CN107363823A - The coordinate scaling method of mechanical arm - Google Patents
The coordinate scaling method of mechanical arm Download PDFInfo
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- CN107363823A CN107363823A CN201710475948.6A CN201710475948A CN107363823A CN 107363823 A CN107363823 A CN 107363823A CN 201710475948 A CN201710475948 A CN 201710475948A CN 107363823 A CN107363823 A CN 107363823A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The present invention relates to a kind of coordinate scaling method of mechanical arm, comprise the following steps：Position movement where armshaft toward camera, high-visible within sweep of the eye in the camera lens of camera to initial marking, vision system software records the coordinate for the initial marking that cameras capture arrives, as the first coordinate；Armshaft holding position is constant, and after termination rotates to an angle, vision system software records the coordinate for the initial marking that cameras capture arrives, as the second coordinate；After termination rotates to an angle, the coordinate for the initial marking that cameras capture arrives is recorded, as the 3rd coordinate；First center of circle of circle, obtains centre coordinate A where calculating the first coordinate, the second coordinate and the 3rd coordinate.The sampling and calculating of measurement process are automatically performed, human eye alignment need not be relied on, reduce the probability of happening of random error, reclosing operation is carried out under the visual field of the image magnification of camera shooting, the alignment of ratio of precision human eye will be higher by hundred times, and it is simple and quick, applicability and flexibility are strong.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a coordinate calibration method of a mechanical arm.
Background
The basis of the accurate movement of the mechanical arm is the accurate establishment of a coordinate system, and the mechanical coordinate system and the visual coordinate system can accurately move to corresponding positions according to coordinate parameters given by the controller after the accurate corresponding relationship is established. Therefore, the mechanical arm needs to be calibrated before being put into use, and the mechanical arm running for a period of time also needs to be calibrated again regularly, so that the running precision is ensured.
The following two methods are conventionally used to calibrate the robotic arm:
1. using a conical tool: a first conical tool is installed on a third shaft of the mechanical arm, a second conical tool is fixedly placed below the third shaft of the mechanical arm, the tips of the first conical tool and the tips of the second conical tool are aligned by human eyes, and the coordinate value after alignment is regarded as the central coordinate value of the third shaft of the mechanical arm. And the position of the second conical tool is unchanged, the left-right hand-operation mode of the robot is switched, the tips of the first conical tool and the tips of the second conical tool are aligned again, and the coordinates of the mechanical arm at the point after alignment are regarded as the coordinates of the tail end positioning of the mechanical arm.
2. Adopting a cylindrical object and an array round hole die tool: the method comprises the steps of customizing a circular hole array die with equal circle center distance and known distance, controlling a mechanical arm to grab a cylinder and then continuously put into circular holes arranged in an array, recording the coordinate value of the motion of the mechanical arm when the mechanical arm is put into the circular hole array die each time, and calculating the central coordinate of the tail end of the mechanical arm according to the known data of the center distance of the circular holes so as to obtain the coordinate of the tail end positioning of the mechanical arm.
The conventional conical tool for calibrating the robot arm can generate large errors in two operation steps: the first is a stage of fixing the conical tool, the conical tool is fixed on a rotating shaft at the tail end of a mechanical arm, the diameter of the rotating shaft is smaller than that of the conical tool, and the conical tool is supported from the side by screws and fixed on the rotating shaft when the conical tool is fixed. Such a mounting method cannot ensure that the center of the conical tool and the center of the rotation axis of the robot arm are aligned on the same line, and thus a certain deviation occurs. The second is the cone tip alignment process of two conical tools, the alignment process depends on the human eyes of operators to determine, the accuracy of human eye identification can only reach about 0.1mm at most, therefore, the accuracy of the center coordinates of the rotating shaft determined by the tool can only reach 0.1mm, and the accuracy can not meet the accuracy requirement of practical application on the mechanical arm.
When the coordinates of the mechanical arm are calibrated by adopting the cylinder and the circular hole array die, the precision of the calibration tool is improved in comparison with that of a conical calibration tool, and the calibration process is prevented from depending on human eyes to determine the precision. There is still some inherent error. Firstly, the circle center spacing is strictly equal when the circular hole array is manufactured, so that the manufacturing precision of the die can directly influence the coordinate precision of the mechanical arm. Secondly, the diameter of the round hole array die is larger than that of the cylinder, and a gap still exists in the process of placing the round hole array die, so that the center of the round hole and the center of the cylinder cannot be completely coincided. Therefore, a great perfection space still exists for calibrating the coordinates of the mechanical arm by adopting the cylinder and the circular hole array mold.
Disclosure of Invention
Based on the method, the coordinates of the mechanical arm are automatically calibrated, manual operation alignment is not needed, manual errors are avoided, the operation is simple and rapid, and the applicability and flexibility are strong.
