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Robot hand-eye calibration method, system and terminal

A technology of hand-eye calibration and calibration method, which is applied in the field of robotics, can solve the problems of punctual accuracy limiting calibration accuracy, high requirements for teaching points, and many teaching points, and achieve the effects of small calculation, high economy, and low labor cost

Active Publication Date: 2022-04-12
SHANGHAI TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a robot hand-eye calibration method, system and terminal, which are used to solve the problem that the existing robot hand-eye calibration method has a large amount of calculation and many teaching points, which is difficult for teaching. The point requirements are high, and most of the calibration is offline calibration and the accuracy of this method is low, and the accuracy of the alignment point limits the calibration accuracy of the hand-eye coordinate system

Method used

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  • Robot hand-eye calibration method, system and terminal
  • Robot hand-eye calibration method, system and terminal

Examples

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Embodiment 1

[0075] Embodiment 1: A robot hand-eye calibration method, applied to a six-axis robot, the six-axis robot includes: a support laser set on the six-axis robot, such as image 3 Shown as a flow diagram of hand-eye calibration.

[0076] The methods include:

[0077] Input is based on the tool coordinate system (x-axis, y-axis and z-axis) of the adding laser and the position information of at least one teaching point on the three-dimensional calibration block obtained by the adding laser under the tool coordinate system; Wherein, the upper plane of the three-dimensional calibration block is a grinding plane, and there are 45-degree inclined grinding planes on both sides.

[0078] respectively correcting the position information of each teaching point to obtain the position information of the corrected teaching point corresponding to each teaching point on the stereo calibration block in the tool coordinate system;

[0079] The point P1 obtained by the boosting laser based on the...

specific Embodiment

[0087] Such as Figure 4 A schematic structural diagram of a robot hand-eye calibration system in an embodiment of the present invention is shown.

[0088] The system includes:

[0089] Applied to a depth sensing device installed on a robot, the system includes:

[0090] The system includes:

[0091] The input module 41 is used to input the tool coordinate system based on the depth sensing device and the position information of at least one teaching point on the stereo calibration block obtained by the depth sensing device under the tool coordinate system;

[0092] The teaching correction module 42 is connected to the input module 41, and is used to obtain the corrected teaching points corresponding to each teaching point on the three-dimensional calibration block in the tool coordinate system according to the position information of each teaching point Correct the teaching point position information under ;

[0093] The motion planning module 43 is connected to the teachi...

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Abstract

The robot hand-eye calibration method and system and the terminal are applied to a depth sensing device arranged on a robot. The robot hand-eye calibration method solves the problems that an existing robot hand-eye calibration method is large in calculated amount, many in teaching points and high in teaching point requirement, most calibration is off-line calibration, the method is low in precision, and the calibration precision of a hand-eye coordinate system is limited by the precision of alignment points. The robot hand-eye calibration method provided by the invention is small in calculated amount and full-automatic in calibration, does not need precise teaching, and can also obtain calibration precision which is the same as that of precise control of each axis of a hand-eye coordinate system. The method is high in economical efficiency and low in labor cost, the efficiency of calibration work is greatly improved, and the method can be widely applied to various environments such as factory sites and laboratories.

Description

technical field [0001] The invention relates to the robot field, in particular to a robot hand-eye calibration method, system and terminal. Background technique [0002] At present, the robot hand-eye calibration generally adopts the matrix transformation method, and uses specific tools, through-beam photoelectric sensors, cameras, line lasers and other sensors to obtain the pose information of the robot from different poses to the same target point. Through the least square method or Levenberg-Marquardt algorithm, calculate the transformation matrix of the hand-eye coordinate system with the best convergence to complete the calibration. This method requires a large amount of calculation, many teaching points, and high requirements on the teaching points. Most of the calibrations are offline calibrations. In addition, this method has low precision, and the precision of the alignment point limits the calibration precision of the hand-eye coordinate system. Contents of the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/00B25J9/22
Inventor 杨婷婷谢广平倪娜
Owner SHANGHAI TECH UNIV