Method, device and system for hand-eye calibration of robotic arm

Abstract

The present application provides a method, device and system for hand-eye calibration of a robotic arm. A preset number of local calibration objects are deployed within the visible range of the camera to form a preset standard graphic. The method includes: locating the preset number of local calibration objects through the camera screen Local calibration objects; extract the local graphics surrounded by all local calibration objects in the camera screen, and stretch the local graphics into preset standard graphics as the local coordinate system; collect multiple coordinate pairs when moving the end of the robotic arm to different positions , the coordinate pair includes coordinates in the local coordinate system and coordinates in the manipulator coordinate system; according to the plurality of coordinate pairs, calculate the rotation and translation matrix from the local coordinate system to the manipulator coordinate system, and calculate the rotation and translation matrix Verify and realize the hand-eye calibration of the robotic arm. During the calibration process, the position of the robotic arm and the camera can be decoupled, so that the relative position of the camera and the robotic arm can be unfixed, making the robotic arm more in line with actual use needs.

Description

technical field [0001] The present application relates to the technical field of robotic arms, in particular to a method, device and system for hand-eye calibration of a robotic arm. Background technique [0002] At present, robotic arms have been widely deployed in the advanced manufacturing industry to improve production efficiency. When the robotic arm is deployed in the production environment, the hand-eye calibration process of the robotic arm must be performed in advance. After the calibration is completed, the relative positions of the camera and the robotic arm will no longer be A transformation occurs. However, in the actual production environment, due to mechanical vibration or other reasons, the position of the robotic arm and the camera will be offset. Therefore, the hand and eye of the robotic arm must be recalibrated every once in a while. [0003] However, the existing hand-eye calibration method of the manipulator requires the relative position of the manipu...

AI Technical Summary

Problems solved by technology

However, in the actual production environment, due to mechanical vibration or other reasons, the position of the robotic arm and the camera will be offset. Therefore, the hand and eye of the robotic arm must be recalibrated every once in a while.

[0003] However, the existing hand-eye calibration method of the manipulator requires the relative position of the manipulator and the camera to be fixed.

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