Calibration of Cartesian Robot Based on Machine Vision
Machine vision makes robots more intelligent,but most Cartesian robots rely on manual programming to perform operations.This paper presents a new nine points calibration method for Cartesian robot based on machine vision,and realizes the automatic assembly of Cartesian robot.Firstly,affine transformation model of Cartesian robot was established.The homogeneous matrices of four affine transformations formed a closed chain.Secondly,the HALCON image processing technique was used to extract the image coordinates of the center points of interest and record the current mechanical coordinates.Thirdly,through the obtained image coordinates and mechanical coordinates,the transformation relationship between the self-made calibration board and the basic coordinate system was obtained.Finally,the effectiveness of the calibration proposed in this paper was validated through case study.
Cartesian robot machine vision nine points calibration self-made calibration plate HALCON
Wang Rui Qu Huawei Sui Yuyang Lv Jianliang
School of Naval Architecture and Ocean Engineering,Harbin Institute of Technology at Weihai Weihai,China
国际会议
重庆
英文
1103-1108
2017-10-03（万方平台首次上网日期，不代表论文的发表时间）