General robot eye-on-hand calibration method and system
A robot eye and calibration method technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of non-convergence and cumbersome steps of SCARA robots
Active Publication Date: 2022-05-06
杭州灵西机器人智能科技有限公司
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[0005] The embodiment of the present application provides a general robot eye-on-hand calibration method and system to at least solve the problem that the solution of SCARA robots does not converge when using the conventional eye-on-hand calibration method in the related art, and the poking point of the calibration needle tip is used. During the method, the steps are cumbersome
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[0047] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application. In addition, it can also be understood that although such development efforts may be complex and lengthy, for those of ordinary skill in the art relevant to the content disclosed in this application, the technology disclosed in this application Some design, manufacturing or production changes based on the content are just conventional technical means, and...
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This application relates to a general robot eye-on-hand calibration method and system. By controlling the robot to capture the first calibration plate image group along the robot base coordinate system, the rotation matrix from the end of the robot to the camera is obtained, and the end of the robot and the camera are controlled as one The rigid whole rotates around an axis parallel to the Z-axis of the robot base coordinate system, and shoots the second calibration board image group in several poses, obtains the camera poses in several calibration board coordinate systems, and performs three-dimensional circle simulation The center of the circle is obtained, and the point on the rotation axis at the same height as the end of the robot in the coordinate system of the robot base is recorded as, and the positions of the camera and the end of the robot in the coordinate system of the robot base are respectively recorded as and, according to , , and, the camera To the translation matrix at the end of the robot, the calibration result of the robot eye on the hand can be obtained by summing up, which solves the problem that the conventional method does not converge for the SCARA robot, and the steps are simpler.
Description
technical field [0001] The present application relates to the technical field of machine vision, in particular to a general robot eye-on-hand calibration method and system. Background technique [0002] In the field of machine vision, the robot needs to perform corresponding path planning and other operations according to the signals given by the vision system, and the robot coordinate system and the visual coordinate system are two independent modules, so it is necessary to calibrate the robot to obtain the robot coordinate system and The rotation and translation relationship of the camera coordinate system. [0003] In the related technology, the eye-in-hand calibration process is that the camera is fixed on the end of the robot, and the calibration board is fixed on the ground. After the robot is controlled to reach different poses, the camera takes images of the calibration board in different poses, and then passes AX=XB or AX=YB two models solve the rotation and transl...
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IPC IPC(8): B25J9/16
CPCB25J9/1653B25J9/161B25J9/1697
Inventor 王灿郭骏杰丁丁
Owner 杭州灵西机器人智能科技有限公司