Hand-Eye Calibration Method of Line Structured Light Vision Sensor Robot Based on Planar Target

Qinghua Wu; Jiefeng Qiu; Zhiang Li; Jiacheng Liu; Biao Wang

doi:10.3788/LOP220852

Journals >Laser & Optoelectronics Progress >Volume 60 >Issue 10 >Page 1015002 > Article

Laser & Optoelectronics Progress
Vol. 60, Issue 10, 1015002 (2023)

Hand-Eye Calibration Method of Line Structured Light Vision Sensor Robot Based on Planar Target

Qinghua Wu^1、2、*, Jiefeng Qiu^1、2、**, Zhiang Li^1、2, Jiacheng Liu^1、2, and Biao Wang^1、2

Author Affiliations

¹School of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, Hubei, China

²Hubei Provincial Key Laboratory of Modern Manufacturing Quality Engineering, Wuhan 430068, Hubei, China

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DOI: 10.3788/LOP220852 Cite this Article Set citation alerts

Qinghua Wu, Jiefeng Qiu, Zhiang Li, Jiacheng Liu, Biao Wang. Hand-Eye Calibration Method of Line Structured Light Vision Sensor Robot Based on Planar Target[J]. Laser & Optoelectronics Progress, 2023, 60(10): 1015002 Copy Citation Text

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Fig. 1. 3D measurement system model

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Fig. 2. Flat circular target

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Fig. 3. Hand-eye calibration diagram

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Fig. 4. 3D measurement system experimental platform

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Fig. 5. Target. (a) Flat target; (b) standard ball target

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Fig. 6. Sawtooth target

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Equipment	Specification	Parameter
Epson industrial robot	Model	C3-A6008
Epson industrial robot	Repeat positioning accuracy /mm	±0.02
Line structured light vision sensor	Format /mm	200×100
	Wavelength /nm	650
	Resolution in X direction /mm	0.1
	Resolution in Z direction /mm	0.05
	Working distance /mm	200
	Accuracy /mm	±0.1
Flat round target	Solid circle diameter /mm	35
Flat round target	Accuracy /μm	±3
Standard ball target	Diameter /mm	30
Standard ball target	Accuracy /μm	±0.5
Sawtooth target	Sawtooth spacing /mm	20
Sawtooth target	Number of crests	9

Table 1. Parameters of experimental platform equipment

Serial number	Pose information of robot flange end in base coordinate system						Coordinates of center of circle in the sensor coordinate system
Serial number	X /mm	Y /mm	Z /mm	U /（°）	V /（°）	W /（°）	x /mm	y /mm	z /mm
1	-32.253	367.453	506.016	89.621	2.382	171.804	-0.9581	0.0001	85.4521
2	-19.044	360.459	509.862	89.764	1.924	173.656	2.3765	0.0001	88.6238
3	-39.476	360.983	497.478	109.623	2.910	170.899	-1.7034	0.0001	76.987
4	-19.606	360.459	509.862	109.886	1.924	173.656	-1.9219	0.0001	88.4338
5	-14.612	353.825	494.952	129.871	1.924	173.656	2.7887	0.0001	73.4879
6	18.626	386.508	492.352	130.132	2.433	-179.790	2.2408	0.0001	73.2039
7	8.224	393.724	492.352	150.105	2.433	-179.790	2.1896	0.0001	73.1993
8	37.212	424.477	489.681	150.116	0.904	-173.965	0.5572	0.0001	76.751
9	9.046	436.601	496.237	173.000	0.904	-173.965	-1.1922	0.0001	83.0772
10	30.935	384.340	495.937	172.886	-2.805	179.180	0.5282	0.0001	77.3549
11	21.017	395.756	483.330	-167.193	-2.805	179.180	2.2846	0.0001	65.0681
12	21.017	395.756	483.330	-167.193	-2.805	179.180	2.2858	0.0001	65.0752
13	-42.936	388.969	489.674	71.809	4.168	169.119	0.2909	0.0001	70.6475
14	-17.634	388.626	489.674	71.884	5.256	172.468	0.3547	0.0001	69.3708
15	-7.797	390.195	489.674	51.875	5.256	172.468	0.9016	0.0001	69.2066
16	-36.494	358.779	489.674	52.695	-0.493	172.034	2.5581	0.0001	68.9965
17	-15.989	341.574	489.674	32.684	-0.120	176.772	3.7068	0.0001	68.2645
18	12.267	410.806	489.674	31.263	8.266	170.509	2.4624	0.0001	71.999