In order to realize the purpose of the invention, the invention adopts the following technical scheme:
a calibration tool comprises a camera, an initial mark and visual system software, the mechanical arm comprises a shaft arm, a rotating shaft connected with the shaft arm and an end connected with the rotating shaft, the initial mark is arranged on the end, the camera is parallel to the surface where the initial mark is located, and the calibration method of the coordinate of the mechanical arm comprises the following steps:
step 1: the shaft arm moves from one end far away from the camera to the position where the camera is located until the initial mark is over against the lens of the camera, the initial mark is clearly visible in the visual field range of the lens of the camera, and the visual system software records the coordinate of the initial mark captured by the camera as a first coordinate;
step 2: keeping the position of the shaft arm unchanged, and recording the coordinates of the initial identifier captured by the camera as second coordinates by the vision system software after the end head rotates anticlockwise or clockwise for a certain angle;
and step 3: keeping the position of the shaft arm unchanged, and after the end head continues to rotate counterclockwise or clockwise for a certain angle, recording the coordinates of the initial identifier captured by the camera by the vision system software as third coordinates;
and 4, step 4: calculating a first circle center of a circle where the first coordinate, the second coordinate and the third coordinate are located by using vision system software, wherein the first circle center is used as a central coordinate of the rotating shaft;
if the first coordinate and the second coordinate coincide, the first coordinate or the second coordinate is used as the center coordinate of the rotating shaft, and the steps 3 and 4 are omitted.
According to the coordinate calibration method of the mechanical arm, sampling and calculation in the measuring process are automatically completed by the camera and the vision system software, human eye alignment is not needed, the probability of occurrence of random errors is reduced, the overlapping operation is performed under the visual field of the image magnification times shot by the camera, the precision is hundreds of times higher than that of human eye alignment, and the method is simple and rapid to operate and high in applicability and flexibility.
In one embodiment, the method further comprises the following steps:
and 5: keeping the same position as the step 3 with the shaft arm and the rotating shaft, taking the first circle center as a reference, taking a point of the first circle center corresponding to the end as a second identifier by the camera, and recording the coordinate of the second identifier captured by the camera by the vision system software as a first A coordinate;
step 6: keeping the position of the shaft arm unchanged, and recording the coordinate of a second identifier captured by the camera by the vision system software as a second A coordinate after the end head rotates anticlockwise or clockwise for a certain angle;
and 7: keeping the position of the shaft arm unchanged, and after the end head continues to rotate counterclockwise or clockwise for a certain angle, recording the coordinate of a second identifier captured by the camera by the vision system software as a third coordinate A;
and 8: calculating a second circle center of a circle where the first A coordinate, the second A coordinate and the third A coordinate are located by using vision system software, wherein the second circle center is used as a center coordinate of the rotating shaft;
and if the first A coordinate is superposed with the second A coordinate, the first A coordinate or the second A coordinate is the central coordinate of the rotating shaft.
In one embodiment, the robot arm includes a left-hand operation mode and a right-hand operation mode, the steps 1 to 5 or the steps 1 to 8 are the left-hand operation mode, and the coordinate calibration method of the robot arm further includes the following steps:
and step 9: after the central coordinate of the left-hand operation mode is obtained, the camera takes a point of the central coordinate of the left-hand operation mode corresponding to the end as a final identifier, the mechanical arm is switched from the left-hand operation mode to the right-hand operation mode, the shooting multiple of the camera is amplified, the shaft arm is adjusted, the final identifier is overlapped with the central coordinate, and the coordinate calibration of the right-hand operation mode of the mechanical arm is completed.
In one embodiment, the magnification camera in step 9 has an imaging magnification of ten times or more.
In one embodiment, in step 4, the first center of the circle where the first coordinate, the second coordinate, and the third coordinate are located is calculated by the vision system software, the coordinates of the first coordinate, the second coordinate, and the third coordinate are (x1, y1), (x2, y2), (x3, y3), and the coordinate of the first center of the circle is (x, y), and the calculation method of the first center of the circle is:
wherein,
a＝2·(x2-x1)，
b＝2·(y2-y1)，
c＝x22+y22-x12-y12，
d＝2·(x3-x2)，
e＝2·(y3-y2)，
f＝x32+y32-x22-y22。
in one embodiment, the camera is an industrial camera.
In one embodiment, the camera has pixels ≧ 800 ten thousand pixels.
In one embodiment, the camera is interchanged with the location of the initial identification.
In one embodiment, the initial markings are a pattern of circles.
In one embodiment, the shaft arm comprises a first joint shaft, a first joint arm, a second joint shaft and a second joint arm which are connected in sequence, the rotating shaft is connected with the second joint arm, and the end head is arranged at the tail end of the rotating shaft.
In one embodiment, the second articulation axis is perpendicular to the first articulation arm and the rotation axis is perpendicular to the second articulation arm.
