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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Globally Optimal Symbolic Hand-Eye Calibration
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Globally Optimal Symbolic Hand-Eye Calibration

机译：全球最佳的象征性手眼校准

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摘要

Hand-eye calibration (HEC) is a kernel technique guaranteeing precision industrial visual servoing and robotic grasping. Extensive studies have been conducted to various closed-form and iterative solutions to HEC problems using different pose parameterizations. However, these approaches are either sensitive to input noise or time-consuming for implementation. This article provides a new perspective on a deterministic solution to two major branches of HEC problems of forms AX = X B and AX = YB. We use symbolic methods to derive a globally optimal solution. Different from representatives based on optimization, this method is not only the most accurate against others but also with repeatability of 100%. Experiments via industrial robotic manipulator verify the superiority of the proposed algorithm.
机译：手眼校准（HEC）是一种核心技术，保证精密工业视觉伺服和机器人抓握。 使用不同的姿势参数化对HEC问题进行了广泛的研究。 但是，这些方法对于输入噪声或实现耗时是敏感的。 本文提供了一个新的透视图，即确定AX = X B和AX = Yb的HEC HEC问题的两个主要分支。 我们使用符号方法来推导全球最佳解决方案。 与基于优化的代表不同，这种方法不仅是对他人最准确的，而且还具有100％的可重复性。 通过工业机器人机械手的实验验证了所提出的算法的优越性。

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  • 来源
    《Mechatronics, IEEE/ASME Transactions on》 |2021年第3期|1369-1379|共11页
  • 作者

    Wu Jin; Liu Ming; Zhu Yilong; Zou Zuhao; Dai Ming-Zhe; Zhang Chengxi; Jiang Yi; Li Chong;

  • 作者单位

    Hong Kong Univ Sci & Technol Dept Elect & Comp Engn Hong Kong Peoples R China;

    Hong Kong Univ Sci & Technol Dept Elect & Comp Engn Hong Kong Peoples R China;

    Hong Kong Univ Sci & Technol Dept Elect & Comp Engn Hong Kong Peoples R China;

    Hong Kong Univ Sci & Technol Dept Elect & Comp Engn Hong Kong Peoples R China;

    Cent South Univ Sch Aeronaut & Astronaut Changsha 410083 Peoples R China;

    Harbin Inst Technol Sch Elect & Informat Engn Harbin 150700 Peoples R China;

    Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110819 Peoples R China|Northeastern Univ Int Joint Res Lab Integrated Automat Shenyang 110819 Peoples R China;

    Ocean Univ China Dept Automat & Measurement Qingdao 266100 Peoples R China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Global solution; hand-eye calibration (HEC); robotic perception; robotic manipulator; symbolic computation;

    机译：全球解决方案;手眼校准（HEC）;机器人感知;机器人操纵器;象征性计算;

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