title: ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ñ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð¸ Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ ÐºÐ°Ð¼ÐµÑÑ Ð¾ÑÐ½Ð¾ÑÐ¸ÑÐµÐ»ÑÐ½Ð¾ ÐºÐ¾Ð½ÐµÑÐ½Ð¾Ð³Ð¾ Ð·Ð²ÐµÐ½Ð° Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½ÑÑ Ð¼Ð°ÑÐºÐµÑÐ¾Ð²
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Investigation ofÂ methods for determining the position and orientation of the camera relative to the end link of the manipulator
Creators: name: ÐÐ¾Ð·Ð´Ð½ÑÐºÐ¾Ð², Ð¡ÐµÑÐ³ÐµÐ¹
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: Ð³Ð»Ð°Ð·-ÑÑÐºÐ°
ÐºÐ°Ð¼ÐµÑÐ°
ÑÑ Ð²Ð°Ñ
ÑÐ¸ÑÑÐµÐ¼Ð° ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°Ñ
ÐºÐ¾Ð½ÐµÑÐ½Ð¾Ðµ Ð·Ð²ÐµÐ½Ð¾
hand-eye
camera
gripper
the coordinate system
end effector

description: ÐÐ±ÑÐµÐºÑÐ¾Ð¼ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ ÑÐ²Ð»ÑÑÑÑÑ Ð¼ÐµÑÐ¾Ð´Ñ Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ñ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð¸ Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ ÐºÐ°Ð¼ÐµÑÑ Ð¾ÑÐ½Ð¾ÑÐ¸ÑÐµÐ»ÑÐ½Ð¾ ÐºÐ¾Ð½ÐµÑÐ½Ð¾Ð³Ð¾ Ð·Ð²ÐµÐ½Ð° Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ°. Ð¦ÐµÐ»ÑÑ ÑÐ°Ð±Ð¾ÑÑ ÑÐ²Ð»ÑÐµÑÑÑ Ð°Ð½Ð°Ð»Ð¸Ð· ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ñ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ñ Ð¼Ð°ÑÑÐ¸ÑÑ Ð¿ÐµÑÐµÑÐ¾Ð´Ð° Ð¾Ñ ÑÐ¸ÑÑÐµÐ¼Ñ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°Ñ ÐºÐ°Ð¼ÐµÑÑ Ðº ÑÐ¸ÑÑÐµÐ¼Ðµ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°Ñ ÐºÐ¾Ð½ÐµÑÐ½Ð¾Ð³Ð¾ Ð·Ð²ÐµÐ½Ð° ÑÐ¾Ð±Ð¾ÑÐ° Ð¸ Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ðµ Ð½Ð°Ð¸Ð±Ð¾Ð»ÐµÐµ ÑÐ¾ÑÐ½Ð¾Ð³Ð¾ Ð¸ÑÑÐ¾Ð´Ñ Ð¸Ð· ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð² Ð²ÑÑÐ¸ÑÐ»ÐµÐ½Ð¸Ñ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð¸ Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ ÐºÐ°Ð¼ÐµÑÑ, ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° Ð´Ð»Ñ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¸Ðµ ÑÑÐµÐ±ÑÐµÐ¼ÑÑ Ð²ÑÑÐ¸ÑÐ»ÐµÐ½Ð¸Ð¹, Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½Ð°Ñ ÑÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ñ Ð¸ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¸Ðµ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ¾Ð². Ð ÑÐ°Ð±Ð¾ÑÐµ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ðµ Ð¼ÐµÑÐ¾Ð´Ñ, Ð¿Ð¾Ð·Ð²Ð¾Ð»ÑÑÑÐ¸Ðµ Ð¾Ð¿ÑÐµÐ´ÐµÐ»Ð¸ÑÑ ÑÑÐµÐ±ÑÐµÐ¼ÑÐµ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÑ ÑÐ¸ÑÑÐµÐ¼Ñ. Ð¢Ð°ÐºÐ¶Ðµ Ð² ÑÐ¾Ð´Ðµ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸Ñ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ» ÑÐ¿ÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼, Ð¿Ð¾Ð·Ð²Ð¾Ð»ÑÑÑÐ¸Ð¹ Ð¾Ð¿ÑÐµÐ´ÐµÐ»Ð¸ÑÑ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð¸ Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ñ ÐºÐ°Ð¼ÐµÑÑ Ð² ÑÐ¸ÑÑÐµÐ¼Ðµ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°Ñ ÑÑÐ²Ð°ÑÐ°. ÐÐ°Ð½Ð½ÑÐ¹ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼ Ð±ÑÐ» ÑÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°Ð½ Ð½Ð° ÑÐ·ÑÐºÐµ C++ Ñ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸ÐµÐ¼ ÑÑÐµÐ¹Ð¼Ð²Ð¾ÑÐºÐ° ROS. