A Unified Calibration Model of Robot Structural Parameters and Hand-eye Relationship

Abstract

The invention provides a unified calibration model for robot structure parameters and hand-eye relations. A three-dimensional sensor is used for replacing optical tracking equipment which needs to beused in robot parameter calibration; a robot-three-dimensional sensor system is taken as a new robot system; a three-dimensional sensor coordinate system is regarded as a new robot tail end coordinatesystem; and the hand-eye relations in the original robot-three-dimensional sensor system are simultaneously calibrated in the process of calibrating D-H parameters of a new robot, namely, the calibration work of the robot structure parameters and the hand-eye relations are completed through one-time calibration according to an existing method, and the calibration precision is improved. The coordinate system conversion relation of a traditional method is as follows: a laser tracker coordinate system l - a robot base coordinate system w - a robot tail end coordinate system n - a three-dimensional sensor coordinate system s; and the coordinate system conversion relation of the unified calibration model is as follows: a target coordinate system m - a robot base coordinate system w - a three-dimensional sensor coordinate system s. By means of the unified calibration model, the calibration work is simplified, the calculation work is reduced, and the calibration precision is improved.

Description

technical field [0001] The invention relates to the field of robot vision calibration, in particular to a unified calibration model of robot structural parameters and hand-eye relationship. Background technique [0002] With the continuous development of my country's manufacturing industry, industrial robots have become indispensable and important equipment in advanced manufacturing industries. The combination of machine vision systems and industrial robots is equivalent to installing eyes on robots. Since then, robots can no longer only move to The position taught in advance. Specifically, the movement of the robot is based on its own coordinate system, and the pose information of the image acquired by the laser line scan sensor is based on the laser line scan sensor coordinate system (referred to as the sensor coordinate system). Therefore, in order to ensure that the robot moves accurately to the workpiece pose identified by the laser line scan sensor, it is necessary to ...

AI Technical Summary

Problems solved by technology

In the existing calibration method, the conversion relationship between the coordinate systems is complicated, and the number of conversions is large, which easily leads to low calibration accuracy. Therefore, in order to solve the above problems, the present invention provides a method that can reduce the calibration times and simplify the calibration between coordinate systems. Transformation relationship and robot unified calibration method to improve calibration accuracy

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