A Calibration Method for Dual Manipulators Based on Camera Optical Axis Constraints

Abstract

The present invention relates to a method for calibrating dual manipulators based on camera optical axis constraints, comprising the following steps: Step 1: building a calibration system for dual manipulators; Step 2: establishing a parameter calibration equation based on an error model; Alignment of feature points and acquisition of position data; Step 4: Solve the calibration equation. The invention only uses the camera and the checkerboard calibration board to build a dual-manipulator calibration system, which is easy to operate, does not require expensive high-precision instruments and elaborate calibration tools, and reduces the calibration cost; the calibration accuracy of the present invention is higher, and the calibration steps are fewer , the operation is more convenient; the invention uses an image-based visual control method to control the movement of the active manipulator, so that the feature points are automatically aligned with the optical axis of the camera, and the calibration process does not require professional operation, and only requires simple supervision by the operator; It is suitable for all kinds of dual-arm cooperation systems, with high calibration accuracy, and the calibration results can meet the needs of most dual-arm cooperation tasks.

Description

technical field [0001] The invention relates to a dual-manipulator calibration method, in particular to a dual-manipulator calibration method based on camera optical axis constraints, and belongs to the field of robot calibration. Background technique [0002] As one of the major landmark products in the development of the robot industry, the dual-arm robot has more and more applications in the fields of industry, life, medical treatment, aerospace and other fields. Dual robotic arms can cooperate to complete tasks that are difficult for a single robotic arm, such as moving objects with large mass or volume, complex assembly of multiple components, handling of flexible objects, etc., which has the advantages of saving cost, saving space, and improving production efficiency. When the dual-arm cooperation completes various tasks, the accuracy of the dual-arm system directly affects the degree of completion and success rate of the task, and tasks such as parts assembly put forw...

AI Technical Summary

Problems solved by technology

For a dual-manipulator system, generally only the base coordinates are calibrated, and due to factors such as manufacturing tolerances, environmental changes, and wear, there are errors between the actual kinematic parameters of the manipulator and the nominal kinematic parameters set by the factory, resulting in the end of the manipulator Absolute positioning accuracy is reduced, so kinematic parameter calibration is required

At present, the calibration of the kinematic parameters of the manipulator and the calibration of the base coordinate system usually use high-precision measuring instruments or elaborate calibration tools. Such methods are expensive and require professional personnel to operate, and are not suitable for simple and effective calibration in most scenarios. Requirements, and the calibration of the kinematics parameters of the manipulator and the calibration of the base coordinates are usually carried out separately, using different calibration equipment and calibration methods, which makes the calibration process more complicated

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