引用本文: 刘佳君, 孙振国, 张文增, 陈强. 基于平面约束的欠驱动爬壁机器人手眼标定方法[J]. 机器人, 2015, 37(3): 271-276,285.
LIU Jiajun, SUN Zhenguo, ZHANG Wenzeng, CHEN Qiang. Plane-constraint Based Hand-Eye Calibration Method for Underactuated Wall-climbing Robot[J]. ROBOT, 2015, 37(3): 271-276,285.
 Citation: LIU Jiajun, SUN Zhenguo, ZHANG Wenzeng, CHEN Qiang. Plane-constraint Based Hand-Eye Calibration Method for Underactuated Wall-climbing Robot[J]. ROBOT, 2015, 37(3): 271-276,285.

## Plane-constraint Based Hand-Eye Calibration Method for Underactuated Wall-climbing Robot

• 摘要: 欠驱动机器人因难以像全主动关节机器人一样形成多种空间位姿，故无法直接使用经典的手眼标定方法.为解决这一问题，本文建立了其数学模型，并提出了一种基于平面约束的手眼标定方法.在该方法中，末端执行器的运动被约束于 3 维空间内的已知平面上，手眼标定的姿态矩阵和平移向量分别通过纯平移与纯旋转运动模式，结合对应的标定图像进行解耦求解.蒙特卡洛仿真实验结果表明，该标定算法有效、准确，且对噪声具有较好的鲁棒性.在所开发的欠驱动爬壁机器人上进行的实际试验中，定位误差被控制在 1.5mm 以内.结果表明该标定方法简便易行，精度满足要求.

Abstract: The underactuated robot has difficulties in realizing multiple pose variations as fully articulated robots, therefore the classical hand-eye calibration method can not be directly applied. To solve this problem, a mathematical model is developed and a hand-eye calibration method is proposed based on plane constraints. In this method, the motion of the end effector of the underactuated robot is constrained on a predetermined plane in 3D space. The pose matrices and translation vectors in hand-eye calibration are decoupled through pure translation and rotation motions of the end effector according to corresponding calibration images. Monte Carlo simulations demonstrate the effectiveness and accuracy of the method, as well as its robustness against noises. The experiment on the developed underactuated climbing robot is performed, and the localization error is controlled under 1.5 mm. The results prove that the proposed method is simple and accurate enough for practical applications.

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