Method and system for robot hand-eye calibration

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...

AI Technical Summary

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 equation is solved by the least square method. Slow speed, low precision and other disadvantages, in addition, there are certain restrictions on the acquisition of calibration data

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