Robot TCP calibration system based on vertical reflection

A vertical reflection and calibration system technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as inefficiency and collisions

Active Publication Date: 2019-10-25
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the traditional teaching contact TCP calibration method has problems such as inefficiency and collision, which can no longer meet the needs of current operations. A low-cost, high-efficiency, and safe calibration method is of great significance to industrial production.

Method used

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  • Robot TCP calibration system based on vertical reflection
  • Robot TCP calibration system based on vertical reflection
  • Robot TCP calibration system based on vertical reflection

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Embodiment Construction

[0054] Below in conjunction with accompanying drawing and embodiment the present invention will be further described:

[0055] Such as figure 1 As shown, the embodiment of the present invention discloses a robot TCP calibration method based on vertical reflection, comprising the following steps:

[0056] (S1) Establish the binocular vision system coordinate system {C} on the binocular vision system; establish the robot end coordinate system {E} at the robot end 6, and determine the binocular vision system coordinate system {C} relative to the robot end coordinate system { The transformation matrix of E} For robot hand-eye relationship.

[0057] In this embodiment, in step (S1), the specific steps are:

[0058] (S101) establish the robot hand-eye relationship as Among them, R C It is the rotation matrix converted from the end coordinate system {E} of the robot and the coordinate system {C} of the binocular vision system and is a fixed value; T C is the translation vector...

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Abstract

The invention discloses a robot TCP calibration system based on vertical reflection. A binocular vision system, a robot and an operation tool are combined for operation, a plane mirror serves as an auxiliary tool, the robot kinematics and space coordinate conversion relation is utilized for conducting repeated measurement on space fixed points, the hand and eye relation is determined, the tail endcircular target point of the operation tool is detected, and through the coordinate conversion relation and the plane mirror imaging symmetry characteristic, TCP calibration is finished. According tothe TCP calibration system, the system is different from a contact type calibration system, collision risks do not exist, and the safety coefficient is high.

Description

technical field [0001] The invention relates to the field of intelligent manufacturing, in particular to a robot TCP calibration system based on vertical reflection. Background technique [0002] In the context of Industry 4.0, the autonomous operation of robots assisted by binocular vision systems has become the norm. Taking welding as an example, the binocular vision system can track and identify weld seams in real time, which helps to improve welding quality and welding efficiency. The calibration accuracy of the operation point (TCP) of the operation tool directly affects the actual operation quality. However, the traditional teaching contact TCP calibration method has problems such as low efficiency and collision, which can no longer meet the needs of current operations. A low-cost, high-efficiency, and safe calibration method is of great significance to industrial production. [0003] Therefore, those skilled in the art are committed to developing a robot TCP calibra...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1692B25J19/0095
Inventor 唐倩李志航周浩李代杨刘联超
Owner CHONGQING UNIV
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