机器人平面工具TCP的双目视觉标定方法
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摘要
工业机器人末端工具中心点(TCP)是机器人实际的运动轨迹,TCP的标定效率和精度直接影响机器人的作业质量。针对机器人平面式作业工具TCP的快速、准确标定需求,提出一种基于双目视觉的标定方法。通过改变机器人末端工具位置,结合双目视觉系统对靶标点进行测量,并进行坐标转换计算,从而求解出TCP。搭建机器人TCP标定实验平台,通过对比实验,验证了方法的正确性和有效性,满足实际机器人平面式末端工具的TCP标定要求,避免了传统接触式标定方法存在的碰撞风险。
The TCP(Tool Center Point)of robot is its actual motion trajectory,and the efficiency and accuracyof TCP calibration effect the quality of the robot work directly. According to the requirement of fast and accurate calibration of the center point of the robot's planar work tool,a calibration method based on binocular vision is proposed in this paper. By changing the position of the robot'send effectortool,combining the target point measured by the stereo vision system and the coordinate conversion calculation,finally the value of TCP is obtained. The robot TCP calibration experiment platform was set up. The correctness and validity of the method were verified by comparing experiments,which meetsthe requirements of TCP calibration of the real robot planar end effector tool. The proposed methodavoidsthe collision risk in the traditional contact calibration method.
The TCP(Tool Center Point)of robot is its actual motion trajectory,and the efficiency and accuracyof TCP calibration effect the quality of the robot work directly. According to the requirement of fast and accurate calibration of the center point of the robot's planar work tool,a calibration method based on binocular vision is proposed in this paper. By changing the position of the robot'send effectortool,combining the target point measured by the stereo vision system and the coordinate conversion calculation,finally the value of TCP is obtained. The robot TCP calibration experiment platform was set up. The correctness and validity of the method were verified by comparing experiments,which meetsthe requirements of TCP calibration of the real robot planar end effector tool. The proposed methodavoidsthe collision risk in the traditional contact calibration method.
引文
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[9]刘常杰,班荣兴,郭寅.基于双目视觉机器人TCP校准方法研究[J].红外与激光工程,2015,44(6):1912-1917.(Liu Chang-jie,Ban Rong-xing,Guo Yan.Calibration method of TCP based on stereo vision robot[J].Infrared and Laser Engineering,2015,44(6):1912-1917.)
[2]张文增,陈强,孙振国.弧焊机器人工件坐标系快速标定方法[J].焊接学报,2005,26(7):1-4.(Zhang Wen-zeng,Chen Qiang,Sun Zhen-guo.Quick calibration method of part coordinates for arc welding robot[J].Transactions of The China Welding Institution,2005,26(7):1-4.)
[3]韩奉林,江晓磊,严宏志.基于可测距平板工具的机器人TCP标定方法[J].计算机工程与应用,2016,52(18):18-23.(Han Feng-lin,Jiang Xiao-lei,Yan Hong-zhi.Robotic TCP calibration method based on plane toolbar with distance measure function[J].Computer Engineering and Applications,2016,52(18):18-23.)
[3]吴聊,杨向东,蓝善清.基于平面模板的机器人TCF标定[J].机器人,2012(1):98-103.(Wu Liao,Yang Xiang-dong,Lan Shan-qing.Robotic TCF Calibration Based on a Planar Template[J].Robot,2012(1):98-103.)
[4]Ruther M,Lenz M,Bischof H.The narcissistic robot:robot Calibration using a mirror[C].11th International Conference On Control Automation Robotics and Vision,2010:169-174.
[5]朴永杰,邱涛,陈善本.弧焊机器人TCF参数的标定[J].机器人,2001,23(2):109-112.(Pu Yong-jie,Qiu Tao,Chen Shan-ben.Calibrationof TCF parametersofarc welding robot[J].Robot,2001,23(2):109-112.)
[6]宋月娥,吴林,田劲松.弧焊机器人工具参数标定[J].焊接学报,2001,22(5):1-4.(Song Yue-e,Wu Lin,Tian Jin-song.Tool Control Frame Calibration for Arc Welding Robot[J].Transactions of The China WeldingInstitution,2001,22(5):1-4.)
[7]赵娇娇,朱伟.弧焊机器人系统标定[J].福州大学学报:自然科学版,2008(36):31-34.(Zhao Jiao-jiao,Zhu Wei.Arc Welding Robot Calibration[J].Journal of Fuzhou University:Natural Science Edition,2008(36):31-34.)
[8]郑帅超,徐志刚,侯雯中.机器人脱模视觉定位方法的设计与研究[J].机械设计与制造,2017(5):44-47.(Zheng Shuai-chao,Xu Zhi-gang,Hou Wen-zhong.Design and Research on Vision Positioning Method of Robot Demoulding[J].Machinery Design&Manufacture,2017(5):44-47.)
[9]刘常杰,班荣兴,郭寅.基于双目视觉机器人TCP校准方法研究[J].红外与激光工程,2015,44(6):1912-1917.(Liu Chang-jie,Ban Rong-xing,Guo Yan.Calibration method of TCP based on stereo vision robot[J].Infrared and Laser Engineering,2015,44(6):1912-1917.)