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Robot hand-eye calibration method

A technology of robot hand and calibration method, which is applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., and can solve the problems of industrial robot parameter errors and low precision

Active Publication Date: 2022-05-27
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

[0031] The following is a comparison with the accompanying drawings, through the description of the embodiments, the specific embodiments of the present invention will be further elaborated, the purpose is to help those skilled in the art have a more complete, accurate and in-depth understanding of the concept of the present invention, technical solutions, and contribute to its implementation.

[0032] as Figure 1 and Figure 2 As shown, the present invention provides a robot hand eye calibration method, comprising steps:

[0033] S1, set up a laser tracker and tetrahedron, industrial robots set up a laser scanner to measure the tetrahedron;

[0034]S2, calculate the transformation matrix It is the fifth joint axis coordinate system O 5 Conversion to and from laser tracker coordinate systems;

[0035] S3, calculate the transformation matrix is the conversion between the tetrahedral coordinate system and the laser scanner coordinate system;

[0036] S4, calculate the transformatio...

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Abstract

The invention discloses a robot hand-eye calibration method, comprising steps: S1, setting a laser tracker and a tetrahedron, and setting a laser scanner for measuring the tetrahedron on an industrial robot; S2, calculating a conversion matrix S3, calculating a conversion matrix S4, Calculation of conversion matrix The robot hand-eye calibration method of the present invention uses a laser tracker and a well-designed tetrahedron to perform hand-eye calibration on the robot, avoiding the hand-eye calibration being affected by industrial robot parameter errors, with higher measurement accuracy and accurate and reliable calibration results.

Description

Technical field [0001] The present invention belongs to the field of robot vision calibration technology, specifically, the present invention relates to a robot hand-eye calibration method. Background [0002] At present, the robot hand-eye calibration method mainly solves the homogeneous equation AX= XB, where X is an 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 susceptible to the influence of industrial robot parameter error. Contents of the Invention [0003] The present invention is intended to solve at least one of the technical problems present in the prior art. To this end, the present invention provides a robotic hand-eye calibration method, the object is to improve the accuracy of the calibration result. [0004] To achieve the above object, the technical solution taken by the present invention is: robot hand-eye calibration method, comprising steps: [00...

Claims

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Application Information

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Patent Type & Authority Patents(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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