Method and system for robot hand-eye calibration

A hand-eye calibration, robot hand technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of limited calibration data acquisition, complex calculation process, slow calculation speed, etc., to achieve simple solution process, low calculation difficulty, calibration high precision effect

Inactive Publication Date: 2018-11-06
武汉库柏特科技有限公司
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Problems solved by technology

In the traditional hand-eye calibration method, most of the hand-eye calibration equations are established through the homogeneous transformation matrix, and the calibration equ

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  • Method and system for robot hand-eye calibration
  • Method and system for robot hand-eye calibration
  • Method and system for robot hand-eye calibration

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[0060] The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

[0061] The present invention will be described below in conjunction with the accompanying drawings.

[0062] like figure 1 As shown, the embodiment of the present invention provides a robot hand-eye calibration method, a calibration plate is fixed on the end of the robot, calibration points are set on the calibration plate, and the method includes the following steps:

[0063] Step S1, obtaining the pose information of the tool center point of the robot in the robot base coordinate system, converting the pose information into a dual quaternion representation to obtain the hand motion spiral information of the tool center point;

[0064] Step S2. Obtain the image information of the calibration plate, calculate the c...

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Abstract

The invention relates to a method for robot hand-eye calibration. A calibration plate provided with a calibration point is fixed at the tail end of a robot. The calibration method comprises the following steps that pose information of a tool center point of the robot in a robot base coordinate system is acquired, and the pose information is converted into a dual quaternion form to obtain hand movement spiral information; image information of the calibration plate is acquired, coordinate information of the calibration point in a camera coordinate system is calculated according to the image information, and the coordinate information is converted into a dual quaternion form to obtain eye movement spiral information; a movement transformation equation between the hand movement spiral information and the eye movement spiral information is established, and matrix factors of the movement transformation equation are extracted; a plurality of matrix factors of the robot in different poses areacquired, a transformation matrix is constructed according to each matrix factor; and each transformation matrix is subject to singular value decomposition to obtain a unit dual quaternion of the robot base coordinate system relative to the camera coordinate system. The method has the advantages of being high in calibration speed and simple in calculation.

Description

technical field [0001] The invention relates to the technical field of machine vision, in particular to a robot hand-eye calibration method and system. Background technique [0002] As industrial robots are widely used in assembly, grasping and other operations, the requirements for robot hand-eye calibration accuracy are getting higher and higher. In the traditional hand-eye calibration method, most of the hand-eye calibration equations are established through the homogeneous transformation matrix, and the calibration equation is solved by the least square method. It has disadvantages such as slow speed and low precision. In addition, there are certain restrictions on the acquisition of calibration data. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a robot hand-eye calibration method for the above-mentioned deficiencies in the prior art. The hand-eye calibration of the robot is performed by establishing a mo...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1692B25J19/0095
Inventor 李淼闫琳张少华简伟明万芳杜科杨洪
Owner 武汉库柏特科技有限公司
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