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½Ñ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÑ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ Ð¼ÐµÑÐ¾Ð´Ñ Ð²ÑÑÐ¸ÑÐ»ÐµÐ½Ð¸Ñ Ð¿ÑÐµÐ¾Ð±ÑÐ°Ð·Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¼ÐµÐ¶Ð´Ñ ÑÐ¸ÑÑÐµÐ¼Ð¾Ð¹ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°Ñ ÐºÐ°Ð¼ÐµÑÑ Ð¸ ÑÐ¸ÑÑÐµÐ¼Ð¾Ð¹ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°Ñ ÐºÐ¾Ð½ÐµÑÐ½Ð¾Ð³Ð¾ Ð·Ð²ÐµÐ½Ð° Ð´Ð»Ñ Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ñ ÑÐ¾ÑÐ½Ð¾ÑÑÐ¸ Ð²ÑÑÐ¸ÑÐ»ÐµÐ½Ð¸Ñ. ÐÐ¾Ð»ÑÑÐµÐ½Ð½ÑÐµ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÑ Ð¼Ð¾Ð³ÑÑ Ð±ÑÑÑ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ñ Ð´Ð»Ñ Ð²ÑÐ±Ð¾ÑÐ° Ð¼ÐµÑÐ¾Ð´Ð° ÑÐ°ÑÑÐµÑÐ° Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð² ÑÐ²ÑÐ·ÐºÐ¸ ÐºÐ°Ð¼ÐµÑÐ°-ÑÑÐ²Ð°Ñ Ð¸ÑÑÐ¾Ð´Ñ Ð¸Ð· ÑÑÐµÐ±ÑÐµÐ¼Ð¾Ð¹ ÑÐ¾ÑÐ½Ð¾ÑÑÐ¸ Ð¸ Ð²ÑÑÐ¸ÑÐ»Ð¸ÑÐµÐ»ÑÐ½ÑÑ Ð·Ð°ÑÑÐ°Ñ Ð² ÑÐ¸ÑÑÐµÐ¼Ð°Ñ Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ñ Ð¿ÑÐµÐ´Ð¼ÐµÑÐ¾Ð² Ð¸ Ð¸Ñ Ð·Ð°ÑÐ²Ð°ÑÐ°, Ð¿ÐµÑÐµÐ¼ÐµÑÐµÐ½Ð¸Ñ.
description: The subject of the graduate qualification work is investigation ofÂ  methods for determining the position and orientation of the camera relative to the end link of the manipulator. The purpose of the work is to analyze existing methods for determining the transition matrix from the camera coordinate system to the coordinate system of the final link of the robot and determine the most accurate based on the results of calculating the position and orientation of the camera, develop an algorithm for carrying out the required calculations, software implementation and experiments. The paper considers the existing methods to determine the required system parameters. Also, during the work, an algorithm was designed to determine the position and orientation of the camera in the coordinate system of the grip. This algorithm was implemented in C++ using the ROS framework. Experiments have been carried out using various methods for calculating the transformation between the camera coordinate system and the coordinate system of the final link to determine the accuracy of the calculation. The results obtained can be used to select a method for calculating the parameters of the camera-grip bundle based on the required accuracy and computational costs in automatic object detection systems and their capture and movement.