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An automatic calibration method of robot hand-eye relationship based on incremental compensation

A robot hand and automatic calibration technology, which is applied to manipulators, program-controlled manipulators, instruments, etc., can solve the problems of accuracy affecting calibration accuracy, complicated operation, limited application, etc., to improve calibration efficiency, simplify calibration procedures, and improve calibration. The effect of efficiency

Active Publication Date: 2021-09-03
SIASUN CO LTD
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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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  • An automatic calibration method of robot hand-eye relationship based on incremental compensation
  • An automatic calibration method of robot hand-eye relationship based on incremental compensation
  • An automatic calibration method of robot hand-eye relationship based on incremental compensation

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[0028] Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0029] attached figure 1 The flow chart of the automatic calibration method for robot hand-eye relationship based on incremental compensation according to an exemplary embodiment is given in . As shown in the figure, an exemplary automatic calibration method for hand-eye relationship includes the following steps:

[0030] Guide the end of the robotic arm to the appropriate calibration origin, collect the image of the calibration object on ...

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Abstract

The invention provides an automatic calibration method for robot hand-eye relationship based on incremental compensation, which includes: guiding the end of the mechanical arm to an appropriate calibration origin, collecting the image of the calibration object on the worktable, and extracting the pixel coordinates of the reference point; preset each data The TCP offset of the collection point relative to the calibration origin; control the mechanical arm to reach each data collection point along the TCP coordinate system according to the preset offset, and collect the pixel coordinates of the reference point; Calibration parameters are calculated based on the deviation of the pixel coordinates at the calibration origin and the corresponding TCP offset relative to the calibration origin. The invention has high calibration precision, automatic realization, convenience and quickness, and high calibration efficiency, and can be applied to mechanical arms with fixed or unfixed bases.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16G06T7/80
CPCB25J9/1692B25J9/1697G06T7/80
Inventor 杨跞朱小生贺琪欲李兵刘一帆许楠
Owner SIASUN CO LTD
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