Robot Calibration Method and Calibration System

A calibration method and a calibration system technology are applied in the field of robot calibration system, which can solve the problems of inability to meet simple and fast calibration, large amount of calculation and high complexity.

Inactive Publication Date: 2011-12-28
HONG FU JIN PRECISION IND (SHENZHEN) CO LTD +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the existing robot calibration methods generally have the disadvantages of large amount of calculation and high complexity, and cannot meet the requirements of simple and fast calibration in actual production applications.

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  • Robot Calibration Method and Calibration System
  • Robot Calibration Method and Calibration System

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Embodiment Construction

[0013] figure 1 Shown is a schematic diagram of the positional relationship of components used in the robot calibration system 100 according to the embodiment of the present invention. Such as figure 1 As shown, the robot calibration system 100 includes a robot body 11 , a calibration tool 21 driven by the robot body 11 , a camera 31 , a plane calibration plate 41 located in the field of view of the camera 31 , and a controller 51 .

[0014] The robot body 11 includes a plurality of mechanical arms 112 connected by joints 113 and driven by the corresponding joints 113 to move according to a preset trajectory. The joint 113 is installed with a displacement sensor, such as a rotary encoder, for sensing the rotation angle of the mechanical arm 112 .

[0015] The calibration tool 21 is fixedly installed on the mechanical arm 112 a at the end of the robot body 11 . The calibration tool 21 can be an elongated calibration rod with a contact 212 . Driven by the mechanical arm 112a...

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Abstract

A robot calibration method, which includes the steps of: providing a camera independent of the robot body and a plane calibration board, using the camera to take images of the plane calibration board, calibrating and storing the internal parameters and external parameters of the camera, and calculating the imaging coordinate system The conversion relationship with the coordinate system of the calibration board; set three feature corners on the plane calibration board, fix the calibration tool on the robot body, and the robot body drives the calibration tool to translate from one feature corner point to the other two features Corner points, storing the movement trajectory of the calibration tool in the robot base coordinate system, and calculating the conversion relationship between the robot base coordinate system and the calibration plate coordinate system according to the positional relationship of the three characteristic corner points and the movement trajectory of the calibration tool; Calculate the transformation relationship between the imaging coordinate system and the robot base coordinate system. The above robot calibration method has the advantages of simplicity and quickness. The present invention also provides a robot calibration system applying the above calibration method.

Description

technical field [0001] The invention relates to a robot calibration method and a robot calibration system using the calibration method. Background technique [0002] At present, robots are more and more widely used in automated production lines such as precision assembly operations and food canning. Taking the precision assembly of electronic components on circuit boards by using robots as an example, during the assembly process, the robot can use visual sensors, such as cameras, to automatically locate the workpiece or the working surface, and calculate the relative position of the working scene relative to the robot, so as to assist the robot to automatically complete the job . The calibration of the robot, that is, the establishment of the transformation relationship between the robot base coordinate system and the imaging coordinate system of the camera, is one of the key technologies in the robot operation process. However, the existing robot calibration methods gener...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00B25J19/00
CPCB25J9/1692
Inventor 许元泽张都学韦水平
Owner HONG FU JIN PRECISION IND (SHENZHEN) CO LTD
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