AUTOMATIC CALIBRATION METHOD FOR ROBOT SYSTEMS USING A VISION SENSOR.

摘要

The present invention discloses an automatic calibration method for a robot system, comprising steps of: calibrating intrinsic parameters of a sensor and a sensor coordinate system of the sensor with respect to a world coordinate system by means of a calibration plate; and controlling a robot under the guidance of the calibrated sensor to move an original point of a tool coordinate system of a tool mounted on the robot to reach the same target point with a plurality of different poses, and calculating a transfer matrix tcpTt of the tool coordinate system with respect to a tool center point coordinate system of the robot based on pose data of the robot at the same target point. The robot can accurately move to the same target point with the plurality of different poses, improving the calibration accuracy of the robot system. Furthermore, the calibration of the robot system is automatically performed by a control program, increasing the calibration efficiency, and simplifying the calibration operation.