CN114001653A - Calibration method for central point of robot tool - Google Patents
Calibration method for central point of robot tool Download PDFInfo
- Publication number
- CN114001653A CN114001653A CN202111283397.6A CN202111283397A CN114001653A CN 114001653 A CN114001653 A CN 114001653A CN 202111283397 A CN202111283397 A CN 202111283397A CN 114001653 A CN114001653 A CN 114001653A
- Authority
- CN
- China
- Prior art keywords
- calibration
- tool
- mechanical arm
- coordinate system
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 239000011159 matrix material Substances 0.000 claims abstract description 31
- 230000009466 transformation Effects 0.000 claims abstract description 27
- 238000004364 calculation method Methods 0.000 claims abstract description 6
- 230000036544 posture Effects 0.000 claims description 11
- 239000012636 effector Substances 0.000 claims description 4
- 239000000126 substance Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 241000834287 Cookeolus japonicus Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000007430 reference method Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a method for calibrating a central point of a robot tool, which comprises the following steps: (1) the robot carries out hand-eye calibration; (2) calculating to obtain a pose transformation matrix from the flange plate to the central point of the robot tool according to the step (1); (3) acquiring an image through a camera, and calculating according to the step (1) to obtain a plane equation of a calibration plane of the calibration tool; (4) controlling the central point of the robot tool to contact with a calibration plane of a calibration tool to obtain a plurality of contact points and corresponding joint angles of the mechanical arm; (5) the pose of the flange plate under the mechanical arm coordinate system when corresponding to the contact is obtained through positive kinematic calculation of the robot; (6) and constructing an equation set according to a plane equation by combining all contact coordinates and the poses of the flange plate under the mechanical arm coordinate system, and calculating to obtain a pose transformation matrix from the flange plate to the central point of the robot tool. The invention makes up the error of the hand-eye calibration, improves the overall calibration precision and improves the reliability and the accuracy of the operation.
Description
Technical Field
The invention relates to the technical field of industrial robot calibration, in particular to a method for calibrating a tool center point of an industrial robot.
Background
Industrial robots are widely used in various fields and have the characteristics of high precision, good stability, high efficiency and the like. When an industrial robot performs different task operations, different tools are usually required to be mounted at the tail end of a flange of the robot, and if the robot is controlled to perform accurate operations along a specified track, different tool coordinate systems are required to be established according to the different tools. The origin of the tool coordinate system is defined as the Tool Center Point (TCP), and the process of solving the mapping relationship between the calibrated tool coordinate system and the flange coordinate system is the tool coordinate system calibration. In the fields of industrial welding, automobile assembly and the like, the calibration precision of the TCP directly influences the actual operation quality.
At present, the TCP calibration method for industrial robots mainly includes the following two main categories:
the first method is to calibrate the position of the TCP by an accurate measuring instrument by means of an external reference. The measuring instrument comprises a ball rod instrument, a coordinate measuring machine, an automatic theodolite, a laser tracker and the like. The commercial DynaCal system, the commercial BullEyes system and the like belong to external reference method calibration. The precision of the scheme is usually high, but the cost of the instrument is high, so the calibration cost is high, the calibration process is complicated, and the method is not particularly convenient in an industrial field.
The second method is that the TCP value of the tool coordinate system is automatically identified by an internal algorithm of the robot control system according to the point-to-point data of the measurement point without the help of external equipment, and has the problems that point-to-point accurate overlapping operation needs to be manually realized, high requirements are put forward on operation in the calibration process, and the TCP calibration precision is easily low. The robot tool coordinate system TCP calibration modes of ABB, KUKA, YASASKAWA and FANUC companies called industrial robots four families include a four-point method, a five-point method and a six-point method, and all the methods belong to the class. Later, point-to-point, point-to-ball and other calibration methods have been proposed, wherein the requirement for manual operation is low.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a robot tool center point calibration method, which aims at a mechanical arm system with a hand-held camera, calculates a spatial equation of a surface by using vision based on the idea of point-to-surface calibration, then executes point-to-surface operation calibration, forms a stereoscopic vision feedback system by using a binocular or depth camera, calculates a normal vector of a flat plate calibration tool, and further calibrates a coordinate of TCP (transmission control protocol) under a flange coordinate system, thereby solving the problems of high requirement on manual operation and low system calibration precision of the existing calibration method.
