A method for positioning a nail hole position for a screwing of an industrial robot

Abstract

The embodiment of the application discloses a nail hole position positioning method for industrial robot screwing, relates to the technical field of intelligent manufacturing, and has low hand-eye calibration precision requirements for binocular vision detection devices and flanges of industrial robots, can effectively reduce the influence of calibration errors on nail hole position detection positioning precision, and improves nail hole position detection positioning efficiency and precision. The application comprises the following steps: calibrating the binocular vision detection device to obtain coordinate system information of an industrial robot screwing system; obtaining a matrix transformation relationship between {CF} and {FF}, and obtaining a matrix transformation relationship between {NF} and {FF}; when a screwing end effector moves to a theoretical nail hole position, a matrix transformation relationship between {FF} and {HF} is obtained; and according to the calculated matrix transformation relationship between the coordinate systems, the pose parameters of the industrial robot required for the screwing end effector to move to a target nail hole position are calculated.

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