On-site and real-time calibration method of pose relation of industrial robot and three-dimensional imager

The invention discloses an on-site and real-time calibration method of the pose relation of an industrial robot and a three-dimensional imager. The method comprises the following steps that: step 1) arobot is driven to pass a translational imager with a fixed pose when being located at different pos...

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Hauptverfasser:	YE CHANGYAO, ZHANG XIANZHOU, QIN FEI, CAO TONGLAI, LUO BAOLIN, BAO JIANQIANG, LIN HAIJIAN
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	MEASURING MEASURING ANGLES MEASURING AREAS MEASURING IRREGULARITIES OF SURFACES OR CONTOURS MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS PHYSICS TESTING
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creator	YE CHANGYAO ZHANG XIANZHOU QIN FEI CAO TONGLAI LUO BAOLIN BAO JIANQIANG LIN HAIJIAN
description	The invention discloses an on-site and real-time calibration method of the pose relation of an industrial robot and a three-dimensional imager. The method comprises the following steps that: step 1) arobot is driven to pass a translational imager with a fixed pose when being located at different positions under a condition that the rotation parameters of a flange coordinate system remain unchanged, so that the same point of a calibration plate can be scanned a plurality of times, and therefore, first point cloud data can be formed, and the rotation and translation parameters of the flange coordinate system are recorded; step 2) the first point cloud data of the imager are processed, a corresponding center coordinate is obtained through a fitting mode, and calibration rotation parameters are calculated; step 3) the robot scans the same target point a plurality of times with different poses when being located at different positions, so that second point cloud data can be formed, and therotation and translation
format	Patent
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The method comprises the following steps that: step 1) arobot is driven to pass a translational imager with a fixed pose when being located at different positions under a condition that the rotation parameters of a flange coordinate system remain unchanged, so that the same point of a calibration plate can be scanned a plurality of times, and therefore, first point cloud data can be formed, and the rotation and translation parameters of the flange coordinate system are recorded; step 2) the first point cloud data of the imager are processed, a corresponding center coordinate is obtained through a fitting mode, and calibration rotation parameters are calculated; step 3) the robot scans the same target point a plurality of times with different poses when being located at different positions, so that second point cloud data can be formed, and therotation and translation</description><language>chi ; eng</language><subject>MEASURING ; MEASURING ANGLES ; MEASURING AREAS ; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS ; MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS ; PHYSICS ; TESTING</subject><creationdate>2018</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20180619&DB=EPODOC&CC=CN&NR=108180834A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25562,76317</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20180619&DB=EPODOC&CC=CN&NR=108180834A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>YE CHANGYAO</creatorcontrib><creatorcontrib>ZHANG XIANZHOU</creatorcontrib><creatorcontrib>QIN FEI</creatorcontrib><creatorcontrib>CAO TONGLAI</creatorcontrib><creatorcontrib>LUO BAOLIN</creatorcontrib><creatorcontrib>BAO JIANQIANG</creatorcontrib><creatorcontrib>LIN HAIJIAN</creatorcontrib><title>On-site and real-time calibration method of pose relation of industrial robot and three-dimensional imager</title><description>The invention discloses an on-site and real-time calibration method of the pose relation of an industrial robot and a three-dimensional imager. 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subjects	MEASURING MEASURING ANGLES MEASURING AREAS MEASURING IRREGULARITIES OF SURFACES OR CONTOURS MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS PHYSICS TESTING
title	On-site and real-time calibration method of pose relation of industrial robot and three-dimensional imager
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