A Calibration Method for Dual Manipulators Based on Camera Optical Axis Constraints

A dual robotic arm and calibration method technology, which is applied in the field of robot calibration, can solve the problems of lower absolute positioning accuracy of the end of the robotic arm, kinematic parameter error, and complicated calibration process, so as to reduce calibration costs, fewer calibration steps, and calibration accuracy high effect

CN109877840BActive Publication Date: 2021-09-28HARBIN ENG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2021-09-28

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Abstract

The present invention relates to a method for calibrating dual manipulators based on camera optical axis constraints, comprising the following steps: Step 1: building a calibration system for dual manipulators; Step 2: establishing a parameter calibration equation based on an error model; Alignment of feature points and acquisition of position data; Step 4: Solve the calibration equation. The invention only uses the camera and the checkerboard calibration board to build a dual-manipulator calibration system, which is easy to operate, does not require expensive high-precision instruments and elaborate calibration tools, and reduces the calibration cost; the calibration accuracy of the present invention is higher, and the calibration steps are fewer , the operation is more convenient; the invention uses an image-based visual control method to control the movement of the active manipulator, so that the feature points are automatically aligned with the optical axis of the camera, and the calibration process does not require professional operation, and only requires simple supervision by the operator; It is suitable for all kinds of dual-arm cooperation systems, with high calibration accuracy, and the calibration results can meet the needs of most dual-arm cooperation tasks.
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Description

technical field

[0001] The invention relates to a dual-manipulator calibration method, in particular to a dual-manipulator calibration method based on camera optical axis constraints, and belongs to the field of robot calibration. Background technique

[0002] As one of the major landmark products in the development of the robot industry, the dual-arm robot has more and more applications in the fields of industry, life, medical treatment, aerospace and other fields. Dual robotic arms can cooperate to complete tasks that are difficult for a single robotic arm, such as moving objects with large mass or volume, complex assembly of multiple components, handling of flexible objects, etc., which has the advantages of saving cost, saving space, and improving production efficiency. When the dual-arm cooperation completes various tasks, the accuracy of the dual-arm system directly affects the degree of completion and success rate of the task, and tasks such as parts assembly put forw...

Examples

Embodiment Construction

[0037] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0038] The invention provides a method for calibrating dual mechanical arms based on camera optical axis constraints. At present, robots are developing rapidly, and more and more fields require dual-arm collaborative robots. In order to successfully complete the operation tasks, the dual-arm system must be calibrated. In view of the low positioning accuracy of the current dual-arm collaborative robot, the present invention simultaneously completes the calibration of kinematic parameters and base coordinates of the two robotic arms, providing technical support for the dual-arm system to complete high-precision tasks. The basic idea of ​​the present invention is to make the optical axis of the camera installed at the end of one manipulator serve as a virtual linear constraint, and the pose of the other end of the manipulator satisfy the virtual constraint of the optica...