The hand-eye calibration method is applied to a six-axis industrial robot, and the method comprises: determining the feature points used for calibrating the camera parameters and the coordinate points used for calibrating the robot coordinate system; Identify the coordinate values of feature points and coordinate points in the camera coordinate system of the robot in the first posture; Identify the coordinate values of the feature point and the coordinate point in the camera coordinate system of the robot in the second posture; According to the coordinate values recognized twice and the marker values of feature points and punctuation points under the robot standard system, the transition relationship matrix from the camera coordinate system to the robot standard system was calculated
For the six-axis manipulator, there are generally six parameters on the controller side to characterize the state of the end of the manipulator at that time (x, y, z, rx, ry, rz), during which (x, y, z) indicates the coordinate value of the robotic arm under the OXYZ coordinate system with the base of the manipulator as the origin (0, 0, 0), the ground is the xoy plane, the vertical direction is the z-axis, and (rx, ry, rz) indicates the point of view that the end is separated from the x, y and z-axis rotation around the base, that is, the euler angle (eular).
Kawasaki Robot:
Change values (X, Y, Z, O, A, T)
Refers to the change value of the robot's east-west coordinate system related to the base coordinate system. The position is given by the XYZ point of the TCP of the base coordinate system, and the orientation is given by the Euler OAT viewpoint of the east-west coordinates of the base coordinate system. The conversion values generally used are: east-west conversion value, describing the posture of the east-west coordinate system related to the empty coordinate system, and describing the posture of the east-west coordinate system related to the workpiece coordinate system according to the change value of the workpiece.
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Kawasaki Robot's offline approach
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