结构光非接触式TCF标定方法研究
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摘要
针对机器人工具坐标系(TCF)标定结果的准确性问题,采用基于结构光的非接触式TCF标定方法对自制串联机器人的TCF进行标定研究及实验。介绍了标定过程中涉及的相关坐标系、标定原理及结构光视觉成像系统,详细推导了TCF标定算法;阐述了TCF标定实验步骤,以Kinova Mico2机器人为研究对象,通过在工具上粘贴"十"字标记,并约束"十"字标记的中心与激光投影点重合后的点在图像中的像素坐标值相同,经过多次定位约束后求取平均值作为标定结果。研究结果表明,基于结构光的非接触式TCF标定方法对工具坐标系的标定结果较为稳定,数据的准确性满足生产的需要。
Aiming at the accuracy of calibration results of robot tool coordinate system,a non-contact tool center frame( TCF) calibration method based on structured light was used to calibrate the tool coordinate system of self-made serial robot. The related coordinate system,calibration principle and structured light vision imaging system involved in the calibration process are introduced,and the calibration algorithm of TCF is deduced in detail. The experimental steps of TCF calibration are elaborated. Kinova Mico2 robot is taken as the research object. By pasting the"ten"label on the tool,the center and laser projection of the " ten" label are restrained. The coordinates of the pixels in the image are the same after the shadow points coincide,and the average value is obtained as the result of calibration after multiple positioning constraints. The results show that the non-contact TCF calibration method based on structured light has stable calibration results for tool coordinate system,and the accuracy of data meets the needs of production.
Aiming at the accuracy of calibration results of robot tool coordinate system,a non-contact tool center frame( TCF) calibration method based on structured light was used to calibrate the tool coordinate system of self-made serial robot. The related coordinate system,calibration principle and structured light vision imaging system involved in the calibration process are introduced,and the calibration algorithm of TCF is deduced in detail. The experimental steps of TCF calibration are elaborated. Kinova Mico2 robot is taken as the research object. By pasting the"ten"label on the tool,the center and laser projection of the " ten" label are restrained. The coordinates of the pixels in the image are the same after the shadow points coincide,and the average value is obtained as the result of calibration after multiple positioning constraints. The results show that the non-contact TCF calibration method based on structured light has stable calibration results for tool coordinate system,and the accuracy of data meets the needs of production.
引文
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[15]余伶俐,龙子威,周开军.基于贝塞尔曲线的机器人非时间轨迹跟踪方法[J].仪器仪表学报,2016,37(7):1564-1572.YU L L,LONG Z W,ZHOU K J. Non-time trajectorytracking method based on Bezier curve for robot[J].Chinese Journal of Scientific Instrument,2016,37(7):1564-1572.
[2] BOTTIN M, ROSATI G, BISCHOF H. Fixed pointcalibration of an industrial robot[C]. European Societyfor Precision Engineering and Nanotechnology, 2018:215-216.
[3] ZAVIA G, CLAUDIO O. Development andimplementation of orthogonal planes images method forcalibration of tool centre point[C]. Advances inIntelligent Systems and Computing,2017:105-115.
[4]侯仰强,王天琪,李亮玉,等.基于双机器人协调焊接标定算法[J].焊接学报,2017,38(2):92-96.HOU W Q, WANG T Q, LI T L. et al.Calibrationalgorithm of coordinated welding based on tworobots[J]. Transactions of The China WeldingInstitution,2017,38(2):92-96.
[5]周仁义.基于机器视觉的异型工件机器人焊接轨迹自动生成方法研究[D].广州:华南理工大学,2018.ZHOU R Y,Research on automatic generation of robotwelding trajectory based on machine vision[D].Guangzhou:South China University of Technology,2018.
[6]汤明,达飞鹏,盖绍彦.基于光栅投影的多相机标定方法[J].仪器仪表学报,2016,37(9):2149-2155.TANG M, DA F P, GAI SH Y, Multi-camerascalibration approach based on fringe projection[J].Chinese Journal of Scientific Instrument,2016,37(9):2149-2155.
[7] DANIEL G M, JOAQUN B, EDUARDO C, et al.Influence of human factor in the AACMM performance:Anew evaluation methodology[J]. International Journal ofPrecision Engineering&Manufacturing,2014,15(7):1283-1291.
[8]王伟兴,郎小龙,姚君.多光谱成像仪几何特征标定技术研究[J].国外电子测量技术,2015,34(8):70-73.WANG W X, LANG X L, YAO J. Study ongeometriccharacteristic calibration of multispectral camera[J].Foreign Electronic Measurement Technology, 2015,34(8):70-73.
[9]刘飞房,建国,刘京亮,等.非接触测量中三种标定方法与精度评价[J].航空精密制造技术,2017,53(6):1-4.LIU F F,JIAN G,LIU J L,et al. Discussion of threecalibration methods in turntable measurement system andprecision evaluation[J]. Aviation PrecisionManufacturing Technology,2017,53(6):1-4.
[10]吴聊,杨向东,蓝善清,等.基于平面模板的机器人TCF标定[J].机器人,2012,34(1):98-103.WU L,YANG X D,LAN SH Q. et a. Robotic TCFcalibration based on a planar template[J]. Robot,2012,34(1):98-103.
[11] YIN S B,GUO Y,REN Y J,et al. A novel TCF calibrationmethod for robotic visual measurement system[J]. Optik-International Journal for Light and Electron Optics,2014,125(23):6920-6925.
[12]尹志生,李友如,李佩玥,等.高精度六维激光测量系统误差补偿算法研究[J].电子测量与仪器学报,2016,30(8):1275-1281.YI ZH SH,LI Y R,LI P Y. et al. Research on errorcompensation algorithm for high precision 6-DO F lasermeasurement system[J]. Journal of ElectronicMeasurement and Instrumentation,2016,30(8):1275-1281.
[13]赵子健,陈兆瑞,李冰清.基于非最小化优化的手眼标定方法[J].山东大学学报(工学版),2016,46(4):28-33.ZHAO Z J,CHEN ZH R,LI B Q,et al. A new methodfor hand-eye calibration based onnon-minimizationoptimization[J]. ournal of Shandong University(Engineering Science),2016,46(4):28-33.
[14]洪磊,嵇保健,沈健,等.一种工业机器人TCP位置标定算法研究[J].机械设计,2017,34(3):81-85.HONG L,JI B J,SHEN J. et a. Algorithm research foran industrial robot TCP position calibration[J]. Journalof Machine Design,2017,34(3):81-85.
[15]余伶俐,龙子威,周开军.基于贝塞尔曲线的机器人非时间轨迹跟踪方法[J].仪器仪表学报,2016,37(7):1564-1572.YU L L,LONG Z W,ZHOU K J. Non-time trajectorytracking method based on Bezier curve for robot[J].Chinese Journal of Scientific Instrument,2016,37(7):1564-1572.