Hand-eye calibration method for mechanical arm, calibration plate, device, equipment and storage medium

Abstract

The invention relates to a hand-eye calibration method for a mechanical arm, a calibration plate, a device, equipment and a storage medium. The method comprises the steps that the calibration plate issequentially put at different positions in the view of a scanner, and the tool center point position of a mechanical arm tail tool coincides with the geometric figure center of the calibration platein a world coordinate; and the tool center point positions in a mechanical arm-based coordinate system and the geometric figure center positions in a scanner camera coordinate system are collected simultaneously, a hand-eye relational matrix of the mechanical arm and a calibration error corresponding to the hand-eye relational matrix are calculated and output according to all the collected tool center point positions and all the collected geometric figure center positions, and the calibration error can be used for judging whether the hand-eye relational matrix is accurate or not. By adopting the method, the mechanical arm hand-eye calibration convenience, efficiency and accuracy can be improved, and the mechanical arm hand-eye calibration cost is reduced.

Description

technical field [0001] The present application relates to the technical field of robotic arm calibration, in particular to a hand-eye calibration method for a robotic arm, a calibration board, a device, equipment and a storage medium. Background technique [0002] With the development of artificial intelligence technology, computer technology and other related technologies, robotic arms have been widely used in many industries. In industrial applications, robotic arms usually rely on hand-eye systems to perform tasks such as machining and installation. Among them, the hand-eye system is a robotic arm vision system composed of a camera and a manipulator. In the robotic arm vision system, the camera is equivalent to the human eye, and the robot end effector is equivalent to the human hand. [0003] The camera captures the spatial position of the spatial object in the visual coordinate system, and the end effector needs to grab the spatial object in the base coordinate system ...

AI Technical Summary

Problems solved by technology

At present, the hand-eye calibration process of the robotic arm needs to rely on some special mechanical devices or light source auxiliary settings, the calibration process is more complicated and the cost is higher

Moreover, the traditional hand-eye calibration method is not efficient, and the error calibration is inconvenient

Images