The technical scheme is as follows:
a calibration method for a robot tool center point comprises the following steps:
(1) the robot carries out hand-eye calibration;
(2) calculating to obtain a pose transformation matrix from a flange plate to a central point of a robot tool according to the step (1), wherein the flange plate is an end face of a mechanical arm tail end provided with an end effector;
(3) installing a calibration tool in a robot working space, acquiring images including a mechanical arm and the calibration tool through a camera, and calculating to obtain a plane equation of a calibration plane of the calibration tool according to the step (1);
(4) controlling the central point of the robot tool to contact with a calibration plane of a calibration tool to obtain a plurality of contact points and corresponding joint angles of the mechanical arm;
(5) the pose of the flange plate under the mechanical arm coordinate system when corresponding to the contact is obtained through positive kinematic calculation of the robot;
(6) and (4) according to the plane equation of the calibration plane obtained in the step (3), combining the coordinates of all the contacts obtained in the step (4) and the pose of the flange plate under the mechanical arm coordinate system obtained in the step (5) to construct an equation set, and calculating a pose transformation matrix from the flange plate to the central point of the robot tool according to the equation set.
There are two mounting ways for the camera: firstly, a camera is arranged outside a mechanical arm and can observe the position of a fixed calibration tool; and secondly, the camera is fixedly arranged at the tail end of the mechanical arm.
The camera is a binocular or depth camera.
The calibration tool adopts a calibration plate.
The step (2) is specifically as follows:
the pose of the central point of the robot tool is known as g under the coordinate system of the mechanical armbtThe pose of the flange is gbeAnd then the position and posture transformation matrix g from the flange plate to the central point of the robot toolet：
gbt＝gbe*get
Writing the poses into a homogeneous transformation matrix form of a combination of the poses and the positions:
the pose transformation matrix g from the flange plate to the central point of the robot tooletUnfolding to obtain:
wherein R isbt、RbeRespectively representing the postures of the central point of the robot tool and the flange plate under a mechanical arm coordinate system; p is a radical ofbt、pbeRespectively representing the positions of the central point of the robot tool and the flange under a mechanical arm coordinate system; retRepresenting an attitude transformation matrix from the flange plate to the central point of the robot tool, wherein the attitude transformation matrix is an identity matrix; p is a radical ofetThe position transformation matrix representing the flange to the centre point of the robot tool is evaluated.
The step (6) is specifically as follows:
aiming at each joint angle theta (i) corresponding to the ith contact, calculating the pose g of the flange plate corresponding to the contact under a mechanical arm coordinate system through positive kinematics of the robotbe(i) According to step (2) mixing gbe(i) The expansion is as follows:
wherein R isbe(i)、pbe(i) The postures and the positions of the flange plates corresponding to the contact plates under a mechanical arm coordinate system are respectively set;
obtaining the contact correspondence according to the step (2)Position p of the robot tool center point under the robot arm coordinate systembt(i) Comprises the following steps:
pbt(i)＝Rbe(i)*pet+pbe(i) (2)
if the plurality of contact points obtained in the step (4) are all on the calibration plane of the calibration tool, p is measuredbt(i) Written as follows:
wherein, (x (i), y (i), z (i)) represents the coordinates of the ith contact point in the mechanical arm coordinate system, namely the coordinates of the central point of the robot tool corresponding to the contact point in the mechanical arm coordinate system;
the plane equation obtained in the step (3) is that Ax + By + Cz + D is 0, and the position p of the robot tool center point corresponding to any contact point in the mechanical arm coordinate systembt(i) Theoretically, there are:
Ax(i)+By(i)+Cz(i)+D＝0 (4)
then according to equation (2):
note the book
Wherein a (i), b (i), c (i), d (i) respectively represent elements of the vector F (i);
substituting the pose of the flange plate corresponding to the n contact points into a formula (6) under a mechanical arm coordinate system, and simultaneously writing the pose into:
wherein n is the number of contacts;
namely, it is
Wherein the content of the first and second substances,
then there is
Thus obtaining petAnd completing calibration.
