Robot Hand-Eye Calibration Method Based on Intermediate Measurement System

Abstract

Aiming at the problem of low accuracy of industrial robot hand-eye calibration, a robot hand-eye calibration method based on an intermediate measurement system is proposed. The checkerboard calibration board with the marker points pasted is photographed by the camera, and the coordinates of the marker points in the checkerboard calibration board coordinate system are calculated according to the principle of cross-ratio invariance, and the coordinate system matrix between the C-Track optical dynamic tracking system and the industrial robot is established. The transformation relationship finally obtains the closed-loop coordinate system matrix transformation equation with the marker point, the checkerboard calibration board and the C-Track optical dynamic tracking system as the intermediate measurement system, thereby avoiding the introduction of the mobile industrial robot manipulator in the traditional hand-eye calibration process Kinematic error. The experimental results show that the translation error in the hand-eye relationship matrix is 0.6 mm, and the rotation error is 0.3°. Compared with the traditional hand-eye calibration method, this method improves the accuracy of hand-eye calibration, simplifies the hand-eye calibration process, and meets the needs of actual processing and production.