Fully-automatic calibration method for hand-eye robot based on exponential product model

A calibration method, robot technology, applied in the direction of instruments, measuring instruments, image data processing, etc., can solve the problems of complex and complicated calibration process, and achieve the effect of simple implementation, high accuracy and few error sources

Active Publication Date: 2013-05-22
青岛卓信通智能科技有限公司
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  • Application Information

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Problems solved by technology

Each part of the calibration is a problem that cannot be ignored in the field of robot vision, and it is relatively complicated, so it brings a lot of inconvenience to the application of hand-eye robots. Therefore, people try to simplify the calibration process under the premise of ensuring accuracy, and carry out camera calibration and hand-eye calibration at the same time. Yes, there are hand-e...

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  • Fully-automatic calibration method for hand-eye robot based on exponential product model
  • Fully-automatic calibration method for hand-eye robot based on exponential product model
  • Fully-automatic calibration method for hand-eye robot based on exponential product model

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Embodiment Construction

[0027] figure 1 Shown is a diagram of the robot kinematics model. At the initial position, both the world coordinate system W and the tool coordinate system T are established on the end camera of the robot. The world coordinate system is fixed at the initial position, and the tool coordinates move with the movement of the robot. It is assumed that the robot has n series of rotary joints , then the exponential product motion model of the robot is:

[0028] g wt ( θ ) = e ξ ^ 1 θ 1 e ξ ^ 2 θ 2 . . . e ...

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Abstract

The invention discloses a fully-automatic calibration method for a hand-eye robot based on an exponential product model and particularly relates to a fully-automatic calibration method for achieving synchronization of three parts including a robot body, hands and eyes as well as a camera. The method can be achieved by utilizing a mirror and a plurality of beacon scaffolds instead of additional auxiliary measuring instruments. The fully-automatic calibration method is mainly characterized in that firstly, hand information outside the view field of a terminal camera is converted to a coordinate system of the camera by utilizing mirror reflection principle to finish hand and eye calibration; and secondly, the terminal camera carried by the robot is used as a measuring instrument and a checkerboard on a spacial mirror surface is used as a measuring target, so that the times for shooting the target by using the camera in a rotating process of each joint of the robot are increased, and meanwhile, the camera calibration and the joint parameter calibration are achieved under a special motion strategy. The fully-automatic calibration method for the robot is simple and effective.

Description

technical field [0001] The invention relates to the field of hand-eye robot calibration, and more specifically relates to a hand-eye robot automatic calibration method based on an exponential product model, so as to improve the absolute positioning accuracy of the hand-eye robot. Background technique [0002] The hand-eye robot refers to installing a camera at the end of the robot to play the role of eyes. Because of its flexibility and convenience, it has attracted people's attention. The overall calibration accuracy is an important indicator that determines the robot can be applied to practice. The overall calibration of the hand-eye robot includes camera calibration, hand-eye calibration, and robot body calibration. The camera calibration refers to the internal parameters of the camera fixed at the end of the robot. Calibrate. Hand-eye calibration is to calibrate the relationship between the robot end tool and the camera installed on it. Robot body calibration is to cal...

Claims

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Application Information

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IPC IPC(8): G01C15/00G01B11/00G06T7/00
Inventor 王海霞卢晓
Owner 青岛卓信通智能科技有限公司
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