In the step (3), the camera adopts a depth camera, and the plane equation of the calibration plane of the calibration tool obtained by calculation is specifically as follows:
(31) the depth camera acquires an RGB-D image of the calibration tool, and calculates a three-dimensional coordinate (x0, y0, z0) of a certain pixel on the RGB image under a camera coordinate system;
(32) converting the three-dimensional coordinates (x0, y0, z0) of a certain pixel on the RGB image in a camera coordinate system into the corresponding three-dimensional coordinates (x, y, z) in a mechanical arm coordinate system according to the hand-eye calibration in the step (1);
(33) and obtaining a plane equation Ax + By + Cz + D of the calibration plane of the calibration tool as 0 based on PCL library fitting according to all the points on the calibration plane of the calibration tool.
Has the advantages that: the invention compensates the error of hand-eye calibration in TCP calibration through the coupling with vision, improves the calibration precision of the whole system, has low requirement on manual operation, is simple, easy to use and practical, and improves the reliability and the precision of system operation.
Drawings
FIG. 1 is a flow chart of a calibration method of the present invention.
Fig. 2 is a schematic diagram of the hand-eye calibration of the present invention.
Fig. 3 is a schematic diagram of hand-eye calibration according to another embodiment of the present invention.
Wherein, 1 is the arm, 11 is the arm end, 2 is the camera, and 3 is the calibration board.
Detailed Description
The invention is further elucidated with reference to the drawings and the embodiments.
The invention provides a robot tool center point calibration method, a flow chart is shown in figure 1, and the method comprises the following steps:
(1) carrying out hand-eye calibration;
as shown in fig. 2 and 3, in the present invention, the camera is divided into two cases, namely "eye outside hand" and "eye on hand", according to the different installation positions, wherein "eye outside hand" means that the camera is installed outside the mechanical arm and can observe the position of the fixed calibration tool; by "on-hand" is meant that the camera is fixedly mounted on the end of the mechanical arm for viewing the fixed calibration tool. The hand-eye calibration is executable by the existing relatively mature scheme, such as based on opencv or based on matlab; wherein, the pose g of the camera under the coordinate system of the mechanical arm is obtained by calibrating the hands and eyesbcAnd a pose transformation matrix g from the flange plate to the cameraecWherein the flange represents the end face of the end of the robotic arm on which the end effector is mounted.
(2) Calculating a pose transformation matrix from the flange plate to a robot Tool Central Point (TCP) according to the step (1);
marking the position and posture of the TCP as g under a mechanical arm coordinate systembtThe pose of the camera is recorded as gbcThe pose of the flange is recorded as gbeAnd the pose transformation matrix from the flange plate to the TCP is getPose transformation matrix g from flange plate to cameraecThe specific relationship is as follows:
gbt＝gbe*get
gbc＝gbe*gec
since the pose can be written in the form of a homogeneous transformation matrix of pose and position combinations, the above equation can be expressed as:
further development yields:
wherein R isbt、Rbc、RbeRespectively represents the postures of the TCP, the camera and the flange plate under a mechanical arm coordinate system, Ret、RecRespectively representing a posture transformation matrix from the flange plate to the TCP and a posture transformation matrix from the flange plate to the camera; p is a radical ofbt、pbc、pbeRespectively showing the positions of TCP, camera and flange plate in the coordinate system of mechanical arm, pet、pecRespectively representing a position transformation matrix from the flange plate to the TCP and a position transformation matrix from the flange plate to the camera; in case of only TCP calibration, RetIs an identity matrix, petIs evaluated;
