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A robot tcp calibration method based on vertical reflection

A calibration method and vertical reflection technology, applied in the directions of instruments, manipulators, measuring distances, etc., can solve problems such as inefficiency and collision, and achieve the effects of low cost, high safety factor and convenient operation.

Active Publication Date: 2021-12-10
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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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  • A robot tcp calibration method based on vertical reflection
  • A robot tcp calibration method based on vertical reflection
  • A 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, which combines a binocular vision system, a robot and an operation tool, uses a plane mirror as an auxiliary tool, and utilizes the relationship between robot kinematics and space coordinate transformation to perform calibration on a fixed point in space. Multiple measurements are taken to establish the hand-eye relationship, and the circular target point at the end of the working tool is detected. Through the coordinate transformation relationship and the characteristics of the imaging symmetry of the plane mirror, the calibration of the TCP is completed. The TCP calibration method of the invention 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 Patents(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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