面向数字孪生的工业机械臂手眼标定方法的研究

Research on Hand-Eye Calibration Method for Digital Twin Oriented Industrial Manipulator

针对传统机械臂视觉系统标定方法存在标定误差大、精度低以及标定过程复杂的问题,提出一种面向数字孪生的手眼标定方法,通过分析标定原理给出标定方法以及搭建机械臂孪生虚拟平台,实现虚实空间的数据交互。结果表明:提出的手眼标定方法具有抓取精度高、抓取性能良好的优势。

Aiming at the problems of large calibration error,low accuracy and complex calibration process in traditional robotic arm vision system calibration method,a hand-eye calibration method for digital twin was proposed.By analyzing the calibration principle,the calibration method was given and a twin virtual platform for robotic arm was built to realize data interaction in virtual and real space.The results show that:the proposed hand-eye calibration method has the advantages of high grasping precision and good grasping performance.