Mechanical arm hand-eye calibration method and system based on improved SVD algorithm

Abstract

The invention discloses a mechanical arm hand-eye calibration method and system based on an improved SVD algorithm. The method comprises the steps that a mechanical arm base coordinate system and an optical system coordinate system are established; a plurality of calibration positions are arranged in the visual range of the camera, and a calibration tool is arranged at the tail end of the mechanical arm; the tail end of the mechanical arm is controlled to move in a plurality of calibration positions, and a first data set of the calibration tool in a mechanical arm base coordinate system and a second data set of the calibration tool in an optical system coordinate system are obtained; a first calibration data set corresponding to the first data set and a second calibration data set corresponding to the second data set are obtained, and a hand-eye calibration data set is formed and then converted into a hand-eye conversion matrix through operation; performing reverse thrust and error calculation on the hand-eye calibration data set by utilizing the hand-eye conversion matrix, and judging whether the hand-eye conversion matrix is an optimal solution or not; if not, updating the hand-eye calibration data set, and returning to determine a new hand-eye conversion matrix; and if yes, outputting a hand-eye conversion matrix. The precision of the mechanical arm hand-eye calibration work can be improved.

Description

technical field [0001] The invention relates to the technical field of robotic arm applications, in particular to a method and system for hand-eye calibration of a robotic arm based on an improved SVD algorithm. Background technique [0002] The hand-eye calibration of the manipulator refers to the coordinate transformation of the manipulator body and the vision system to determine the positional relationship between them, so as to convert the target pose determined by the vision system to the base coordinate system of the manipulator to realize the alignment of the manipulator. The grasping of the target, therefore, the hand-eye calibration accuracy will directly affect the accuracy of the robotic arm operation. At present, some technicians have proposed to introduce the SVD (Singular Value Decomposition, singular value decomposition) algorithm to realize the calibration of the robot arm and the eye. Since the unstable data points generated by the camera distortion are pron...

AI Technical Summary

Problems solved by technology

At present, some technicians have proposed to introduce the SVD (Singular Value Decomposition, singular value decomposition) algorithm to realize the hand-eye calibration of the manipulator. Since unstable data points caused by camera distortion are prone to appear in the camera field of view, there is no Checking and deleting these unstable data points may cause large calibration errors

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