A method for automatic calibration of hand-eye relationship of collaborative robots

Abstract

The invention provides a collaborative robot hand-eye relation automatic calibration device and method. The calibration device comprises a collaborative robot force control pulling teaching button, acalibration probe, a calibration plate with a marker and a calibration system, wherein the calibration system is mainly used for controlling the robot button to move according to a preset track; target points in the preset track automatically acquire pixel coordinates of the center point of the marker and coordinate dot pairs of a robot; and calibration parameters are calculated according to the obtained multiple dot pairs. The calibration method comprises the steps of placing the calibration plate; pulling the collaborative robot to a teaching point and recording coordinates of the robot; pulling the collaborative robot to an initial photographing point, recording the coordinates of the robot and configuring a matched template; controlling the robot to continuously change the photographing point and acquiring the coordinates of the robot and the pixel coordinate dot pairs of the marker; and calculating the calibration parameters. Through the collaborative robot hand-eye relation automatic calibration device and method, the hand-eye relation of the collaborative robot can be conveniently and quickly calibrated, the calibration precision is high, and the collaborative robot hand-eyerelation automatic calibration device and method have the important significance in industrial grabbing and application of the collaborative robot.

Description

technical field [0001] The disclosure belongs to the field of vision-guided calibration of collaborative robots, and in particular relates to an automatic calibration method for hand-eye relationship of collaborative robots. Background technique [0002] Robotic vision-guided technology is playing an increasingly important role in industrial automation, especially for parts sorting and material palletizing. The calibration of the robot vision system, that is, the robot hand-eye relationship is a key technology in the process of vision guidance. [0003] The robot vision-guided hand-eye system is mainly divided into eyes in the hand and eyes out of the hand. The usual way of using a collaborative robot is to carry a camera at the end of the robotic arm. The camera collects pictures, and the vision software analyzes the position of the object and then performs the grasping operation. The hand-eye relationship calibration method of the eye-in-hand collaborative robot usually u...

AI Technical Summary

Problems solved by technology

In order to ensure the safety of the robot during the attitude change process, this method usually needs to teach the robot to take pictures in different attitudes, and the collected images are relatively large. At the same time, the robot and the vision software are often independent systems, and the vision software needs to manually input different attitudes. The robot coordinates below, the calibration process is complicated, the operation process is complicated, and the calibration time is too long

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