A Rapid Eye-to-hand Coordination Method of Industrial Robots
Fengjun Hu · Journal of Information and Computational Science · 2013
A robotic eye-to-hand coordination technology was put forward based on depth camera and Bursa coordinate transformation model. This technology employed the Zhang Zhengyou’s calibration method to get intrinsic parameters of the depth camera and RGB camera, employed the triangulation measuring principles of infrared camera and infrared laser projector to get in-depth information of target, employed the imaging model of camera to finally get the coordinates of target in the coordinate system of camera, then described the relationship between camera coordinate system and world coordinate system of robot with Bursa model and finally solved the parameters of Bursa model with the indirect adjustment function model. It was demonstrated in the experiment that this simple and convenient hand-eye technology could carry out vision guiding tasks effectively.