(3) the method comprises the steps that a calibration tool is installed at a proper position in a robot working space, images including a robot mechanical arm and the calibration tool are collected through a camera, three-dimensional coordinates of points on a calibration plane of the calibration tool under a camera coordinate system are obtained based on camera measurement calibration, and accordingly a plane equation Ax + By + Cz + D of the calibration plane of the calibration tool is calculated to be 0; the calibration tool adopts a calibration plate, and a plurality of calibration points are arranged on a calibration plane of the calibration plate; the camera adopts a binocular or depth camera;
the method specifically comprises the following steps:
(31) in this embodiment, based on the depth camera, the depth camera acquires an RGB-D image of the calibration tool, which includes a depth image and an RGB image, where pixels on the depth image and pixels on the RGB image are in one-to-one correspondence, so that a certain pixel on the RGB image (i.e., a certain point on a calibration plane of the calibration tool) has a corresponding three-dimensional coordinate (x0, y0, z0) in a camera coordinate system;
(32) converting the three-dimensional coordinates (x0, y0, z0) of a certain point on the calibration plane of the calibration tool calculated in the step (31) in the camera coordinate system into corresponding three-dimensional coordinates (x, y, z) in the mechanical arm coordinate system according to the hand-eye calibration in the step (1), and fitting all the points on the calibration plane of the calibration tool based on a PCL library to obtain a plane equation Ax + By + Cz + D of the calibration plane of the calibration tool, wherein the plane equation Ax + By + Cz + D is 0;
this gives:
wherein I is an identity matrix;
(4) controlling the robot to make the TCP point on the tool mounted on the end effector contact the calibration plane of the calibration tool to obtain the first contact point, and recording the joint angle set theta of the robot arm when the contact occurs1Controlling the robot to enable a TCP point on the tool to be far away from the calibration tool;
(5) controlling a TCP point on the robot tool to contact a calibration plane of a calibration tool to obtain an ith contact point, recording a set theta (i) of each joint angle of the robot mechanical arm when the contact occurs, and controlling the robot to enable the TCP point on the tool to be far away from the calibration tool; repeating the step N-1 times to obtain N contact points and N groups of joint angle sets [ theta ]1,…,θN],i∈[1,N]；
(6) According to the step (5), the following formula is adopted for calculation:
starting from the joint angle set theta (i) corresponding to the ith contact point, calculating the pose g of the flange plate corresponding to the contact point under the mechanical arm coordinate system through positive kinematics of the robotbe(i) And g isbe(i) Can be unfolded into
Wherein R isbe(i)、pbe(i) The postures and the positions of the flange plates corresponding to the contact plates under a mechanical arm coordinate system are respectively set;
obtaining the position p of the TCP corresponding to the contact under the mechanical arm coordinate system according to the step (2)bt(i) Comprises the following steps:
pbt(i)＝Rbe(i)*pet+pbe(i) (2)
the N contact points obtained in the step (5) are all on the calibration plane of the calibration tool and are coplanar, and p isbt(i) Written as follows:
wherein, (x (i), y (i), z (i)) represents the coordinates of the ith contact in the coordinate system of the mechanical arm, namely the coordinates of the TCP corresponding to the contact in the coordinate system of the mechanical arm;
position p of TCP corresponding to any contact under mechanical arm coordinate systembt(i) And (4) theoretically, the plane equation obtained according to the step (3) has:
Ax(i)+By(i)+Cz(i)+D＝0 (4)
then it can be obtained according to equation (2):
note the book
Wherein a (i), b (i), c (i), d (i) respectively represent elements of the vector F (i);
because there is the error in the demarcation, replace formula (6) with the ring flange that n contacts correspond at the position appearance under the arm coordinate system, write simultaneously:
namely, it is
Wherein
Then there is
Thus obtaining petAnd completing calibration.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the foregoing embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the technical spirit of the present invention, and these equivalent changes are all within the protection scope of the present invention.
