Open AccessCalibration of Dual Industrial Robot System Based on Hand-Eye Calibration Algorithm
Author(s) -
Jingsen Jin,
Weidong Hao,
Daoguo Yang,
Zhaoquan Tan,
C. Zheng
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1939/1/012027
Subject(s) - robot calibration , calibration , robot , computer science , computer vision , industrial robot , artificial intelligence , coordinate system , algorithm , robot kinematics , mobile robot , mathematics , statistics
In order to improve the cladding efficiency and quality, the dual industrial robots are used to work together to achieve the task of repairing the industrial drill. However, the calibration accuracy of the base coordinates of the dual robot system is low, which directly affects the cladding quality. In order to solve this problem, a hand-eye calibration algorithm based on fixed calibration cone is proposed to calibrate the camera installed on the flange plate at the end of the machine arm, which improves the determination of the coordinate of the feature points of the calibration object. Based on the coordinate system of the calibration object as a link, the base coordinate relationship between the two robots with high accuracy is obtained.