Online hand-eye calibration and grabbing pose calculation method for three-dimensional vision hand-eye system of four-degree-of-freedom parallel robot

Abstract

The invention discloses an online hand-eye calibration and grabbing pose calculation method for a three-dimensional vision hand-eye system of a four-degree-of-freedom parallel robot. The online hand-eye calibration and grabbing pose calculation method comprises the following steps: firstly, constructing an Eye-to-hand eye basic model with a camera fixed outside a robot body, and a three-dimensional vision model based on nonlinear distortion in the hand-eye system; calibrating a pose relation between motions based on a tail end clamping mechanism, and constructing a non-trivial solution constraint of the Eye-to-hand model for removing invalid poses in calibration motion so as to plan a hand-eye calibration motion of the tail end clamping mechanism of the parallel robot; and finally, constructing a parallel robot grabbing module with error compensation by adopting robot motion errors obtained based on hand-eye calibration, and achieving grabbing pose calculation of the tail end clamping mechanism of the parallel robot based on three-dimensional vision and the 4-R (2-SS). According to the online hand-eye calibration and grabbing pose calculation method, the online hand-eye calibration precision and efficiency of the four-degree-of-freedom 4-R (2-SS) parallel robot three-dimensional vision hand-eye system can be effectively improved, and accurate and rapid grabbing of the parallel robot is further facilitated.

Description

technical field [0001] The present invention relates to the field of machine vision, especially based on machine vision and image processing, for four degrees of freedom 4-R (2-SS) (R means rotary joint, S means spherical pair, 4-R (2-SS) means parallel robot Consisting of 4 R(2-SS) branches with the same kinematic structure) online hand-eye calibration and grasping pose calculation method of parallel robot stereo vision hand-eye system, used for parallel robot to realize automatic stacking string fruit based on stereo vision sorting. Background technique [0002] In recent years, my country's fruit production has grown rapidly, and traditional manual sorting methods have been difficult to meet the needs of modern agricultural production. Automatic fruit sorting based on robotic technology is of great importance to the automation, scale, and precision development of agricultural production and agricultural product processing. significance. In the robot-based automatic fruit...

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Problems solved by technology

And based on the vertical constraints of the calibration plate and the end clamping mechanism, the vertical component of the hand-eye calibration is corrected to solve the problem that the existing traditional hand-eye model calculation method cannot accurately obtain the vertical component of the 4-R (2-SS) parallel robot

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