Claims (7)
1. A calibration method for a center point of a robot tool is characterized by comprising the following steps: the method comprises the following steps:
(1) the robot carries out hand-eye calibration;
(2) calculating to obtain a pose transformation matrix from a flange plate to a central point of a robot tool according to the step (1), wherein the flange plate is an end face of a mechanical arm tail end provided with an end effector;
(3) installing a calibration tool in a robot working space, acquiring images including a mechanical arm and the calibration tool through a camera, and calculating to obtain a plane equation of a calibration plane of the calibration tool according to the step (1);
(4) controlling the central point of the robot tool to contact with a calibration plane of a calibration tool to obtain a plurality of contact points and corresponding joint angles of the mechanical arm;
(5) the pose of the flange plate under the mechanical arm coordinate system when corresponding to the contact is obtained through positive kinematic calculation of the robot;
(6) and (4) according to the plane equation of the calibration plane obtained in the step (3), combining the coordinates of all the contacts obtained in the step (4) and the pose of the flange plate under the mechanical arm coordinate system obtained in the step (5) to construct an equation set, and calculating a pose transformation matrix from the flange plate to the central point of the robot tool according to the equation set.
2. The method for calibrating a center point of a robot tool according to claim 1, wherein: there are two mounting ways for the camera: firstly, a camera is arranged outside a mechanical arm and can observe the position of a fixed calibration tool; and secondly, the camera is fixedly arranged at the tail end of the mechanical arm.
3. The method for calibrating a center point of a robot tool according to claim 1, wherein: the camera is a binocular or depth camera.
4. The method for calibrating a center point of a robot tool according to claim 1, wherein: the calibration tool adopts a calibration plate.
5. The method for calibrating a center point of a robot tool according to claim 1, wherein: the step (2) is specifically as follows:
the pose of the central point of the robot tool is known as g under the coordinate system of the mechanical armbtThe pose of the flange is gbeAnd then the position and posture transformation matrix g from the flange plate to the central point of the robot toolet：
gbt＝gbe*get
Writing the poses into a homogeneous transformation matrix form of a combination of the poses and the positions:
the pose transformation matrix g from the flange plate to the central point of the robot tooletUnfolding to obtain:
wherein R isbt、RbeRespectively representing the postures of the central point of the robot tool and the flange plate under a mechanical arm coordinate system; p is a radical ofbt、pbeRespectively representing the positions of the central point of the robot tool and the flange under a mechanical arm coordinate system; retRepresenting an attitude transformation matrix from the flange plate to the central point of the robot tool, wherein the attitude transformation matrix is an identity matrix; p is a radical ofetThe position transformation matrix representing the flange to the centre point of the robot tool is evaluated.
6. The method for calibrating a center point of a robot tool according to claim 5, wherein: the step (6) is specifically as follows:
aiming at each joint angle theta (i) corresponding to the ith contact, calculating the mechanical state of the flange plate corresponding to the contact through positive kinematics of the robotPose g under arm coordinate systembe(i) According to step (2) mixing gbe(i) The expansion is as follows:
wherein R isbe(i)、pbe(i) The postures and the positions of the flange plates corresponding to the contact plates under a mechanical arm coordinate system are respectively set;
obtaining the position p of the robot tool center point corresponding to the contact point under the mechanical arm coordinate system according to the step (2)bt(i) Comprises the following steps:
pbt(i)＝Rbe(i)*pet+pbe(i) (2)
if the plurality of contact points obtained in the step (4) are all on the calibration plane of the calibration tool, p is measuredbt(i) Written as follows:
wherein, (x (i), y (i), z (i)) represents the coordinates of the ith contact point in the mechanical arm coordinate system, namely the coordinates of the central point of the robot tool corresponding to the contact point in the mechanical arm coordinate system;
the plane equation obtained in the step (3) is that Ax + By + Cz + D is 0, and the position p of the robot tool center point corresponding to any contact point in the mechanical arm coordinate systembt(i) Theoretically, there are:
Ax(i)+By(i)+Cz(i)+D＝0 (4)
then according to equation (2):
note the book
Wherein a (i), b (i), c (i), d (i) respectively represent elements of the vector F (i);
substituting the pose of the flange plate corresponding to the n contact points into a formula (6) under a mechanical arm coordinate system, and simultaneously writing the pose into:
wherein n is the number of contacts;
namely, it is
Wherein the content of the first and second substances,
then there is
Thus obtaining petAnd completing calibration.