Table 2. Center coordinate data of plane circular target

Serial number	Matrix $H_{L T}$ inverse 3D coordinates			Matrix $H_{B}$ inverse 3D coordinates
Serial number	X	Y	Z	X	Y	Z
Standard deviation	0.2145			0.3893
1	-8.3326	341.3045	105.0707	-8.3438	341.3810	105.8428
2	-8.3678	341.3657	104.9710	-8.4239	341.0357	105.7163
3	-8.3285	341.4857	105.3702	-8.3891	341.5315	106.1413
4	-8.2841	341.4204	105.0968	-8.3846	341.0151	105.8649
5	-8.3586	341.3741	104.9267	-8.4405	341.4348	105.6984
6	-8.3014	341.3059	104.7649	-8.5576	341.3385	105.5357
7	-8.2319	341.4018	104.7125	-8.2930	341.4127	105.4774
8	-8.2996	341.5159	104.8848	-8.3177	341.4915	105.6383
9	-8.3614	341.3923	104.7291	-8.0712	341.3675	105.5057
10	-8.4832	341.4684	105.0155	-8.4853	341.5272	105.0967
11	-8.2707	341.4413	104.9817	-8.2956	341.0700	105.1214
12	-8.4303	341.5124	105.1678	-8.4419	341.8443	105.9150
13	-8.3001	341.3180	105.2831	-8.3314	341.4260	106.0547
14	-8.2927	341.2756	105.1918	-8.0887	341.5793	105.9493
15	-8.3941	341.3813	105.0576	-8.3323	341.5254	105.8204
16	-8.4299	341.3840	105.1271	-8.3383	341.5229	105.8647

Table 3. Verification experiment of repeated positioning accuracy of 3D measurement system

Serial number	Flat target			Standard ball target
Serial number	EF	CD	AB	EF	CD	AB
1	20.2242	80.2756	179.6909	20.1382	79.8808	180.1398
2	19.8050	79.6891	179.7167	20.3377	79.9512	179.5426
3	19.8311	80.3123	180.1920	19.5018	80.4996	180.6814
4	20.1617	79.9087	180.2337	19.9716	79.5309	180.3112
5	20.0213	79.7100	180.5433	20.5378	79.8903	180.5709
6	20.3421	80.5239	179.6690	19.7766	79.9608	179.6822
7	20.3240	80.1450	180.0415	19.9017	79.5088	179.7994
8	20.2504	80.2395	180.3840	19.7116	80.5410	180.3040
9	19.6932	80.2055	180.2983	20.3923	80.6485	179.4420
10	19.9737	79.9394	179.6242	20.3999	79.6180	180.7706
11	20.0059	79.8291	180.0091	19.4639	79.5685	180.6307
12	19.7227	80.4235	180.0489	19.5339	80.1957	179.5418
13	19.7136	80.2535	179.5033	20.5841	79.5327	179.6580
14	20.2941	80.1669	179.6290	20.4282	79.6015	180.3610
15	20.2269	80.2098	179.9987	19.4916	80.5543	179.6905
16	19.8347	79.9973	180.0437	19.5615	80.4769	180.4188
Truth value	20	80	180	20	80	180
RMSE	0.2301	0.2629	0.3000	0.4037	0.4136	0.4596

Table 4. Measurement accuracy verification experiment of 3D measurement system

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