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Rotation matrix calibration method based on transverse moving motion in TCP coordinate system

A technology of rotation matrix and translational movement, applied in the field of robotics, can solve problems such as unfavorable production and processing, complex conversion equations, etc., and achieve the effects of avoiding clamping errors, high calibration accuracy, and high precision

Active Publication Date: 2020-09-08
WUHAN UNIV OF TECH
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Problems solved by technology

[0003] The purpose of the present invention is to provide a rotation matrix calibration method based on the translational motion under the TCP coordinate system, to solve the problem that in the prior art, it is too complicated to construct the conversion equation through the conversion relationship between the base coordinate system, the TCP coordinate system and the scanner coordinate system, Problems that are not conducive to actual production and processing

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  • Rotation matrix calibration method based on transverse moving motion in TCP coordinate system
  • Rotation matrix calibration method based on transverse moving motion in TCP coordinate system
  • Rotation matrix calibration method based on transverse moving motion in TCP coordinate system

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Embodiment Construction

[0042] Embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but should not be used to limit the scope of the present invention.

[0043] The implementation process of the present invention will be explained below in conjunction with the accompanying drawings, which involves some but not all of the content.

[0044] figure 1 Schematic diagram of the eye-on-hand calibration system used in the present invention, including a robot 1, a standard ball 2 and a scanner 3; wherein the standard ball 2 is fixed outside the robot 1, the scanner 3 is fixed at the end of the robot 1, and the coordinates of the robot 1 itself The system is recorded as the base coordinate system, the coordinate system at the end of the robot 1 is recorded as the TCP coordinate system, and there is a coordinate system on the scanner 3 carried at the end of ...

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Abstract

The invention discloses a rotation matrix calibration method based on transverse moving motion in a TCP coordinate system. The method comprises the steps that firstly, a standard ball is set, a robotis controlled to carry a scanner to do transverse moving motion in three axis directions of the TCP coordinate system in the TCP coordinate system, and in the motion process, the standard ball is scanned; point cloud data of the standard at the different positions in the motion and coordinates of the ball center in the scanner coordinate system are obtained; and calculation is carried out to obtain three orthogonal unit transverse moving vectors of the ball center in the TCP coordinate system and the scanner coordinate system, and according to the corresponding transverse moving vectors, calibration of a rotation matrix can be finished. The automatic calibration flow is adopted, calibration of the rotation matrix can be finished through three times of transverse moving in the three coordinate axis directions in the TCP coordinate system, characteristic points, a calibration plate and the like do not need to be set, operation is easy, the calibration efficiency is high, the clamping error can be avoided, the calibration precision is high, and the method is suitable for measuring and machining integration of complex part robots in fields of machines, cars and the like.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a hand-eye conversion method between a TCP coordinate system and a scanner coordinate system, in particular to a rotation matrix calibration method based on translational motion under the TCP coordinate system. Background technique [0002] In order to ensure the online processing of large workpieces, real-time compensation for errors in production and processing, and use the measurement system to guide robot processing, it is necessary to calibrate the measurement system, and focus on determining the hand-eye conversion relationship between the TCP coordinate system and the measurement system. The manual calibration method is complex in operation, prone to random errors, low in calibration efficiency and large in error. The traditional eye-on-hand rotation matrix calibration method is to use various forms of motion in the robot base coordinate system, and use the conversion relatio...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1664B25J9/1679B25J19/0095
Inventor 朱大虎吕睿
Owner WUHAN UNIV OF TECH
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