Experiment Design of Robot 3D Vision Experimental Platform Coordinate System Calibration
In order to explore the high-precision coordinate system calibration method for robot workstation,a robot 3D vision experimental platform is constructed by industrial robot,3D camera and single-axis rotary table.The compensation method for robot positioning error,the TCP calibration method,the hand-eye calibration method for robot with 3D camera,and the coordinate system calibration method for 3D camera with single axis positioner are researched.The coordinate calibration method of the platform is designed,and the comprehensive calibration accuracy of the platform is tested.The result shows that the average calibration error between the industrial robot and the 3D camera is 0.442～0.689 mm,and the comprehensive calibration error of the robot 3D vision experimental platform is 0.399～0.696 mm,which can fully meet the accuracy requirements of robot offline programming applications such as welding,gluing,and cutting.
coordinate system calibrationrobot positioning error compensationhand-eye calibrationcamera and positioner calibration
万方数据
维普
