Automatic mechanical arm calibrating method and device

An automatic calibration and robotic arm technology, applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of difficult alignment of vision, errors in the transformation coefficients of two coordinate systems, affecting the positioning of marker objects, etc.

Active Publication Date: 2020-07-10
DELTA ELECTRONICS JIANGSU
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Problems solved by technology

[0006] 2. When obtaining the coordinates of the manipulator, if the tool carried by the robot is large or irregular, it is difficult to achieve alignment by human vision, resulting in an error in the transformation coefficient of the two coordinate systems, which affects the posi

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  • Automatic mechanical arm calibrating method and device
  • Automatic mechanical arm calibrating method and device
  • Automatic mechanical arm calibrating method and device

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Embodiment Construction

[0075] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals denote the same or similar structures in the drawings, and thus their repeated descriptions will be omitted.

[0076] figure 1 It is a schematic flow chart of the automatic calibration method of the manipulator of the present invention. figure 2 It is a schematic diagram of the automatic calibration device of the manipulator of the present invention. image 3 is the image in the field of view of the camera in the present invention. Such as Figures 1 to 3 As shown, the present invention provides a method for automatic calibrat...

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Abstract

The invention provides an automatic mechanical arm calibrating method and device. The automatic mechanical arm calibrating method comprises the steps of constructing a pixel coordinate system based ona camera and a geodetic coordinate system based on a base of a mechanical arm; calibrating the geodetic coordinate system and the pixel coordinate system, and obtaining scale parameters for converting the geodetic coordinate system and the pixel coordinate system and a mechanical arm moving range within which a marker can be photographed; obtaining point location information when the camera is located over the marker under at least three different rotating angles of the mechanical arm; calculating a relative location parameter of the central position of the camera and the position of an axisend; obtaining point location information of a marking point at different positions under the same rotating angle of the mechanical arm, wherein the marking point is a fixed point on the marker; and calculating coordinate calibrating parameters according to the point location information. According to the automatic mechanical arm calibrating method and the automatic mechanical arm calibrating device, the calibrating procedure is simplified, time for calibrating the geodetic coordinate system and the pixel coordinate system is greatly shortened, the calibrating precision is improved, and the operational barriers are lowered.

Description

technical field [0001] The invention relates to the field of calibration of a tool coordinate system, in particular to a method for automatic calibration of a mechanical arm and a calibration device. Background technique [0002] Industrial robot is a typical representative of mechatronics. It has been widely used in all walks of life in industry to continuously improve production efficiency. With the continuous development of robotics, computer technology and image processing technology, the application of industrial robots with vision systems is becoming more and more extensive. As the main way for industrial robots to obtain environmental information, the vision system can improve the identification and positioning capabilities of industrial robots and enhance the flexibility of industrial robots. In the application of industrial robots and vision systems, it is necessary to obtain the pixel coordinates of the marker T in the image through the vision system, and calculat...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1653
Inventor 颜良益杨杰伍蒙王志芳
Owner DELTA ELECTRONICS JIANGSU
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