7. The method for calibrating a center point of a robot tool according to claim 1, wherein: in the step (3), the camera adopts a depth camera, and the plane equation of the calibration plane of the calibration tool obtained by calculation is specifically as follows:
(31) the depth camera acquires an RGB-D image of the calibration tool, and calculates a three-dimensional coordinate (x0, y0, z0) of a certain pixel on the RGB image under a camera coordinate system;
(32) converting the three-dimensional coordinates (x0, y0, z0) of a certain pixel on the RGB image in a camera coordinate system into the corresponding three-dimensional coordinates (x, y, z) in a mechanical arm coordinate system according to the hand-eye calibration in the step (1);
(33) and obtaining a plane equation Ax + By + Cz + D of the calibration plane of the calibration tool as 0 based on PCL library fitting according to all the points on the calibration plane of the calibration tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111283397.6A CN114001653A (en) | 2021-11-01 | 2021-11-01 | Calibration method for central point of robot tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111283397.6A CN114001653A (en) | 2021-11-01 | 2021-11-01 | Calibration method for central point of robot tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114001653A true CN114001653A (en) | 2022-02-01 |
Family
ID=79926162
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111283397.6A Pending CN114001653A (en) | 2021-11-01 | 2021-11-01 | Calibration method for central point of robot tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114001653A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114770502A (en) * | 2022-04-25 | 2022-07-22 | 深圳市超准视觉科技有限公司 | Quick calibration method for tail end pose of mechanical arm tool |
| CN115026814A (en) * | 2022-06-01 | 2022-09-09 | 中科苏州智能计算技术研究院 | Camera automatic calibration method for mechanical arm motion space reconstruction |
| CN115946123A (en) * | 2023-01-16 | 2023-04-11 | 佛山智能装备技术研究院 | Industrial robot multi-tool center point and zero point calibration method |
| CN117283555A (en) * | 2023-10-29 | 2023-12-26 | 北京小雨智造科技有限公司 | Method and device for autonomously calibrating tool center point of robot |
| CN117283555B (en) * | 2023-10-29 | 2024-06-11 | 北京小雨智造科技有限公司 | Method and device for autonomously calibrating tool center point of robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105588525A (en) * | 2014-11-14 | 2016-05-18 | 北京配天技术有限公司 | Method and apparatus for calibrating tool on robot flange coordinate system |
| CN108972559A (en) * | 2018-08-20 | 2018-12-11 | 上海嘉奥信息科技发展有限公司 | Hand and eye calibrating method based on infrared stereoscopic vision positioning system and mechanical arm |
| CN110834333A (en) * | 2019-11-14 | 2020-02-25 | 中科新松有限公司 | Robot hand-eye calibration method and storage medium |
| US20200198145A1 (en) * | 2018-12-19 | 2020-06-25 | Industrial Technology Research Institute | Method and apparatus of non-contact tool center point calibration for a mechanical arm, and a mechanical arm system with said calibration function |
| CN113211431A (en) * | 2021-04-16 | 2021-08-06 | 中铁第一勘察设计院集团有限公司 | Pose estimation method based on two-dimensional code correction robot system |
-
2021
- 2021-11-01 CN CN202111283397.6A patent/CN114001653A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105588525A (en) * | 2014-11-14 | 2016-05-18 | 北京配天技术有限公司 | Method and apparatus for calibrating tool on robot flange coordinate system |
| CN108972559A (en) * | 2018-08-20 | 2018-12-11 | 上海嘉奥信息科技发展有限公司 | Hand and eye calibrating method based on infrared stereoscopic vision positioning system and mechanical arm |
| US20200198145A1 (en) * | 2018-12-19 | 2020-06-25 | Industrial Technology Research Institute | Method and apparatus of non-contact tool center point calibration for a mechanical arm, and a mechanical arm system with said calibration function |
| CN110834333A (en) * | 2019-11-14 | 2020-02-25 | 中科新松有限公司 | Robot hand-eye calibration method and storage medium |
