关键词: 关节臂, 线激光, 视觉传感器, 手眼标定, 遗传算法

Abstract: In the AACMM（Articulated Arm Coordinate Measuring Machine） visual inspection system, the accuracy of measurement system has been directly affected by the relationship of hand-eye calibration between vision sensor and the end of AACMM. The mathematical relationship of AACMM hand-eye problem has been derived in this paper, and a new method has been proposed, which is a two-stage hand-eye calibration algorithm based on genetic optimization. The initial value of main parameters of hand-eye transformation matrix are got by using conventional methods, and all parameters of hand-eye calibration model on the basis of the initial value are optimized by using genetic algorithm. A mathematical model of the hand-eye relationship genetic optimization algorithm is established. Experiments demonstrate excellence and feasibility of this method and the general problem of hand-eye has some portability, and the?accuracy is better than 40 μm.

Key words: Articulated Arm Coordinate Measuring Machine（AACMM）, line laser, vision sensor, hand-eye calibration, Genetic Algorithm（GA）