Automatic calibrating method for hand-eye relationship of robot based on incremental compensation

Abstract

The invention provides an automatic calibrating method for a hand-eye relationship of a robot based on incremental compensation. The automatic calibrating method comprises the steps of guiding the tail end of a mechanical arm to a proper calibrating origin, collecting an image of a calibrated object on a working table board, and extracting pixel coordinates of a reference point therein; presettingTCP offset of each data collecting point relative to the calibration origin; controlling the mechanical arm to arrive each data collecting point along a TCP coordinate system according to the presetoffset to collect the pixel coordinates of the reference point; and calculating calibrating parameters according the offset of collected pixel coordinates relative to the pixel coordinates at the calibrating origin as well as the TCP offset, relative to the calibrating origin, corresponding to the pixel coordinates. The automatic calibrating method is high in calibrating precision, is implementedautomatically, is convenient and rapid and high in calibrating efficiency, and can be applied to the mechanical arm with a fixed base or an unfixed base.

Description

technical field [0001] The disclosure belongs to the field of industrial robots, in particular to robot vision guidance technology, and specifically relates to an automatic calibration method for a robot's hand-eye relationship. Background technique [0002] The current robot hand-eye relationship calibration is generally carried out in the robot base coordinate system. The camera collects the image of the calibration object, obtains its pixel coordinate points, and teaches and guides the calibration probe at the end of the manipulator to touch the center point of the calibration object to obtain the pixel coordinate points of the calibration object. According to the corresponding base coordinates of the manipulator, the calibration parameters are solved according to the point-to-point relationship between all obtained pixel coordinate points and the robot base coordinate points. However, this method requires the operator to manually teach the calibration probe at the end of...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide an automatic calibration method for robot hand-eye relationship based on incremental compensation, so as to solve the problems in the above calibration method that the accuracy of manual teaching affects the calibration accuracy, multiple teaching and operation are cumbersome, and the application is limited. question

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