| CN113211431A (en) * | 2021-04-16 | 2021-08-06 | 中铁第一勘察设计院集团有限公司 | Pose estimation method based on two-dimensional code correction robot system |
Non-Patent Citations (1)
| Title |
|---|
| 杨聚庆;王大勇;董登峰;程智;劳达宝;周维虎;: "激光测量标定机器人坐标系位姿变换的正交化解算", 光学精密工程, no. 08, 15 August 2018 (2018-08-15) * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114770502A (en) * | 2022-04-25 | 2022-07-22 | 深圳市超准视觉科技有限公司 | Quick calibration method for tail end pose of mechanical arm tool |
| CN115026814A (en) * | 2022-06-01 | 2022-09-09 | 中科苏州智能计算技术研究院 | Camera automatic calibration method for mechanical arm motion space reconstruction |
| CN115026814B (en) * | 2022-06-01 | 2024-04-12 | 中科苏州智能计算技术研究院 | Camera automatic calibration method for mechanical arm movement space reconstruction |
| CN115946123A (en) * | 2023-01-16 | 2023-04-11 | 佛山智能装备技术研究院 | Industrial robot multi-tool center point and zero point calibration method |
| CN115946123B (en) * | 2023-01-16 | 2023-10-31 | 佛山智能装备技术研究院 | Multi-tool center point and zero point calibration method for industrial robot |
| CN117283555A (en) * | 2023-10-29 | 2023-12-26 | 北京小雨智造科技有限公司 | Method and device for autonomously calibrating tool center point of robot |
| CN117283555B (en) * | 2023-10-29 | 2024-06-11 | 北京小雨智造科技有限公司 | Method and device for autonomously calibrating tool center point of robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114001653A (en) | Calibration method for central point of robot tool | |
| CN109794938B (en) | Robot hole-making error compensation device and method suitable for curved surface structure | |
| JP6468741B2 (en) | Robot system and robot system calibration method | |
| CN110640745B (en) | Vision-based robot automatic calibration method, equipment and storage medium | |
| CN111791227B (en) | Robot hand-eye calibration method and device and robot | |
| CN111300481B (en) | Robot grabbing pose correction method based on vision and laser sensor | |
| CN110170995B (en) | Robot rapid teaching method based on stereoscopic vision | |
| CN107139178B (en) | Unmanned aerial vehicle and vision-based grabbing method thereof | |
| CN101630409B (en) | Hand-eye vision calibration method for robot hole boring system | |
| CN110757504B (en) | Positioning error compensation method of high-precision movable robot | |
| CN111203861B (en) | Calibration method and calibration system for robot tool coordinate system | |
| CN110171009B (en) | Robot handheld teaching device based on stereoscopic vision | |
| CN110370316B (en) | Robot TCP calibration method based on vertical reflection | |
| CN110695996B (en) | Automatic hand-eye calibration method for industrial robot | |
| JPS6254115A (en) | Method and device for automatically determining position andattitude of three-dimensional body | |
| JP5618770B2 (en) | Robot calibration apparatus and calibration method | |
| WO2023193362A1 (en) | Hybrid robot and three-dimensional vision based large-scale structural part automatic welding system and method | |
| CN110136204B (en) | Sound film dome assembly system based on calibration of machine tool position of bilateral telecentric lens camera | |
| CN113211431B (en) | Pose estimation method based on two-dimensional code correction robot system | |
| JP2018202608A (en) | Robot device, control method of robot device, program, and recording medium | |
| CN113146620A (en) | Binocular vision-based double-arm cooperative robot system and control method | |
| CN113751981B (en) | Space high-precision assembling method and system based on binocular vision servo | |
| CN111781894A (en) | Method for carrying out space positioning and attitude navigation on assembly tool by using machine vision | |
| WO2018043524A1 (en) | Robot system, robot system control device, and robot system control method | |
| CN112894209A (en) | Automatic plane correction method for intelligent tube plate welding robot based on cross laser |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |