Online offset correction method and device for robot hand-eye calibration

A hand-eye calibration and robot technology, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of base coordinate system deflection, hand-eye calibration offset, and reduce the robot's hand-eye calibration accuracy, and achieve high calibration accuracy and precise grasping. The effect of fast operation and calculation

Active Publication Date: 2018-11-16
武汉库柏特科技有限公司
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Problems solved by technology

In the current robot hand-eye calibration method, in most cases, the calibration point of the image captured by the camera is in the robot workspace, but in the actual automated production line, the calibration point of the image captured by the camera is not in the robot workspace, and the calibration point needs to pass

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  • Online offset correction method and device for robot hand-eye calibration
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  • Online offset correction method and device for robot hand-eye calibration

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[0033] The principles and features of the present invention will be described below with reference to the accompanying drawings. The examples cited are only used to explain the present invention, and are not used to limit the scope of the present invention.

[0034] Such as figure 1 As shown, an online offset correction method for robot hand-eye calibration includes three stages: data acquisition, offset correction, and accuracy verification. details as follows:

[0035] S1: In the data acquisition stage, acquire the coordinate values ​​of the center of the nine circles on the calibration board in the camera coordinate system and the base coordinate system, use the camera and image processing algorithms to obtain the coordinate values ​​in the camera coordinate system, and read it from the teach pendant It corresponds to the coordinate value in the robot base coordinate system.

[0036] S2: Offset correction stage, establish the transformation equation of the center of each circle o...

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Abstract

The invention relates to an online offset correction method and device for robot hand-eye calibration. The online offset correction method comprises the steps that coordinate values of the circle centers of nine circles on a calibration plate in a camera coordinate system and a base coordinate system are obtained; a transformation equation of the circle center of each circle on the calibration plate from the camera coordinate system to the robot base coordinate system is established, through offset coordinates of each circle, the least square method is adopted to calculate a homogeneous transformation matrix of the camera coordinate system relative to the robot base coordinate system; and according to calibrated pose values of the camera coordinate system relative to the base coordinate system, errors of the offset correction calibration results of the nine circles on the calibration plate are analyzed through a vector two-norm formula, and thus the precision of the online offset correction method is evaluated. According to the online offset correction method and device for robot hand-eye calibration, offset in the robot hand-eye calibration process is corrected, flexible, preciseand rapid adjustment on a production line can be achieved, high-repeatability and precise grabbing operation can be achieved, the online offset correction method and device can be applied to operationof an SCARA robot hand-eye device, and the simple, efficient and high-precision effects are achieved.

Description

Technical field [0001] The invention belongs to the technical field of machine vision, and more specifically relates to an online offset correction method and device for robot hand-eye calibration. Background technique [0002] With the development of artificial intelligence technology, the application of robots is becoming more and more extensive. For example, the four-axis SCARA industrial robot is widely used in the grasping operation of the production line, and its requirements for the calibration accuracy of the robot's hand and eye are getting higher and higher. In the current robot hand-eye calibration method, in most cases, the calibration point of the image collected by the camera is in the robot workspace, but in the actual automated production line, the calibration point of the image collected by the camera is not in the robot workspace. The calibration point needs to pass Movement can only reach the situation in the workspace of the robot, that is, there is an offset...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1692
Inventor 李淼闫琳张少华于天水付中涛廖圣华
Owner 武汉库柏特科技有限公司
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