Robot hand-eye calibration method

A calibration method and robot hand technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of parameter errors and low precision of industrial robots, and achieve the effect of avoiding parameter errors, high measurement accuracy, and accurate and reliable calibration results.

Active Publication Date: 2019-04-16
WUHU HIT ROBOT TECH RES INST
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Problems solved by technology

[0002] At present, the robot hand-eye calibration method mainly consists of solving the homogeneous equation AX=XB, where X is the unknown hand-eye transformation, A and B are the motion and camera of the robot end effector, in the hand-eye calibration process, the accuracy is low and it is easy to be affected by industrial robots. Effect of Parameter Error

Method used

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Embodiment Construction

[0030] The specific embodiment of the present invention will be described in further detail by describing the embodiments below with reference to the accompanying drawings, the purpose is to help those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solutions of the present invention, and contribute to its implementation.

[0031] Such as figure 1 and figure 2 Shown, the present invention provides a kind of robot hand-eye calibration method, comprises steps:

[0032] S1. Set the laser tracker and the tetrahedron, and set the laser scanner for measuring the tetrahedron on the industrial robot;

[0033] S2. Calculate the conversion matrix

[0034] S3, calculate the conversion matrix

[0035] S4. Calculate the conversion matrix

[0036] Specifically, as figure 1 and figure 2 As shown, the industrial robot is a six-degree-of-freedom robot, and the end effector is used as the sixth joint axis of the industr...

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Abstract

The invention discloses a robot hand-eye calibration method. The robot hand-eye calibration method includes the steps that S1, a laser tracker and a tetrahedron are arranged, and a laser scanner usedfor conducting measurement on the tetrahedron is arranged on an industrial robot; S2, a conversion matrix (shown in the specification) is calculated; S3, a conversion matrix (shown in the specification) is calculated; and S4, a conversion matrix (shown in the specification) is calculated. According to the robot hand-eye calibration method, hand-eye calibration is conducted on the robot through thelaser tracker and the well-designed tetrahedron, it is avoided that hand-eye calibration is influenced by parameter errors of the industrial robot, the measurement precision is higher, and the calibration result is accurate and reliable.

Description

technical field [0001] The invention belongs to the technical field of robot vision calibration, in particular, the invention relates to a robot hand-eye calibration method. Background technique [0002] At present, the robot hand-eye calibration method mainly consists of solving the homogeneous equation AX=XB, where X is the unknown hand-eye transformation, A and B are the motion and camera of the robot end effector, in the hand-eye calibration process, the accuracy is low and it is easy to be affected by industrial robots. The effect of parameter errors. Contents of the invention [0003] The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the present invention provides a robot hand-eye calibration method, with the purpose of improving the accuracy of calibration results. [0004] In order to achieve the above object, the technical solution adopted by the present invention is: a robot hand-eye calibration met...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1653
Inventor 庄金雷王飞阳高靖车景国曹雏清高云峰
Owner WUHU HIT ROBOT TECH RES INST
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