Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Adaptive motion selection method used for robot on line hand eye calibration

A technology of hand-eye calibration and robot hand, which is applied in the fields of visual servo and tactile perception, robot 3D vision measurement, and adaptive motion selection. Achieve the effect of improving calibration accuracy and increasing the number of calibrations

Inactive Publication Date: 2005-10-26
SHANGHAI JIAO TONG UNIV
View PDF1 Cites 6 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the shortcomings of this method are: setting the values ​​of α, β and d based on experience does not take into account the characteristics of the motion sequence itself, does not have the robustness to adapt to various situations, and once the threshold is set, it will not change , if the setting is inappropriate, it may make the number of calibrations too small

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Adaptive motion selection method used for robot on line hand eye calibration
  • Adaptive motion selection method used for robot on line hand eye calibration
  • Adaptive motion selection method used for robot on line hand eye calibration

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0017] In order to better explain the technical solution of the present invention, a further detailed description will be made below in conjunction with the accompanying drawings and embodiments.

[0018] 1. Use the sine value of the angle between the rotation axes of every two movements in the first five movements of the robot gripper, the average value of the rotation angle of each movement and the modulus of the translation component of each movement to set the three parameters of the movement selection. thresholds: sin(α), β, d. Let the homogeneous matrix of the i-th (i is a natural number) sampled camera and hand gestures be P i , Q i , X is the homogeneous matrix of the hand-eye transformation relation to be solved.

[0019] ( sin ( α ) , β , d ) = 1 5 ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

An adaptive movement selection method for in-line calibration of robot's hand and eyes includes using the previous 5 movement parameters of the hands of robot to calculate the inertial values of 3 thresholds for movement selection, in-line calibration of hands and eyes on the basis of movement selection, calculating rotational error and traslation error, adaptively changing said 3 thresholds, performing movement selection and calibration of hands and eyes again, and cyclically repeating above-said steps.

Description

technical field [0001] The invention relates to an adaptive motion selection method for online hand-eye calibration of a robot, which can be widely used in robot three-dimensional vision measurement, visual servoing, tactile perception and the like. It belongs to the field of advanced manufacturing and automation. Background technique [0002] Robot hand-eye calibration is a fundamental problem in machine vision. The accuracy of hand-eye calibration partially determines the accuracy of machine vision when applied to robotics. Robot hand-eye calibration is to measure the relative position and orientation relationship between the camera fixed on the end effector (robot gripper) of the robot arm and the robot gripper. Most of the previous solutions to this type of problem were to solve the homogeneous transformation equation AX=XB through an iterative optimization algorithm (Y.C.Shiu and S.Ahmad, "Calibration of wrist-mounted robotic sensors by solving homogeneous transform e...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): B25J19/00
Inventor 张婧石繁槐王建华刘允才
Owner SHANGHAI JIAO TONG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com