DELTA机器人传送带与视觉的综合标定方法

摘要

In this paper we propose an method of integrated calibration on DELTA robot conveyor and vision. We first use the end of DELTA robot arm to touch the same point on the conveyor when the conveyor moves some distance,which allows us to obtain the value of the point’s location in the robot coordinate system and the corresponding value of the encoder.,then we get the scale factor of the robot and conveyor,determine the transformation matrix between the robot coordinate system and the conveyor coordinate system, then we can know the pose of the conveyor coordinate system relative to the coordinate system of the robot,which is the conveyor calibration. By using the camera to posit in contact with the robot at the same point, we obtain the intrinsic matrix and the external parameters matrix of the camera, which can know the transformation matrix between the robot coordinate system and the camera coordinate system, which is the robot vision calibration. DELTA robot conveyor and vision calibration will make the foundation of achieving DELTA robot high-precision control.%提出一种关于DELTA机器人传送带与视觉的综合标定方法。通过DELTA机器人臂末端在传送带移动一段距离接触传送带始末同一点，得到该点在机器人坐标系的位置和编码器上对应的读数，得到传送带与机器人的比例因子，确定机器人坐标系与传送带坐标系的转化矩阵，从而得到传动带相对于机器人坐标系的位姿，即传送带的标定。通过相机定位与机器人接触同一点，从而确定相机的内参矩阵与外参矩阵，从而得到机器人与相机坐标系的转换关系，即机器人视觉的标定。DELTA机器人传送带与视觉的标定，为DELTA机器人高精度控制的实现打下基础。