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A high-precision eye-in-hand calibration method and system for a scara manipulator

An eye-in-hand, hand-eye calibration technology, applied in image analysis, instruments, complex mathematical operations, etc., can solve the problem of low accuracy of calibration results and achieve the effect of solving low accuracy

Active Publication Date: 2021-03-12
ZHENGZHOU UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The present invention provides a high-precision eye-in-hand calibration method of a SCARA manipulator to solve the problem of low accuracy of calibration results in the prior art when performing eye-in-hand calibration; at the same time, in order to solve the above technical problems, the present invention also Provides a high-precision hand-eye calibration system for SCARA manipulator Eye-in-Hand

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  • A high-precision eye-in-hand calibration method and system for a scara manipulator
  • A high-precision eye-in-hand calibration method and system for a scara manipulator
  • A high-precision eye-in-hand calibration method and system for a scara manipulator

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Embodiment Construction

[0039] Method Example:

[0040]This embodiment provides a high-precision hand-in-in-hand of SCARA robot Eye-In-HAN, is used to obtain mapping relationships between image coordinate systems and robot coordinate systems, solving between image coordinate systems and robot coordinate systems in the prior art. Mapping is less accurate.

[0041] The high-precision hand of Eye-In-Hand provided in this example is a process, such as figure 1 As shown, including the following steps:

[0042] Step 1: Establish a robot's local coordinate system, and use the Homograph transform to establish a mapping relationship between the image coordinate system and the robot's local coordinate system.

[0043] The established robot partial coordinate system, its origin is disposed in the robot, since this embodiment is the hand-grade calibration of the Eye-In-HAND vision system, the camera is disposed in the arm where the robot local coordinate system is located, so the robot local coordinate system The r...

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Abstract

The invention provides a high-precision hand-eye calibration method and system for the SCARA manipulator Eye-in-Hand. The calibration method includes: establishing a mapping relationship model between the image coordinate system and the manipulator's local coordinate system; moving the manipulator multiple times within a set range. When moving the manipulator, calculate the coordinates of the target in the local coordinate system of the manipulator, detect the coordinates of the target in the image coordinate system, and obtain the preliminary mapping relationship between the image coordinate system and the local coordinate system of the manipulator based on the results; set multiple targets in the image coordinate system point, calculate the corresponding coordinates of each target in the local coordinate system of the manipulator, detect the coordinates of the target in the image coordinate system when the target is at these coordinates, and obtain the precise mapping relationship between the image coordinate system and the local coordinate system of the manipulator again, and finally obtain the coordinates of the manipulator. The mapping relationship between the coordinate system and the image coordinate system. The technical solution provided by the present invention can solve the problem in the prior art of low accuracy in the mapping relationship between the image coordinate system and the robot's local coordinate system.

Description

Technical field [0001] The present invention belongs to the field of hand-eye calibration technology, and specific to a high-precision hand-in-IN-HAND high-precision hand-eye scale method and system. Background technique [0002] Industrial robots as key devices in intelligent manufacturing technology have been widely used in automotive, machinery, electronics, home appliances, petrochemical, logistics and other industries and other industries and other industries. Traditional Tips Robots Complete these operations must be teach-by-point, and can only have strong limitations for fixed-placed single workpieces. With the diversification of the development and demand, the industrial sector has put forward higher requirements for the flexibility and intelligence of automated production lines. In recent years, machine vision technology has developed rapidly, and the robot has also begun to use visual information to guide industrial robots to automatically grab the target. Industrial ro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80G06T7/70G06T3/00G06F17/16
CPCG06T7/80G06T7/70G06F17/16G06T3/02
Inventor 马岭蒋慧琴
Owner ZHENGZHOU UNIV