Method for demarcating robot stretching hand and eye

Abstract

The invention provides a robot extended hand-eye calibration method. In the method, an assistant video camera is arranged, and a space transition relation between an assistant video camera coordinate system and an extended hand coordinate system and a space transition relation between the assistant video camera coordinate system and a medium-target coordinate system are respectively calculated. And a space transition relation between an eye video camera coordinate system and the medium-target coordinate system is calculated. Then, a space transition relation between the eye video camera and an extended hand coordinates system is calculated according to the space transition relations calculated so as to realize the robot extended hand-eye calibration. The robot extended hand-eye calibration method provided by the invention has low application cost and is easy for operation. And the method can enhance the reliability and convenience of on-site calibration.

Description

technical field [0001] The invention relates to a robot extension hand-eye calibration technology, in particular to a robot extension hand-eye calibration method. Background technique [0002] In practical applications, objects such as specific workpieces or operating tools are often added to the robot arm to achieve tasks such as autonomous assembly or automatic docking. For example, in the ground simulation experiment of space station docking, the simulation is realized by installing two docking cabin workpieces on the two robot arms, and the function of the robot arm is to drive the docking cabin to realize the docking task under the guidance of the eye camera. The prerequisite for realizing the docking task is to accurately calibrate the spatial relationship between objects such as the docking cabin on the robot arm and the eye camera. Objects such as the docking cabin installed on the robot arm are called extended hands, and correspondingly, the method of calibrating t...

AI Technical Summary

Problems solved by technology

Usually, the eye camera on the robot arm can only capture the scene opposite the eye camera, but cannot capture the image of the extended hand. Therefore, the calibration of the spatial relationship between the extended hand and the eye camera cannot be achieved by seeing the extended hand.

[0003] In the prior art, the contact method (Product manuals, ABB Robot Documentation-IRB 1400 M2004, 2005) is generally used for extended hand-eye calibration. The contact method is observed by human eyes to make a certain point on the extended hand multiple times (generally is more than three times) touch a fixed point in the space, and make the robot move orthogonally in any two directions to realize the calibration of the robot's extended hand and eye. This method is simple and easy, but due to human factors, the calibration accuracy is difficult to guarantee, and In this method, it is often necessary to repeatedly calibrate the extended hand-eye along a fixed path

In addition, high-precision external three-dimensional coordinate measurement equipment can also be used, such as electronic theodolite pair (Zhou Fuqiang, Zhang Guangjun, on-site double theodolite three-dimensional coordinate measurement system [J]. Chinese Journal of Mechanical Engineering, Vol.40, No.1, 2004, pp .165-169) to realize the calibration of the extended hand and eye of the robot, but this method is expensive and not suitable for on-site calibration

Images