Abstract
In the visual robot system, the calibration of the hand-eye system is very important, which has a great influence on the positioning accuracy of the robot. Traditional methods are either complicated or require advanced external equipment. This paper proposes a new flexible method for hand-eye calibration, which is simple and flexible. Firstly, the robot carries the target to perform two transformation motions to solve the rotation relationship, and then the robot tool coordinate system performs several rotation motions to solve the transformation relationship. The paper provides empirical insights about how the robot hand-eye system is calibrated by controlling the robot to perform the specified motion without expensive and complicated 3D measurement equipment. The experiment and analysis indicate that the developed hand-eye calibration has high precision in 6-DOF industrial robot assembly application.
Highlights
Machine vision has the ability to sense and measure the environment, and can guide robots to perform tasks such as grasping and assembly
Jiang et al.[5] proposed a calibration strategy for vision-guide robot assembly system, in which the eye-to-hand calibration method is developed with the uniaxial rotation of the robot joints and the pose tracking from the stereovision with large field of view
Compared with a series of methods of solving equation AX = XB, the developed method greatly reduces the times of camera shooting and robot motion in the calibration process, and simplifies the calibration process
Summary
Machine vision has the ability to sense and measure the environment, and can guide robots to perform tasks such as grasping and assembly. Jiang et al.[5] proposed a calibration strategy for vision-guide robot assembly system, in which the eye-to-hand calibration method is developed with the uniaxial rotation of the robot joints and the pose tracking from the stereovision with large field of view. Whether solving the equation AX = XB or based on the deep learning, the above methods need to shoot the calibration plate and record the robot’s position and pose for many times, which can not satisfies the application requirements of fast calibration. The results show that the method proposed in this paper has high accuracy
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