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Automatic calibration method for robot systems using a vision sensor
Automatic calibration method for robot systems using a vision sensor
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机译:使用视觉传感器的机器人系统自动校准方法
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摘要
An automatic calibration method for a robot system is disclosed. The automatic calibration method for a robot system includes the steps of calibrating a sensor and a sensor coordinate system of the sensor with respect to a world coordinate system, controlling a robot under the guidance of the sensor to move a point of a tool mounted on the robot to reach a same target point with a plurality of different poses, the point of the tool in a tool coordinate system, and calculating a transformation matrix tcpTt of the tool coordinate system with respect to a tool center point coordinate system based on pose data of the robot at the same target point.
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机译:公开了一种用于机器人系统的自动校准方法。用于机器人系统的自动校准方法包括以下步骤:相对于世界坐标系校准传感器和传感器的传感器坐标系;在传感器的引导下控制机器人以移动安装在机器人上的工具的点。机器人以多个不同姿势到达同一目标点,即工具在坐标系统中的点,并计算工具的变换矩阵 tcp Sup> T t Sub>相对于工具中心点坐标系的坐标系,该坐标系基于机器人在相同目标点处的姿态数据。
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