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Hand-eye calibration method and system of robot, electronic device and storage medium

A hand-eye calibration and robot technology, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of complex calibration process and insufficient calibration accuracy, and achieve the effect of simple calibration process, reduced technology and easy operation.

Active Publication Date: 2020-01-03
SHANGHAI ELECTRICGROUP CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a robot hand-eye Calibration method, system, electronic device and storage medium

Method used

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  • Hand-eye calibration method and system of robot, electronic device and storage medium
  • Hand-eye calibration method and system of robot, electronic device and storage medium
  • Hand-eye calibration method and system of robot, electronic device and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0051] Such as figure 1 As shown, the end flange of the robot arm L is provided with an end tool T (such as a surgical instrument), the end tool T is provided with a first target ball A, and the base B of the robot is provided with a base The second target ball C with a relatively fixed seat, preferably, the second target ball C is fixed on the base B.

[0052] Among them, the position of the origin of the first target ball coordinate system A1 of the first target ball A and the second target ball coordinate system C1 of the second target ball C in the optical positioning coordinate system is read by the optical positioner D, and rotated through space The matrix change calculation obtains the spatial transformation relationship between the first target ball coordinate system A1 and the second target ball coordinate system C1. During the data collection process, the position and posture of the end point P of the end tool T in the first target ball coordinate system A1 and the sec...

Embodiment 2

[0082] Such as figure 1 As shown, the end flange of the robot arm L is provided with an end tool T (such as a surgical instrument), the end tool T is provided with a first target ball A, and the base B of the robot is provided with a base The second target ball C with a relatively fixed seat, preferably, the second target ball C is fixed on the base B.

[0083] Among them, the position of the origin of the first target ball coordinate system A1 of the first target ball A and the second target ball coordinate system C1 of the second target ball C in the optical positioning coordinate system is read by the optical positioner D, and rotated through space The matrix change calculation obtains the spatial transformation relationship between the first target ball coordinate system A1 and the second target ball coordinate system C1. During the data collection process, the position and posture of the end point P of the end tool T in the first target ball coordinate system A1 and the sec...

Embodiment 3

[0112] Figure 4 This is a schematic structural diagram of an electronic device provided in Embodiment 3 of the present invention. The electronic device includes a memory, a processor, and a computer program that is stored on the memory and can run on the processor. The processor implements the hand-eye calibration method of the robot in any one of Embodiments 1 or 2 when the processor executes the program. Figure 4 The displayed electronic device 30 is only an example, and should not bring any limitation to the function and application scope of the embodiment of the present invention.

[0113] Such as Figure 4 As shown, the electronic device 30 may be in the form of a general-purpose computing device, for example, it may be a server device. The components of the electronic device 30 may include, but are not limited to: the above-mentioned at least one processor 31, the above-mentioned at least one memory 32, and a bus 33 connecting different system components (including the ...

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Abstract

The invention discloses a hand-eye calibration method and system of a robot, an electronic device and a storage medium. The hand-eye calibration method comprises the steps of presetting initial position data of a tail end point of a tail end tool under a flange coordinate system of a flange; obtaining a first data set; according to the initial position data and the first data set, obtaining a target attitude matrix from a base coordinate system to a second target ball coordinate system; obtaining a second data set; according to the initial position data, the target attitude matrix and the second data set, obtaining a first target position matrix from the base coordinate system to the second target ball coordinate system, and a second target position matrix of the tail end point of the tailend tool under the flange coordinate system of the flange. Through target ball setting, the calibration process is simple, operation is easy, the technical need for an operator is reduced, the measuring error is reduced, the calibration precision is improved, and the space movable range of a mechanical arm is widened.

Description

Technical field [0001] The invention relates to the technical field of robot vision calibration, and in particular to a method, system, electronic equipment and storage medium for hand-eye calibration of a robot. Background technique [0002] With the widespread use of robots in various industries, the industry has strict requirements on the repetitive positioning accuracy and absolute positioning accuracy of the robot when it moves. The repetitive positioning accuracy of today's robots is relatively high, but the absolute positioning accuracy is very low. The absolute positioning accuracy of the robot is determined by two aspects: one is the calibration of the robot tool coordinate system. The calibration of the tool coordinate system is the identification process of the position and posture parameters of the installed tool end coordinate system relative to the industrial robot link end coordinate system. The second is the positioning accuracy of the robot in the target space. T...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1664
Inventor 李丹潘昕荻周朝政叶震
Owner SHANGHAI ELECTRICGROUP CORP
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