Auxiliary calibration device and method for tail end pose of mechanical arm

Abstract

The invention discloses an auxiliary calibration device and method for the tail end pose of a mechanical arm and is used for rapidly calibrating the tail end pose of an industrial robot. The auxiliarycalibration device comprises a flange plate, a connecting rod and a calibration regular polyhedron. The calibration method comprises steps of sticking target paper with the same side length as each surface of the calibration regular polyhedron to the calibration regular polyhedron; operating the mechanical arm to move and rotate by a certain distance and a certain angle in any two coordinate axisdirections, and obtaining the translation amount and rotation amount parameters of at least three targets under a mechanical arm carrier coordinate system and a camera coordinate system and the installation size information of the device; based on the obtained position information and the installation size parameters, obtaining the pose information, including position coordinates and poses, of atail end of the mechanical arm in a camera coordinate system at present through calculation. The method is advantaged in that the industrial mechanical arm can be calibrated rapidly and accurately, the industrial mechanical arm can be integrated into the industrial environment more easily, and the calibration process can be completed in real time.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to a device and a calibration method for auxiliary calibration of the pose and posture of the end of a mechanical arm. Background technique [0002] Industrial robots have become the "God's Assistant" in the stage of Industry 4.0, and the traditional manufacturing industry is moving towards intelligent manufacturing. In recent years, in order to meet the product requirements in actual processing scenarios, more and more industrial robots based on vision-guided positioning have been applied to actual machining. Compared with traditional processing methods, the processing and production of industrial robots using vision-guided positioning brings a more convenient and efficient processing environment to the product line, and greatly improves the processing efficiency of products. [0003] Vision positioning guides industrial robots to carry out high-precision processing and produc...

AI Technical Summary

Problems solved by technology

The traditional pose calibration method of the end of the manipulator is to control the visual equipment to keep still, drive the manipulator to move several positions, collect the spatial coordinate information of these positions, and then calibrate the end of the manipulator. Due to the vision-based positioning in the actual engineering environment It is necessary to track the manipulator in real time and guide and position it. Considering the visual range of the vision equipment, it is necessary to ensure that the vision equipment is in an active state. Because the traditional calibration method has high requirements for the operation of the manipulator arm, it is difficult and subject to Human factors are greatly affected and calibration takes a long time, so it is not universal

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