Coordinate calibration method, calibration system and mechanical arm

Abstract

The present invention is applicable to the technical field of intelligent control, and provides a coordinate calibration method, a calibration system and a mechanical arm, wherein the coordinate calibration method includes collecting a target image through a camera on the mechanical arm; receiving the target image calculated by the camera controller The deviation result of the calibration board pose described in the above; obtain the base coordinates of the mechanical arm, calculate the target position and posture of the mechanical arm movement according to the base coordinates and the deviation result; obtain the target image Preset position coordinates of at least three calibration points; calculate the coordinates of the workbench in the coordinate system of the mechanical arm according to the target position and posture and the position coordinates, so as to complete the mechanical arm and the work Calibration of station position coordinates. The embodiment of the invention can automatically perform coordinate calibration between the mechanical arm and the workbench, with high calibration accuracy, strong applicability and flexibility; non-contact calibration using a visual method does not have the problem of mechanical wear.

Description

technical field [0001] The invention relates to the field of intelligent control, in particular to a coordinate calibration method, a calibration system and a mechanical arm. Background technique [0002] As the robotic arm is more and more widely used in industrial production and manufacturing, the robotic arm and its operating table are more and more on different platforms. In this case, the high-precision movement of the manipulator on the workbench must accurately calibrate the coordinates between the manipulator and the workbench, generally referring to the coordinates of the workbench plane under the coordinate system of the manipulator base. [0003] At present, there are mainly two methods of coordinate calibration between the manipulator and the workbench: one is to use a sharp calibration tool to move the manipulator to three points on the workbench, and align it with human eyes to obtain the corresponding coordinates point to determine the coordinate plane of the...

AI Technical Summary

Problems solved by technology

The error of the first method mainly comes from two aspects. One is that there is a large error when the manipulator fixes a sharp calibration tool (such as an awl). The tip coincides with the TCP (tool coordinate point) of the mechanical arm, and the second is that the alignment error of the human eye is large, the consistency is poor, and the operation is cumbersome

The second method has higher accuracy than the first method, but its accuracy depends on the calibration mold and its array. The calibration mold and its array not only have a long processing cycle, but also have wear and tear. The calibration process is also time-consuming and laborious, and the operation is cumbersome.

It can still be used when the manipulator and the worktable are on the same platform (there is no relative motion between the base of the manipulator and the workbench), but this method is no longer applicable when there is relative motion and frequent calibration is required

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