Hand–Eye Calibration Algorithm Based on an Optimized Neural Network

摘要

A robot can identify the position of a target and complete a grasping based on the hand–eye calibration algorithm, through which the relationship between the robot coordinate system and the camera coordinate system can be established. The accuracy of the hand–eye calibration algorithm affects the real-time performance of the visual servo system and the robot manipulation. The traditional calibration technique is based on a perfect mathematical model AX = XB, in which the X represents the relationship of (A) the camera coordinate system and (B) the robot coordinate system. The traditional solution to the transformation matrix has a certain extent of limitation and instability. To solve this problem, an optimized neural-network-based hand–eye calibration method was developed to establish a non-linear relationship between robotic coordinates and pixel coordinates that can compensate for the nonlinear distortion of the camera lens. The learning process of the hand–eye calibration model can be interpreted as B=fA, which is the coordinate transformation relationship trained by the neural network. An accurate hand–eye calibration model can finally be obtained by continuously optimizing the network structure and parameters via training. Finally, the accuracy and stability of the method were verified by experiments on a robot grasping system.