Automatic calibration method of robot system

Abstract

The present invention discloses an automatic calibration method for a robot system, comprising steps of: calibrating intrinsic parameters of a sensor and a sensor coordinate system of the sensor with respect to a world coordinate system by means of a calibration plate; and controlling a robot under the guidance of the calibrated sensor to move an original point of a tool coordinate system of a tool mounted on the robot to reach the same target point with a plurality of different poses, and calculating a transfer matrix tcpTt of the tool coordinate system with respect to a tool center point coordinate system of the robot based on pose data of the robot at the same target point. The robot can accurately move to the same target point with the plurality of different poses, improving the calibration accuracy of the robot system. Furthermore, the calibration of the robot system is automatically performed by a control program, increasing the calibration efficiency, and simplifying the calibration operation.

Description

technical field [0001] The invention relates to an automatic calibration method for a robot system. Background technique [0002] In the prior art, for the calibration of the robot system, the method of manual teaching is generally used, for example, manually controlling the robot in a variety of different postures (for six-axis robots, generally four or more different postures) pose) to move the tool mounted on it to the same target point. However, since it is necessary to judge whether the tool moves to the same target point by human eyes, there will inevitably be errors, resulting in inaccurate calibration of the transfer matrix of the tool relative to the tool center point (tool center point) coordinate system of the robot. Moreover, it is very time-consuming to manually control the robot to reach the same target point with many different attitudes and rely on human eyes to judge whether it has reached the same target point, which affects work efficiency. For robot sys...

AI Technical Summary

Problems solved by technology

However, since it is necessary to judge whether the tool moves to the same target point by human eyes, there will inevitably be errors, resulting in inaccurate calibration of the transfer matrix of the tool relative to the tool center point (tool center point) coordinate system of the robot. Moreover, it is very time-consuming to manually control the robot to reach the same target point with a variety of different postures and rely on human eyes to judge whether it has reached the same target point, which affects work efficiency.

For robot systems that need to change tools frequently, it is very troublesome and time-consuming to perform a recalibration after each tool change

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