机器人平面工具TCP的双目视觉标定方法

Calibration Method for Planar Tool Center Point of Robot Based on Binocular Vision

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.