UR3机械臂眼在手上手眼标定实验记录

• 实验设备
  UR3机械臂、Realsense d435i、笔记本电脑ubuntu20.04（ros noetic)、网线一根（笔记本和UR3连接）、USB3.0-typec线一根(笔记本和相机连接)

• 参考博客

  • http://t.csdnimg.cn/IYyWq
  • http://t.csdnimg.cn/dr1fg

• 实验步骤

  • src目录中下载必要的功能包并编译通过（编译不通过通常是缺包），具体见参考博客的第二个链接
  • 依次执行以下命令
  • cd catkin_ws
  • source devel/setup.bash
  • 打开四个标签页，依次启动这几个launch文件
  • roslaunch realsense2_camera rs_camera.launch
  • roslaunch ur_robot_driver ur3_bringup.launch robot_ip:=192.168.56.21 [reverse_port:=REVERSE_PORT] kinematics_config:=$(rospack find ur_robot_driver)/calibration/my_robot_calibration.yaml
    （robot ip 根据自己的情况改，标定文件没有就不加，注意需要先执行这个命令接着在UR3示教器中打开external control）
  • roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch limited:=true
  • roslaunch easy_handeye eye_in_hand_calibration1.launch

• eye_in_hand_calibration1.launch 代码

• 路径 /home/xxx/catkin_ws/src/easy_handeye/easy_handeye/launch/eye_in_hand_calibration1.launch

<launch>
    <arg name="namespace_prefix" default="ur3_realsense_handeyecalibration" />

    <arg name="robot_ip" doc="The IP address of the UR3 robot" />

    <arg name="marker_size" doc="Size of the ArUco marker used, in meters" default="0.1" />
    <arg name="marker_id" doc="The ID of the ArUco marker used" default="582"/>

   <!-- start the realsen435 -->
    <!-- <include file="$(find realsense2_camera)/launch/rs_camera.launch" > -->
       <!-- <arg name="depth_registration" value="true" /> -->
    <!-- </include> -->
    
    <!-- 2. start ArUco -->
    <node name="aruco_tracker" pkg="aruco_ros" type="single">
        <remap from="/camera_info" to="/camera/color/camera_info" />
        <remap from="/image" to="/camera/color/image_raw" />
        <param name="image_is_rectified" value="true"/>
        <param name="marker_size"        value="$(arg marker_size)"/>
        <param name="marker_id"          value="$(arg marker_id)"/>
        <param name="reference_frame"    value="camera_color_frame"/>
        <param name="camera_frame"       value="camera_color_frame"/>
        <!-- <param name="reference_frame"    value="camera_color_optical_frame"/>
        <param name="camera_frame"       value="camera_color_optical_frame"/> -->
        <!-- <param name="marker_frame"       value="camera_marker" /> -->
        <param name="marker_frame"       value="aurco_marker_frame" />
    </node>


<!-- start the robot -->
    <!-- <include file="$(find ur_robot_driver)/launch/ur3_bringup.launch">
        
        <arg name="robot_ip" value="192.168.56.21" />
    </include>
    <include file="$(find ur3_moveit_config)/launch/ur3_moveit_planning_execution.launch">
        
    </include> -->
    
    
    
    <!-- 4. start easy_handeye -->
    <include file="$(find easy_handeye)/launch/calibrate.launch" >
        <arg name="namespace_prefix" value="$(arg namespace_prefix)" />
        <arg name="eye_on_hand" value="true" />

        <arg name="tracking_base_frame" value="camera_color_frame" />
        <!-- <arg name="tracking_marker_frame" value="camera_marker" /> -->
        <arg name="tracking_marker_frame" value="aurco_marker_frame" />
        <arg name="robot_base_frame" value="base_link" />
        <arg name="robot_effector_frame" value="wrist_3_link" />

        <arg name="freehand_robot_movement" value="false" />
        <arg name="robot_velocity_scaling" value="0.5" />
        <arg name="robot_acceleration_scaling" value="0.2" />
    </include>

</launch>

• 实验过程

  • 具体见参考博客的第二个链接
  • 建议这个角度去标定，标定版板位置不动

• 开始时，出现0/17，注意并不是17个位姿都能拍到标定板，拍不到的不采样，我做了几次实验，最好的是有15个位姿能用
  

• 标定完成，compute save,得到机械臂末端坐标系和相机坐标系的转换矩阵