Robot hand-eye system calibration method, device and equipment and storage medium

A system calibration, robot hand technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as large errors and complicated conversion processes

CN110355755AActive Publication Date: 2019-10-22SHENZHEN MINGJIE MEDICAL TECH CO LTD
9 Cites 14 Cited by

Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2019-10-22

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention provides a robot hand-eye system calibration method, device and equipment and a storage medium. The method comprises the steps that center coordinates of a calibration part on a calibrator under a mechanical arm tool coordinate system are acquired; center coordinates of the calibration part under a scanner coordinate system are acquired; the center-of-gravity translation vector of the center coordinates of the calibration part under the mechanical arm tool coordinate system and the center-of-gravity translation vector of the center coordinates of the calibration part under the scanner coordinate system are calculated respectively; a transformation matrix between the scanner coordinate system and the mechanical arm tool coordinate system is calculated by means of the center-of-gravity translation vectors according to a singular value decomposition method; and according to the transformation matrix, each point coordinate in point cloud data is converted into a point coordinate under the mechanical arm tool coordinate system. According to the technical scheme, complex operation of camera pose calibration through a two-dimensional image is avoided, the imaging complexityof a robot hand-eye system during calibration is simplified, and the calibration precision and the working efficiency are improved.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention relates to the technical field of robot vision guidance, in particular to a robot hand-eye system calibration method, device, equipment and storage medium. Background technique

[0002] The robot hand-eye system mainly includes mechanical grippers and visual equipment. In the robot vision guidance system, there are two models that are often used: Eye-to-Hand and Eye-in-Hand. Among them, the vision device is installed on the robotic arm and directly connected to the robot body is called Eye-in-Hand (robot hand-eye system). The pose of the target object collected by the vision device is in the coordinate system of the vision device, and it needs to be converted to the tool coordinate system of the manipulator before it can be used for the motion control of the robot. The process of calculating the transformation matrix between the visual equipment coordinate system and the manipulator tool coordinate system is the calibration of the robot...

Examples

Embodiment approach

[0043] As an implementation manner, step S30 includes:

[0044] The coordinate vectors of the center of the three spheres in the tool coordinate system of the manipulator and the center coordinate vectors of the three spheres in the scanner coordinate system Calculate the arithmetic mean value separately to obtain the center-of-gravity coordinate vectors of the three spheres in the robot arm tool coordinate system and the center-of-gravity coordinate vectors of the three spheres in the scanner coordinate system

[0045] Calculate the coordinate vector of the center of the sphere according to the following formula The center of gravity translation vector of

[0046]

[0047] Calculate the coordinate vector of the center of the sphere according to the following formula The center of gravity translation vector of

[0048]

[0049] Step S40. Calculate the translation vector of the center of gravity according to the singular value decomposition method to obtai...