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A method for manipulator calibration

A calibration method and manipulator technology, applied to instruments, measuring devices, optical devices, etc., can solve problems such as the angle between the manipulator and the camera, and achieve the effect of precise control

Active Publication Date: 2019-12-13
BOZHON PRECISION IND TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In the actual calibration process, due to the structural design and the limit factors of the manipulator itself, some positions cannot be reached through consistent actions, but after adjusting an angle, the target position can be reached, but there will be a certain angle between the manipulator and the camera, so When the manipulator is calibrated, the conversion of pixel coordinates to manipulator coordinates involves the problem of angle

Method used

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  • A method for manipulator calibration
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  • A method for manipulator calibration

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Embodiment

[0029] Such as figure 1 , 2 As shown, the manipulator calibration method of the present invention comprises the following steps:

[0030] S01: When the manipulator rotates, obtain the manipulator coordinate system and the camera coordinate system, and coincide the origins of the manipulator coordinate system and the camera coordinate system;

[0031] S02: Calculate the proportional relationship between the pixel distance in the x-axis and the y-axis direction and the distance of the manipulator;

[0032] S03: Convert the camera coordinates to the manipulator coordinates to obtain the manipulator coordinates.

[0033] Manipulator coordinates (Δx 机 , Δy 机 ) is calculated as:

[0034] Δx 机 =((x 移动 -x 原点 )*cosθ-(y 移动 -y 原点 )*sinθ) / scale_x

[0035] Δy 机 =((x 移动 -x 原点 )*sinθ+(y 移动 -y 原点 )*cosθ) / scale_y;

[0036] Among them, (x 移动 、y 移动 ) is the pixel coordinate of the target after rotation, scale_x is the ratio of the pixel distance in the x-axis direction to the ...

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Abstract

The invention discloses a calibration method of a mechanical arm. The calibration method comprises: when a mechanical arm rotates, a mechanical arm coordinate system and a camera coordinate system areobtained and original points of the mechanical arm coordinate system and the camera coordinate system are overlapped; proportion relationships between pixel distances and mechanical arm distances inx-axis and y-axis directions are calculated respectively; and the camera coordinate is transformed into the mechanical arm coordinate to obtain a mechanical arm coordinate. When an included angle is formed between the mechanical arm coordinate and the camera coordinate, the mechanical arm is calibrated quickly, so that the mechanical arm is controlled precisely.

Description

technical field [0001] The invention relates to a manipulator calibration method, in particular to a manipulator calibration method when there is an angle between the coordinates of the manipulator and the camera. Background technique [0002] With the continuous development of industrialization, the level of automation in production is getting higher and higher. An automated assembly line is generally an organic whole composed of conveying equipment and professional equipment. It is a highly automated assembly line based on the integration of electromechanical, information, video, and networks. Industrial robots are applied to various fields, greatly improving production efficiency. [0003] At present, the SCARA robot can complete the high-precision positioning and assembly of the workpiece under the visual guidance of the industrial camera and the control of the motion controller. It is mainly used in industrial production lines, such as the placement or insertion of reg...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/26
CPCG01B11/002G01B11/26
Inventor 范新汪园园安宁
Owner BOZHON PRECISION IND TECH CO LTD