arm_dev
b903161113
眼在手上改用该 TCP 做 AX=XB，再折回相机→法兰；A5 内角点改为 11×8，09-04 / 10-09 旧结果留在 backup。一阶段 D435 迁臂改成一条 FollowJointTrajectory（余弦加减速，近处降速，XY 进门槛后再单独收垂直），跟踪锁高与悬停齐平，避免倾斜相机下先降一截把孔位重投影偏掉。--no-descent 只降到离面 15 mm；跳过三阶段时触觉 USB 打不开不再空等几分钟。 Co-authored-by: Cursor <cursoragent@cursor.com>
29 lines
1.2 KiB
YAML
29 lines
1.2 KiB
YAML
# 手眼标定结果
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# mode: eye_in_hand
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# camera_source: d405_left
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# views: 21
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# utc: 2026-10-12T03:29:51.243487+00:00
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# board: 11x8 square_m=0.015
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# gripper_tool: tool10120938
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# T_4x4 = cam→法兰（AX=XB 在 TCP 上解，再左乘 T_flange_to_tool）
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# T_cam_to_tool 是原始求解；旧的法兰/tool1 备份在 results/backup/
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# 2026-10-12 第一次写出的 T_4x4 乘序反了（tz≈-296 mm），已按同一份 T_cam_to_tool 重折。
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gripper_tool: tool10120938
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T_flange_to_tool:
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- [1.00000000, 0.00000000, 0.00000000, -0.00050000]
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- [0.00000000, 1.00000000, 0.00000000, 0.00670000]
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- [0.00000000, 0.00000000, 1.00000000, 0.22450000]
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- [0.00000000, 0.00000000, 0.00000000, 1.00000000]
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T_cam_to_tool:
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- [-0.03435184, -0.86951953, 0.49270249, -0.05961995]
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- [0.99932767, -0.03620511, 0.00577974, -0.01523625]
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- [0.01281276, 0.49256977, 0.87017863, -0.09761517]
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- [0.00000000, 0.00000000, 0.00000000, 1.00000000]
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# T_cam_to_flange (eye_in_hand，由工具 TCP 折算)
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translation_m: [-0.06011995, -0.00853625, 0.12688483]
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T_4x4:
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- [-0.03435184, -0.86951953, 0.49270249, -0.06011995]
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- [0.99932767, -0.03620511, 0.00577974, -0.00853625]
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- [0.01281276, 0.49256977, 0.87017863, 0.12688483]
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- [0.00000000, 0.00000000, 0.00000000, 1.00000000]
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