Simultaneous kinematic and hand-eye calibration

摘要

A machine vision system (100) comprising: a robot (105); a camera (110) attached to the robot (105); anda control system (115) in communication with the robot (105) and the camera (110), the control system (115) configured to: move the robot (105) to a plurality of positions, and for each of the plurality of Positions: capture an image of one or more features (123) on a calibration target (120) with the camera (110); anddetecting a plurality of robot joint angles; obtaining a plurality of initial values for a plurality of robot calibration parameters; a plurality of initial values for a plurality of hand-eye calibration parameters based on the plurality of initial values for the plurality of robot calibration parameters and the image and determine the plurality of robot joint angles detected for each of the plurality of positions, determine a plurality of final values for the plurality of hand-eye calibration parameters, and a plurality of final values for the robot calibration parameters by using one or more of refining a plurality of the plurality of hand-eye calibration parameters and one or more of the plurality of robot calibration parameters to minimize a cost function.