中文摘要：

利用误差矩阵方法对系统进行标定,虽然该标定不能完全消除系统坐标系间的误差,但与未标定坐标系间误差相比,精度有了很大的提高。在系统标定后,可以用基于位置的视觉跟踪方法对特征点进行跟踪,提高系统的速度。该方法的最大优点,是标定过程简单、精度高。实验结果表明,在光学系统畸变影响下,一次标定可以将误差控制在3个像素范围内。

英文摘要：

In this paper an error matrix of servoing control equation is calibrated,this calibration can not eliminate the error of coordinate systems of robot system completely,but the precision is improved.After robot is calibrated,a large sampling period can be used to track characteristic point and real time characteristic is improved.The merit of error matrix calibration is simpleness and the precision can satisfy requirement of characteristic point tracked.The experimental result indicates that the error can be restriced in 1-3 pixels,for the distortion ofoptical system.