Industrial Robot Calibration via Point Pair Registration
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Solution Overview
Problem
Current calibration methods for industrial robots, such as hand-eye calibration, lack flexibility and require complex hardware settings, making them inefficient for accurate environment modeling.
Innovation Solution
A calibration method that involves receiving synchronized models of an industrial robot and its environment, obtaining registration information by selecting corresponding point pairs, and calibrating the environment model's coordinate system to the robot's base coordinate system using an iterative closest point method.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If hand-eye calibration method is used to calibrate the coordinate system, then the calibration can be performed with fixed camera positions, but the flexibility is poor and hardware settings are complicated
Solution Approach 1:
The patent replaces the mechanical hand-eye calibration system (requiring fixed camera mounting on robot or external base) with a pure software-based coordinate transformation system. The system uses point pair correspondence between environment model and robot model to compute transformation parameters through mathematical algorithms, eliminating the need for physical camera fixation hardware and complex mechanical calibration setups.
2Measurement precision
If hand-eye calibration method is used, then the calibration process can be standardized, but the process is time-consuming and reduces productivity
Solution Approach 1:
The patent applies partial action by selecting only the necessary minimum elements for calibration: three or more corresponding point pairs between the environment model and robot model. This selective approach avoids the exhaustive and time-consuming procedures of traditional hand-eye calibration while maintaining sufficient accuracy for coordinate system transformation.
Solution Approach 2:
The system performs preliminary action by pre-establishing the environment model with robot model information before calibration. This pre-prepared model contains all necessary geometric data and point correspondences, allowing the actual calibration to be performed rapidly through simple parameter computation rather than iterative measurement and adjustment.
3Measurement precision
If camera motion capture system is used to obtain environment reconstruction model, then the model can be obtained, but complicated hardware settings are required and it is very expensive
Solution Approach 1:
The patent uses copying by creating a digital environment model that includes the robot model within it. Instead of using expensive motion capture hardware to track the robot, the system creates a virtual copy of the robot in the environment model and uses point correspondence between this virtual model and actual sensor data to achieve calibration, replacing complex hardware tracking with software-based virtual modeling.
Data Source
AI summary
A calibration method for an industrial robot includes receiving a first model of the industrial robot, the first model is synchronized with a pose state of the industrial robot located at a specific position in an actual environment; receiving an environment model around the industrial robot, the environment model including a second model of the industrial robot; obtaining registration information of the second model, at least by selecting at least three corresponding non-collinear point pairs in the first model and the second model to perform registration; and based on the registration information, calibrating a coordinate system of the environment model to a base coordinate system of the industrial robot.