Three-degree-of-freedom parallel robot hand-eye calibration method based on 3D visual sensor

A visual sensor and robot technology, applied in the field of robot vision, can solve the problems that the three-degree-of-freedom parallel robot cannot be realized

Active Publication Date: 2020-11-03
GUIZHOU POWER GRID CO LTD
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  • Abstract
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AI Technical Summary

Problems solved by technology

Most of the traditional hand-eye calibration methods need to operate the robot actuator to collect data under multiple postures of the calibration object, which cannot be realized on a three-degree-of-freedom parallel robot

Method used

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  • Three-degree-of-freedom parallel robot hand-eye calibration method based on 3D visual sensor

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Experimental program
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Effect test

Embodiment

[0064]Using this method to carry out the calibration experiment, the repeated positioning accuracy of the three-degree-of-freedom parallel robot used in the experiment is ±0.01mm, the image resolution of the 3D sensor is 728×544, the number of point cloud imaging points is 396032, and the standard working distance is 44mm. Select 16 test points, first measure the three-dimensional coordinates x' of the test points in the base coordinate system by contact Base , and then calculate the three-dimensional coordinate x" of the test point measured by the hand-eye vision system in the base coordinate system through formula (1) Base , the method to calculate the absolute error e of the test point is:

[0065] e=|x" Base -x' Base | (16)

[0066] Using this method to calibrate the results, the average absolute error of 16 test points is 0.119mm, and the maximum absolute error is 0.174mm. As a comparison, the method of approximate rounding of sub-pixels is also tested, and the averag...

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Abstract

The invention discloses a three-degree-of-freedom parallel robot hand-eye calibration method based on a 3D visual sensor, and belongs to the field of robot vision. Firstly, a mathematical model of a three-degree-of-freedom parallel robot vision system is established, then an executing mechanism of a robot is controlled to perform two times of mutually-perpendicular translational motion, and two translational vectors of a robot tool coordinate system and two translational vectors of a point cloud coordinate system are obtained; and a standard orthogonal basis based on the tool coordinate systemand a standard orthogonal basis based on the point cloud coordinate system are established according to the two groups of translational vectors so as to solve a rotating part of a conversion relationship between the two coordinate systems, finally the execution mechanism is operated to carry out contact measurement on a mark point of a calibration plate, and a translation part is solved by combining the solved rotating part. The hand-eye calibration method is suitable for the visual system composed of the three-degree-of-freedom parallel robot and the 3D sensor, and has high precision.

Description

technical field [0001] The invention belongs to the field of robot vision and relates to a hand-eye calibration method for a three-degree-of-freedom parallel robot based on a 3D vision sensor. Background technique [0002] Hand-eye calibration is a key technical link for robots to achieve visual positioning guidance. For robots with different working modes and different types of vision sensors, it is of great significance to study appropriate, feasible, high-precision, and good-stability hand-eye calibration methods for the development of robot vision systems. [0003] Compared with the common six-degree-of-freedom robot, the three-degree-of-freedom parallel robot has a larger working range and higher positioning accuracy, but its actuator only has three translational degrees of freedom in mutually orthogonal directions, and does not have rotational freedom. Spend. Most of the traditional hand-eye calibration methods need to operate the robot actuator to collect data under...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/003B25J9/1664B25J9/1697
Inventor 潘丰程麒
Owner GUIZHOU POWER GRID CO LTD
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