Vision and multi-coordinate system closed loop conversion-based robot calibration method

The invention discloses a vision and multi-coordinate system closed loop conversion-based robot calibration method. The vision and multi-coordinate system closed loop conversion-based robot calibration method provided by the invention can solve the problem that an AX=XB equation great in huge calculated amount needs to be constructed in a conventional robot calibration method, so that the calculating burden is alleviated; the accuracy of a conversion relationship among the coordinate systems is improved by combining a, b and c coordinate system conversion closed loops; and an obtained error ina tail end position of the robot is optimized by applying a nonlinear least square method, so that the positioning precision of the robot is improved. 本发明公开了一种基于视觉和多坐标系闭环转换的机器人标定方法。本发明提供的一种基于视觉和多坐标系闭环转换的机器人标定方法，该方法能解决传统机器人标定方法需要构建计算量非常巨大的AX＝XB方程的问题减轻计算负担；a、b、c三个坐标系转换闭环相结合提高了各坐标系之间转换关系的准确性；对得到的机器人末端位置误差应用非线性最小二乘法优化提高机器人的定位精确度。