Automatic hand-eye calibration method based on mutation particle swarm optimization

Abstract

The invention discloses an automatic hand-eye calibration method based on variation particle swarm optimization, which initializes the pose of a manipulator, and extracts feature objects and feature points of feature objects from images; collects joint angle data of the manipulator and feature points in the camera coordinate system Then determine the transformation matrix from the end coordinate system of the manipulator to the base coordinate system of the manipulator, and the set matrix of the three-dimensional coordinates of the feature points in the camera coordinate system; use the online mutation particle swarm optimization algorithm to estimate the camera coordinate system and The conversion relationship parameters of the coordinate system at the end of the manipulator; calculate the optimal rotation angle of each joint through the energy optimal function, compensate the joint angle of the manipulator, and consider the distance limit between the center of mass of the feature point and the origin of the camera coordinate system to determine the next move direction; repeat the online mutation particle swarm optimization algorithm and the energy optimal function until the manipulator completes the fixed path. The invention reduces the calibration time and reduces the parameter estimation error.

Description

technical field [0001] The invention relates to the field of hand-eye calibration of a mechanical arm, in particular to an automatic hand-eye calibration method based on variation particle swarm optimization. Background technique [0002] With the continuous development of computer technology, robotic arms have been widely used in production and life. For the application requirements of the unstructured environment, the visual system is added to the manipulator control system to form a visual servo system, which can make the manipulator have the ability of environment and target perception, and greatly improve the intelligence level of manipulator control. [0003] Hand-eye calibration lays the foundation for the high-precision visual servo control of the manipulator by calibrating the relationship matrix between the manipulator coordinate system and the visual coordinate system. The traditional hand-eye calibration method is mainly offline hand-eye calibration method. Amon...

AI Technical Summary

Problems solved by technology

However, this type of method does not have a standardized and quantitative calculation method for the generation of the calibration pose, and the pose selection is still time-consuming

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