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
CN1686682AInactive Publication Date: 2005-10-26SHANGHAI JIAO TONG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
SHANGHAI JIAO TONG UNIV
Publication Date
2005-10-26
Estimated Expiration
Not applicable · inactive patent

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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.
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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

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