A calibration method for scara manipulator dispensing system

Abstract

The invention discloses a calibration method for a SCARA manipulator dispensing system. The dispensing system includes a SCARA-type manipulator, a camera and a dispensing valve. The calibration method is implemented based on a preset calibration program. The calibration method includes The steps are as follows: step S1, the camera itself is calibrated, which is used to calibrate the internal parameters of the camera and correct the camera distortion; step S2, the relationship between the camera center and the manipulator coordinate system is calibrated by teaching; step S3, the calibration The program automatically calibrates the relationship between the camera coordinate system and the preset coordinate plate coordinate system; step S4, the calibration program automatically calibrates the relationship between the camera center and the manipulator coordinate system; step S5, adopts the method of teaching to calibrate Find the relationship between the center of the dispensing valve and the center of the camera; Step S6, the calibration program automatically calibrates the relationship between the center of the dispensing valve and the center of the camera; Step S7, the calibration is completed. The invention has the advantages of convenient operation, less operation time and improved 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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