Method and device for hand-eye calibration of a robot

Abstract

The present application provides a method and device for robot hand-eye calibration, which are used in a robot system. The robot system includes a robot arm, a calibration board, and a global camera that is relatively fixed to the base of the robot arm; the calibration board is fixed on the robot arm At the end, the relative position of the end of the mechanical arm and the calibration plate remains unchanged; the method includes: according to the calibration plate images taken by the global cameras in the first state, the end of the mechanical arm is obtained in the calibration plate coordinate system The relative position coordinates B; record the position coordinate vector D of the end of the manipulator in the manipulator base coordinate system in multiple second states, and according to the first conversion matrix A between the calibration plate coordinate system and the global camera coordinate system 1 As well as the relative position coordinate B of the end of the manipulator in the coordinate system of the calibration plate, the transformation matrix E between the global camera coordinate system and the base coordinate system of the manipulator is obtained by solving, so as to ensure accuracy and the process is simple.

Description

technical field [0001] The present application relates to the technical field of robot calibration, in particular to a method and device for robot hand-eye calibration. Background technique [0002] The robot has a vision system. Using the images acquired by the vision system, the robot can control the end of the mechanical arm to perform various actions. The vision system is equivalent to the "eyes" of the robot, and the end of the robotic arm is equivalent to the "hand" of the robot. The pre-set action tasks are completed through the cooperation between the hands and eyes. [0003] When the robot uses the hand-eye system to perform tasks, the vision system obtains the position of the environmental space object based on the vision system coordinate system. In order to ensure that the robot can accurately move the space object to the target position, it is necessary to determine the vision system coordinate system and the end coordinate system of the manipulator. The transf...

AI Technical Summary

Problems solved by technology

[0004] In the existing technology, in the calibration process, it is generally necessary to manually intervene to set the attitude of the robot, and then obtain the coordinate transformation relationship from the vision system coordinate system to the robot coordinate system. This calibration process is complicated and the accuracy cannot be guaranteed.

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