Mechanical arm calibration system and calibration method based on four-eye stereo vision

Abstract

The invention discloses a mechanical arm calibration system based on four-eye stereo vision. The system involves a mechanical arm, a control box, a computer, two binocular cameras, a calibration plateand a plurality of marking points, wherein the marking points are fixed at the tail end of the mechanical arm and joints of the mechanical arm, and the two binocular cameras are distributed at the front and the side of the mechanical arm to shoot the plurality of marking points in real time. The invention further discloses a mechanical arm calibration method based on four-eye stereo vision. The method comprises the following steps of solving a conversion matrix of two coordinate systems; acquiring a first batch of data for calculation, and constructing a target function; performing iterativeoptimization on geometric parameters and non-geometric parameters of the mechanical arm by adopting a least squares algorithm; correcting a zero point and the conversion matrix of the mechanical arm,and completing the calibration of the geometric parameters of the mechanical arm by utilizing corrected D-H kinematics parameters; and verifying the calibration result. The system and the method havethe beneficial effects that the calibration of the geometric parameters and the correction of the zero point of the mechanical arm can be rapidly completed.

Description

technical field [0001] The invention relates to the field of mechanical arm control. More specifically, the present invention relates to a robotic arm calibration system and calibration method based on four-eye stereo vision. Background technique [0002] With the intelligent development of robotic arm technology, domestic and foreign robotic arm companies have begun to focus on applications outside the industrial field, and the desktop robotic arm industry has formed a rising trend. The miniaturized desktop robotic arm has the advantages of light weight, small size, good operability, and easy development, avoiding the bulkiness and danger of large industrial robotic arms. It has been successfully used in medical, education, food processing and other industries. Most of the similar robotic arms are produced and developed abroad, and the price is very expensive, so it is difficult to popularize and promote. Although domestically produced consumer-grade desktop robotic arms ...

AI Technical Summary

Problems solved by technology

This is an effective calibration and tracking method, but because this method needs to calibrate each joint in turn, the calibration process is time-consuming, and the measurement equipment is expensive, so it is not conducive to the promotion and application of robotic arm calibration

[0006] To sum up, there is still a need for a low-cost and complete manipulator calibration device and method to solve the problem of low positioning accuracy of consumer-grade desktop manipulators

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