Hand-eye vision calibration method for robot hole boring system
A robotic hole-making, hand-eye vision technology, applied in instruments, image data processing, measuring devices, etc., can solve problems such as inapplicability to on-site calibration, affecting calibration accuracy, and complex process, achieving high practical value, simple calibration process, and calculation. small amount of effect
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[0093] Apply the method described in the present invention, at first carry out hole making with end effector to obtain the actual position coordinates of the hole, then use camera to shoot, carry out positioning to obtain the positioning coordinates of the hole and calculate the positioning error, the data are as shown in Table 1:
[0094] Table 1 Positioning error data table
[0095] Group
No
actual coordinates
Positioning coordinates
Δx / mm
Δy / mm
positioning error
E / mm
1
(1168.24,-5.19)
(1168.25,-5.16)
0.01
0.03
±0.03
[0096] 2
(1176.87,-81.80)
(1176.99,-81.77)
0.12
0.03
±0.12
3
(1132.69,-35.58)
(1132.87,-35.44)
0.18
0.14
±0.23
4
(1086.87,-8.79)
(1087.01,-8.68)
0.14
0.11
±0.18
5
(1135.85,-66.08)
...
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