摘要
为了探究机器人工作站的高精度坐标系标定方法,搭建了一个由工业机器人、双目结构光相机以及单轴转台组成的机器人三维视觉实验平台。研究了定位误差补偿方法、工业机器人工具中心点标定方法、工业机器人与双目结构光相机的手眼标定方法以及双目结构光相机与单轴转台的坐标系标定方法,并形成了实验平台的坐标系综合标定方法,最后测试了标定后的综合精度。实验结果表明,工业机器人与双目结构光相机之间的平均标定误差为0.442~0.689 mm,机器人三维视觉实验平台的综合标定误差为0.399~0.696 mm,能完全满足焊接、涂胶、切割等机器人离线编程应用的精度要求。
In order to explore the high-precision coordinate system calibration method for robot workstation,a robot 3D vision experimental platform is constructed by industrial robot,3D camera and single-axis rotary table.The compensation method for robot positioning error,the TCP calibration method,the hand-eye calibration method for robot with 3D camera,and the coordinate system calibration method for 3D camera with single axis positioner are researched.The coordinate calibration method of the platform is designed,and the comprehensive calibration accuracy of the platform is tested.The result shows that the average calibration error between the industrial robot and the 3D camera is 0.442~0.689 mm,and the comprehensive calibration error of the robot 3D vision experimental platform is 0.399~0.696 mm,which can fully meet the accuracy requirements of robot offline programming applications such as welding,gluing,and cutting.
作者
王郑拓
杨波
林志伟
傅建中
WANG Zhengtuo;YANG Bo;LIN Zhiwei;FU Jianzhong(School of Mechanical Engineering,Zhejiang University,Hangzhou 310027,China)
出处
《实验室研究与探索》
CAS
北大核心
2024年第8期52-56,共5页
Research and Exploration In Laboratory
基金
浙江省重点研发计划项目(2022C01015)。
关键词
坐标系标定
机器人定位误差补偿
手眼标定
相机与转台标定
coordinate system calibration
robot positioning error compensation
hand-eye calibration
camera and positioner calibration
作者简介
王郑拓(1989-),男,浙江乐清人,博士,实验师,研究方向为机器人定位精度补偿、机器人路径规划。Tel.:18069867677,E-mail:taku@zju.edu.cn。
