The invention discloses an online hand-eye calibration and grabbing
pose calculation method for a three-dimensional vision hand-eye
system of a four-degree-of-freedom parallel
robot. The online hand-eye calibration and grabbing
pose calculation method comprises the following steps: firstly, constructing an Eye-to-hand eye basic model with a camera fixed outside a
robot body, and a three-dimensional vision model based on
nonlinear distortion in the hand-eye
system; calibrating a
pose relation between motions based on a
tail end clamping mechanism, and constructing a non-trivial solution constraint of the Eye-to-hand model for removing invalid poses in calibration motion so as to plan a hand-eye calibration motion of the
tail end clamping mechanism of the parallel
robot; and finally, constructing a parallel robot grabbing module with error compensation by adopting
robot motion errors obtained based on hand-eye calibration, and achieving grabbing pose calculation of the
tail end clamping mechanism of the parallel robot based on three-dimensional vision and the 4-R (2-SS). According to the online hand-eye calibration and grabbing pose calculation method, the online hand-eye calibration precision and efficiency of the four-degree-of-freedom 4-R (2-SS) parallel robot three-dimensional vision hand-eye
system can be effectively improved, and accurate and rapid grabbing of the parallel robot is further facilitated.