一种基于爱普生机器人手眼自动标定设计

Design of Automatic Calibration of Hand Eye Based on Epson Robot

为了改良爱普生机器人手动输入标定坐标值,提高手眼标定精度,提出一种全新自动标定方法。该文将该方法的重点——建立移动相机中心工具坐标系分为三步,首先求解像素坐标的移动方向和机器人、相素坐标移动距离比值,然后利用循环程序使得标定用圆形圆心等于相机视野中心,最后建立相机中心工具坐标系。该方法操作简单、重复操作性能好、成本低,易于实现工业生产线生产要求。

In order to improve the manual input calibration coordinate value of Epson robot and improve the hand-eye calibration accuracy,a new automatic calibration method is proposed.In this paper,the key point of this method—setting up the center tool coordinate system for moving camera is divided into three steps.Firstly,the moving direction of the pixel coordinate and the moving distance ratio of the robot and phase coordinate are solved.Secondly,the circular center of the calibration circle is made equal to the center of the camera's field of vision by using the cyclic program.The method has the advantages of simple operation,good repeated operation performance,low cost and easy to achieve the production requirements of industrial production lines.