HAND-EYE CALIBRATION METHOD AND DEVICE FOR ROBOT, ROBOT, AND COMPUTER STORAGE MEDIUM

A hand-eye calibration method for a robot (100), comprising: aligning the center of a camera (120) with the center of a calibration plate (10), and determining a coordinate point of a robot arm (110) at this time; according to the determined coordinate point of the robot arm (110), generating a plur...

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Bibliographische Detailangaben
Hauptverfasser:	LI, Wenzhi, CAI, Tongbiao, LANG, Xulin, JIANG, Yu
Format:	Patent
Sprache:	chi ; eng ; fre
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING
Online-Zugang:	Volltext bestellen
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Beschreibung
Zusammenfassung:	A hand-eye calibration method for a robot (100), comprising: aligning the center of a camera (120) with the center of a calibration plate (10), and determining a coordinate point of a robot arm (110) at this time; according to the determined coordinate point of the robot arm (110), generating a plurality of photographing points according to a preset rule; controlling the robot arm (110) to sequentially move to the photographing points to photograph the calibration plate (10) by means of the camera (120), and correspondingly recording position information of the robot arm (110); and performing hand-eye calibration on the basis of images obtained by photographing by the camera (120) and the position information of the robot arm (110). According to the hand-eye calibration method, a plurality of photographing points of the robot arm (110) can be automatically generated according to a preset rule and according to the coordinate point of the robot arm (110) when the center of the camera (120) is aligned with the c