22B-E012H204
22B-E012H204
对于眼在手外的情况，即相机固定在机械臂外部，不随机械臂运动，工业场景下的常用手眼标定方法是把标定板固定在机械臂末端，机械臂带着标定板运动多个姿态，固定在机械臂外某处的相机拍摄每个姿态下标定板的图像，并记录机械臂末端位姿。可以建立闭环运动链方程，求解的方程AX=XB，A与相机相关，B与机械臂相关，X为手眼矩阵，表示相机坐标系到机械臂基坐标系的变换关系。
但是，由于缺乏红外光源和标定板，无法从带激光散斑的红外图像中准确提取标定板角点，上述常用的手眼标定方法难以实施，故本项目采取一种更为直接的手眼标定方法。具体做法是：
● 找到一个有4个顶点的物体（如包装盒），用深度相机扫描该物体获得点云，获取4个顶点在点云相机坐标系下的坐标；
● 把机械臂的TCP（Tool Center Point，工具中心点）做到引导设备末端，用引导设备末端去触碰那4个顶点，获取4个顶点在机械臂基座坐标系下的坐标；
● 通过4个顶点在点云相机坐标系下的坐标、机械臂基座坐标系下的坐标，求解出点云相机坐标系到机械臂基坐标系的变换关系，完成手眼标定。
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