阅读说明：本技术 机器人运动学模型优化方法、系统和存储装置 (Robot kinematics model optimization method and system and storage device ) 是由 付伟宁 于 2018-07-13 设计创作，主要内容包括：本申请公开了一种机器人运动学模型优化方法、系统和存储装置,该方法包括：通过摄像设备获取机器人的末端部件的图像；基于图像提取末端部件的特征点；对特征点进行三维重建得到特征点在图像坐标系中的坐标,并根据图像坐标系与世界坐标系的转换关系得到特征点在世界坐标系中的坐标；根据特征点在世界坐标系中的坐标得到机器人的末端部件的实际位姿；以及根据末端部件的实际位姿,对机器人的运动学模型进行优化。通过使用摄像设备获取机器人末端部件的图像,并对图像中的特征点进行三维重建,从而可以方便地得到末端部件的实际位姿,并利用该实际位姿对机器人的运动模型进行优化,修正其中的运动参数。(The application discloses a robot kinematics model optimization method, a system and a storage device, wherein the method comprises the following steps: acquiring an image of a tip part of a robot by an image pickup apparatus; extracting feature points of the tip part based on the image; carrying out three-dimensional reconstruction on the feature points to obtain coordinates of the feature points in an image coordinate system, and obtaining the coordinates of the feature points in a world coordinate system according to the conversion relation between the image coordinate system and the world coordinate system; obtaining the actual pose of the tail end part of the robot according to the coordinates of the characteristic points in a world coordinate system; and optimizing the kinematic model of the robot according to the actual pose of the end part. The image of the tail end part of the robot is obtained by the camera equipment, the characteristic points in the image are subjected to three-dimensional reconstruction, so that the actual pose of the tail end part can be conveniently obtained, and the motion model of the robot is optimized by utilizing the actual pose to correct the motion parameters.)