Open AccessResearch on Calibration Technology of Five-Degrees-of-Freedom Tandem Robots
Author(s) -
Zhe Li,
Zhijing Zhang,
Yangyang He
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/793/1/012003
Subject(s) - coordinate system , computer vision , transformation matrix , computer science , artificial intelligence , robot , calibration , transformation (genetics) , robot calibration , camera resectioning , robot kinematics , mathematics , mobile robot , physics , biochemistry , statistics , chemistry , kinematics , classical mechanics , gene
In the robot feedback control system of visual feedback, the calibration of the hand-eye system is very important, because it directly affects the accuracy of the robot. Aiming at the small operating space and compact structure of the micro-assembly robot system, a fixed-vision hand-eye calibration method is proposed. The method first obtains the coordinates of 15 spatial points in the robot base coordinate system, and then uses the camera pose measurement principle to obtain the coordinates of the corresponding spatial points in the camera coordinate system, and then establishes the calibration equations. Based on the least squares method, the coordinate transformation matrix between the hand-eye systems is calibrated. The experimental results show that the constructed hand-eye system coordinate transformation matrix is effective and reliable. The calibration accuracy and effectiveness of the method are verified by relevant grabbing experiments.