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本文针对机械臂末端安装激光测距仪的手术机器人的手眼标定,设计了基于平面模板标定的方法,给出了平面模板的数学模型并推导了求解方法。针对实际系统中存在的测量误差,提出了一种新的关于单平面数据优选的算法,可有效地剔除测量误差大的数据,提高标定精度;在此基础上,进一步提出使用立体正交平面改进标定精度的方法,应用非线性优化方法提高手眼标定精度。为验证精度,使用激光测距仪从不同角度、位置对空间中的某些固定点和一个长方体的表面进行测量。结果表明,单平面方法标定的精度为(1.37±0.24)mm,使用立体正交平面得到的标定精度为(0.37±0.05)mm;测量三维空间点的平均FRE为0.24 mm,平均TRE为0.26 mm;角度的测量偏差最大为0.4°。通过实验验证了本文方法的有效性,同时结果表明本方法的标定精度较高,能够满足手术机器人准确定位的需求。
In this paper, aiming at the hand-eye calibration of surgical robots equipped with laser range finder at the end of manipulator, a method based on planar template calibration is designed. The mathematical model of planar template is given and the solution method is derived. Aiming at the measurement error existing in the real system, a new algorithm of single-plane data optimization is proposed, which can effectively eliminate the data with large measurement error and improve the calibration accuracy. On the basis of this, we further propose the use of three-dimensional orthogonal plane improvement Calibration accuracy of the method, the application of non-linear optimization method to improve hand-eye calibration accuracy. To verify the accuracy, the laser range finder was used to measure certain fixed points in space and the surface of a cuboid from different angles and positions. The results showed that the accuracy of single-plane calibration was (1.37 ± 0.24) mm and the calibration accuracy was (0.37 ± 0.05) mm. The average FRE of three-dimensional space was 0.24 mm and the average TRE was 0.26 mm ; Measurement angle deviation of up to 0.4 °. The effectiveness of the proposed method is verified through experiments. The results show that the proposed method has high calibration accuracy and can meet the needs of accurate positioning of surgical robots.