Calibration method of TCP based on stereo vision robot

Liu Changjie; Ban Rongxing; Guo Yin; Yin Shibin; Wang Yi

The TCP of robot is the fundation of off-line programming and end error correction. Studying fast and accurate calibration method is vital to ensure robots work normally in industrial field environments. In this paper, a TCP automatic calibration method was presented based on binocular vision measurement,combined with the spatial coordinate transformation theory and robot kinematics, which is applicable to industrial manufacturing site. This method has several advantages of non-contact, fast and high precision, which can reduce errors coming from previous calibrating method of contactless measurement and overcome its shortcoming of slowness. This method was testified on ABB robot and then experiment result shows that the accuracy is much better than that of conventional method when the calibration tool having a diameter of 10 mm. It can meet high precision, fast TCP calibration requirements in industrial site.

1. State Key Laboratory of Precision Measuring Technology and Instruments,Tianjin University,Tianjin 300072;

2. Precision Instruments,Tsinghua University,Beijing 100084,China;

3. College of Electrical Engineering,North China University of Science and Technology,Tangshan 063069,China

Received Date: 2014-10-15

Rev Recd Date: 2014-11-20

Publish Date: 2015-06-25

Key words:

Abstract: The TCP of robot is the fundation of off-line programming and end error correction. Studying fast and accurate calibration method is vital to ensure robots work normally in industrial field environments. In this paper, a TCP automatic calibration method was presented based on binocular vision measurement,combined with the spatial coordinate transformation theory and robot kinematics, which is applicable to industrial manufacturing site. This method has several advantages of non-contact, fast and high precision, which can reduce errors coming from previous calibrating method of contactless measurement and overcome its shortcoming of slowness. This method was testified on ABB robot and then experiment result shows that the accuracy is much better than that of conventional method when the calibration tool having a diameter of 10 mm. It can meet high precision, fast TCP calibration requirements in industrial site.

HTML

Reference (27)

[1]
[2]	Pan Lixia. Research on the development and application of industrial robots[J]. Shanxi Science and Technology, 2010, 25(3): 22-25.
[3]
[4]	Li Xin, Liu Hui, Chen Jun, et al. Review about the calibration of industrial robot[C]//Jiangsu Province Measurement Papers, 2013: 42-47. (in Chinese) 李新, 刘辉, 陈君, 等. 工业机器人校准方法研究综述[C]// 江苏省计量测试学术论文集, 2013: 42-47.
[5]
[6]	Nubiola A, Bonev I A. Absolute calibration of an ABB IRB 1600 robot using a laser tracker[J]. Robotics And Computer-Integrated Manufacturing, 2013, 29: 236-245.
[7]	Zhao Jiaojiao, Zhu Wei. Arc welding robot calibration[J]. Journal of Fuzhou University(Natural Science Edition), 2008, 36: 31-34. (in Chinese) 赵娇娇, 朱伟. 弧焊机器人系统标定[J]. 福州大学学报(自然科学版), 2008, 36: 31-34.
[8]
[9]	Ruther M, Lenz M, Bischof H. The narcissistic robot: robot calibration using a mirror[C]//11th International Conference On Control Automation Robotics and Vision, 2010: 169-174.
[10]
[11]
[12]	Liu Chengye, Li Wengguang, Ma Shiguo, et al. A robot tool frame calibration method[J]. Shandong Science, 2012, 25(1): 70-74. (in Chinese) 刘成业, 李文广, 马世国, 等. 一种工业机器人工具坐标系标定方法[J]. 山东科学, 2012, 25(1): 70-74.
[13]
[14]	Xiong Shuo, Ye Bosheng, Jiang Ming. Study of robot tool coordibate frame calibration[J]. Machinery Electronics, 2012, 6: 60-63. (in Chinese) 熊硕, 叶伯生, 蒋明. 机器人工具坐标系标定算法研究[J]. 机械与电子, 2012, 6: 60-63.
[15]
[16]	Liu He, Zeng Hui. Research on calibration of weilding robot's tool parameters[J]. China New Technologies and Products, 2013, 11(Part 2): 5. (in Chinese) 柳贺, 曾辉. 焊接机器人的工具参数标定研究[J]. 中国新技术新产品, 2013, 11(下): 5.
[17]
[18]	Piao Yongjie, Qiu Tao, Chen Shanben. Calibration of TCF parameters of arc welding robot[J]. Robot, 2001, 23(2): 109-111. (in Chinese) 朴永杰, 邱涛, 陈善本. 弧焊机器人TCF参数的标定[J]. 机器人, 2001, 23(2): 109-111.
[19]	Zhu Jigui, Yu Zhijing. The Principle of Vision Metrology[M]. Beijing: China Machine Press, 2011: 105-107.(in Chinese) 邾继贵, 于之靖. 视觉测量原理与方法[M]. 北京: 机械工业出版社, 2011: 105-107.
[20]
[21]
[22]	Faugeras O D, Toscani G. The calibration problem for stereo[C]//Proceedings of IEEE Conference on Computer Vision and Pattern Recognition, 1986, 1: 15-20.
[23]	Weng J Y, Cohen P, Hernion M. Camera calibration with distortion model and accuracy evaluation[J]. IEEE Trans Pattern Analysis and Machine Itelligence, 1992, 14(10): 965-980.
[24]
[25]	Tsai R, Lenz R K. A technique for full autonomous and efficient 3D robotics hand/eye calibration[J]. IEEE Trans Robotics and Automation, 1989, 5(3): 345-358.
[26]
[27]	Zhang Zhengyou. A flexible new technique for camera calibration[R]. Redmond: Microsoft Research, 2012.

Calibration method of TCP based on stereo vision robot

Abstract

References

Proportional views

通讯作者: 陈斌, bchen63@163.com

Article Metrics

Related

Proportional views