljun@mail.ustc.edu.cn    E-mail: zljun@mail.ustc.edu.cn 作者简介: 张李俊（1991-），男，硕士生.研究领域：机器视觉和视觉测量. 黄学祥（1970-），男，研究员，硕士生导师，研究领域：空间操作. 引用本文:    张李俊, 黄学祥, 冯渭春, 胡天健, 梁书立. 基于运动路径靶标的空间机器人视觉标定方法[J]. 机器人, 2016, 38(2): 193-199.         ZHANG Lijun, HUANG Xuexiang, FENG Weichun, HU Tianjian, LIANG Shuli. Space Robot Vision Calibration with Reference Objects from Motion Trajectories. ROBOT, 2016, 38(2): 193-199.