Robot TCP calibration method based on vertical reflection

A calibration method, vertical reflection technology, applied in the direction of instruments, manipulators, measuring distances, etc., can solve problems such as inefficiency and collision

Active Publication Date: 2019-10-25
CHONGQING UNIV
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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.

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

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Embodiment Construction

[0050] Below in conjunction with accompanying drawing and embodiment the present invention will be further described:

[0051] 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:

[0052] (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.

[0053] In this embodiment, in step (S1), the specific steps are:

[0054] (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 vect...

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Abstract

The invention discloses a robot TCP calibration method based on vertical reflection. A binocular vision system, a robot and a working tool are combined for working; a plane mirror is used as an auxiliary tool; the multiple metering is performed on a space fixed point by utilizing the relationship between robot kinematics and space coordinate transformation; the relationship between hands and eyesis determined; a circular target spot at the tail end of the working tool is detected; and the calibration of the TCP is completed through the coordinate transformation relationship and the characteristic of the imaging symmetry of the plane mirror. The TCP calibration method completes the fast and accurate calibration of TCP.

Description

technical field [0001] The invention relates to the field of intelligent manufacturing, in particular to a robot TCP calibration method 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 devoting themselves to developing a robot T...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00G01C3/00
CPCB25J19/0095G01C3/00
Inventor 唐倩李志航王才东李燚苏齐光
Owner CHONGQING UNIV
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