Robot grasping pose correction method based on vision and laser sensor
A laser sensor and robot technology, applied in the field of robot calibration, can solve problems such as poor precision, cumbersome calibration operations, and inability to correct the workpiece posture, and achieve the effect of avoiding rigid collisions
Active Publication Date: 2021-06-29
SUZHOU UNIV
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Problems solved by technology
[0002] At present, the planar nine-point calibration method has become mature. The three-dimensional vision hand-eye calibration generally requires two cameras to cooperate with each other. It can only calibrate the workpiece with a fixed position and fixed posture, and cannot correct the posture of the workpiece after grabbing. Only to teach the position of 9 points, the accuracy is poor, because the robot has high requirements on the accuracy of the grasping environment and the grasping workpiece, and the robot also has strict requirements on the grasping position and the placement position of the workpiece, which makes the calibration operation cumbersome
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Embodiment 1
[0082] When the workpiece is installed, the laser range finder is installed in an equilateral triangle, and the side length L is 103.923mm. The three lengths measured by the laser range finder are x, x, and x respectively, and the coordinate direction is the tool coordinate system. It can be calculated by formula 5 The angle between the workpiece plane and the RX and RY planes.
[0083] Rotate the robot so that RX, RY coincide with the initial attitude, obtain the depth Z from the distance sensor, and move the robot to the reference Z; refer to Figure 8 , the rotation angle of RZ is calculated by the angle Theta between the straight line of the center of the two holes near the center of the marked circle in the figure and the X-axis, specifically, the coordinates of points A and B are obtained through the camera, and the angle between the straight line AB and the X-axis is determined is Theta, when the initial angle of the base paired with the workpiece is 90 degrees, that is...
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The invention relates to the technical field of robot calibration, and relates to a method for correcting robot grabbing poses based on vision and laser sensors. The invention uses a single camera and three distance sensors to perform hand-eye calibration on the workpiece plane respectively. The distance sensor can not only measure the depth position of the workpiece in space, but also measure the deflection angle of the workpiece pose, so as to correct the workpiece pose and make the workpiece vertical On the calibration plane, it can correct the pose of workpieces for different products and different working conditions; adjust the pose of the workpiece to the assembly pose through the camera and distance sensor to complete the next assembly work, effectively avoiding the Errors cause rigid collisions.
Description
technical field [0001] The invention relates to the technical field of robot calibration, and relates to a method for correcting robot grabbing poses based on vision and laser sensors. Background technique [0002] At present, the planar nine-point calibration method has become mature. The three-dimensional vision hand-eye calibration generally requires two cameras to cooperate with each other. It can only calibrate the workpiece with a fixed position and fixed posture, and cannot correct the posture of the workpiece after grabbing. Only to teach the position of 9 points, the accuracy is poor, because the robot has high requirements on the accuracy of the grasping environment and the grasping workpiece, and the robot also has strict requirements on the grasping position and the placement position of the workpiece, which makes the calibration operation cumbersome . Contents of the invention [0003] The technical problem to be solved by the present invention is to provide ...
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IPC IPC(8): B25J19/00B25J9/16
CPCB25J9/1692B25J19/0095
Inventor 谢小辉张秀安
Owner SUZHOU UNIV