A method for hand-eye calibration of workpiece
A hand-eye calibration and workpiece technology, which is applied in the direction of manipulators, manufacturing tools, program control manipulators, etc., can solve the problems of unsuitable workpiece coordinates, long time-consuming, slow speed, etc., and achieve the goal of reducing work intensity, saving time, and reducing the number of calibrations Effect
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[0016] 1. It is stipulated that the bottom layer of the workpiece is the first layer, and the number of layers increases sequentially. Assuming that the first hand-eye calibration is performed on the m-th layer, the current layer number m is acquired to obtain the hand-eye calibration data, and the image Image1 of the current layer number is collected to calculate the center point of the image. , according to the calibration data, the center point of the image is obtained based on the pose coordinates of the manipulator (x m ,y m )
[0017] 2. Assuming the second hand-eye calibration on layer n (m1), obtain the current layer number n, get the hand-eye calibration data of the current layer, collect the image Image2 of the current layer number, calculate the center point of the image, and calculate the center point of the image according to the calibration data Get the center point of the image based on the pose coordinates of the manipulator (x n ,y n )
[0018] 3. Calculat...
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