Calibration method of SCARA manipulator dispensing system

Abstract

The invention discloses a calibration method of an SCARA manipulator dispensing system. The dispensing system comprises an SCARA type manipulator, a camera and a dispensing valve, wherein the calibration method is realized based on a preset calibration program, the calibration method comprises the following steps that S1, self-calibration of the camera is used for calibrating internal parameters of the camera and correcting camera distortion; S2, the relation between the center of the camera and a manipulator coordinate system is calibrated by adopting a teaching mode; S3, a relation between acamera coordinate system and a coordinate plate preset coordinate system is automatically calibrated by the calibration program; S4, the relation between the center of the camera and the coordinate system of the manipulator is automatically calibrated by the calibration program; S5, the relation between the center of a dispensing valve and the center of the camera is calibrated by adopting a teaching mode; S6, the relation between the center of the dispensing valve and the center of the camera is automatically calibrated by the calibration program; and S7, the calibration is completed. The calibration method is convenient to operate and short in operation time, and can improve the production efficiency.

Description

technical field [0001] The invention relates to a SCARA manipulator dispensing system, in particular to a calibration method for a SCARA manipulator dispensing system. Background technique [0002] In the prior art, the SCARA manipulator has the characteristics of small size, fast speed, and high precision. It is currently widely used in the 3C industry and can be used to complete assembly, handling, dispensing and other processes. For the dispensing process, the planning of the dispensing path of the current manipulator system with vision mainly relies on the manual teaching of the dispensing position observed by the human eye, and the vision is only a preliminary correction of the position of the incoming material. In order to meet the process and accuracy However, there are problems such as repeated teaching, inconvenient operation, and heavy workload, which are especially prominent in complex path planning. Contents of the invention [0003] The technical problem to b...

AI Technical Summary

Problems solved by technology

For the dispensing process, the planning of the dispensing path of the current manipulator system with vision mainly relies on the manual teaching of the dispensing position observed by the human eye, and the vision is only a preliminary correction of the position of the incoming material. In order to meet the process and accuracy Requirements, there are problems such as repeated teaching, inconvenient operation, and heavy workload, which is especially prominent in complex path planning

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