Drawings
FIG. 1 is a schematic diagram of a calibration tool and a robot arm in a coordinate calibration method of a robot arm according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of a tip and an initial mark in the coordinate calibration method of the robotic arm of FIG. 1;
fig. 3 is a schematic diagram of a first coordinate, a second coordinate, a third coordinate and a first circle center in the coordinate calibration method for the mechanical arm in fig. 1;
fig. 4 is a schematic diagram of a calibration process of a right-hand operation mode in the coordinate calibration method of the robot arm of fig. 1.
Detailed Description
In order that the invention may be more fully understood, reference will now be made to the following description. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Referring to fig. 1 to 4, a coordinate calibration method for a robot arm according to a preferred embodiment of the present invention includes a calibration tool and the robot arm 10, wherein the calibration tool includes a camera 21, an initial mark 22 and a vision system software.
In the embodiment, the camera 21 is an industrial camera with 800 ten thousand pixels, the initial mark 22 is a circular pattern, and the vision system software is installed in the control system connected to the robot arm 10, and has recording, storing and calculating functions. In some applications, vision system software may also be installed in the operating components of the camera 21.
Referring to fig. 1 again, in the present embodiment, the robot arm 10 includes a base 11, a shaft arm mounted on the base 11, a rotating shaft 14 connected to the shaft arm, and a tip 15 connected to the rotating shaft 14, the shaft arm includes a first joint shaft 12, a first joint arm 12a, a second joint shaft 13, and a second joint arm 13a connected in sequence, the rotating shaft 14 is connected to the second joint arm 13a, the rotating shaft 14 is perpendicular to the second joint arm 13a, and the tip 15 is mounted at a bottom end of the rotating shaft 14. The initial mark 22 is installed at the bottom of the head 15, the initial mark 22 is slightly deviated from the central axis of the rotating shaft 14, the camera 21 is fixedly installed below the initial mark 22, and when the head 15 is moved to the upper side of the camera 21 and the initial mark 22 falls within the lens view range of the camera 21, the camera 21 is parallel to the initial mark 22.
The mechanical arm 10 includes a left-hand operation mode and a right-hand operation mode, and in this embodiment, the center coordinate 17 of the rotation axis 14 in the left-hand operation mode is calibrated first, and then the coordinate in the right-hand operation mode is calibrated according to the center coordinate 17 in the left-hand operation mode.
It should be noted that a teach pendant is installed in the system where the robot arm 10 is located, and is used for controlling the movement of the robot arm 10 in different directions.
The coordinate calibration method of the mechanical arm comprises the following steps:
step 1: when the mechanical arm 10 is in a left-hand operation mode, the shaft arm moves, the first joint shaft 12 drives the first joint arm 12a, the second joint shaft 13 drives the second joint arm 13a and the rotating shaft 14 to move from one end away from the camera 21 to the position where the camera 21 is located, and the movement is stopped until the initial mark 22 is over the lens of the camera 21, at this time, the initial mark 22 is clearly visible in the field of view of the lens of the camera 21, and the vision system software records the coordinates of the initial mark 22 captured by the camera 21 as the first coordinates 16a (x1, y 1).
Step 2: after the position of the arm and the rotating shaft 14 is kept unchanged, and the rotating shaft 14 drives the head 15 to rotate clockwise by 45 degrees, the vision system software records the coordinates of the initial mark 22 captured by the camera 21 as second coordinates 16b (x2, y 2).
And step 3: after the arm and shaft 14 remain in place and the tip 15 continues to rotate 45 ° clockwise, the vision system software records the coordinates of the initial mark 22 captured by the camera 21 as the third coordinates 16c (x3, y 3).
And 4, step 4: the vision system software is used to calculate the centers of the circles of the first coordinate 16a, the second coordinate 16b and the third coordinate 16c, i.e. the first center 16, and the relationship between the first center 16 and the first coordinate 16a, the second coordinate 16b and the third coordinate 16c is shown in fig. 3, where the first center 16 is the center coordinate a of the rotating shaft 14.
The calculation method of the first circle center 16 is as follows: the first coordinate 16a (x1, y1), the second coordinate 16b (x2, y2), and the third coordinate 16c (x3, y3) are given by (x, y) as the first center 16 coordinate, and R as the radius of the circle where the first coordinate 16a, the second coordinate 16b, and the third coordinate 16c are located, so that:
(x1-x)2-(y1-y)2＝R2(1)
(x2-x)2-(y2-y)2＝R2(2)
(x3-x)2-(y3-y)2＝R2(3)
(1) - (2) obtaining:
x12-y22+y12-x22+2·(x·x2-x·x1-y·y1+y·y2)＝0
(2) - (3) obtaining:
x22-y32+y22-x32+2·(x·x3-x·x2-y·y2+y·y3)＝0
finishing to obtain:
2·(x2-x1)·x+2·(y2-y1)·y＝y22+x22-x12-y12
2·(x3-x2)·x+2·(y3-y2)·y＝y32+x32-x22-y22
is provided with
a＝2·(x2-x1)，
b＝2·(y2-y1)，
c＝x22+y22-x12-y12，
d＝2·(x3-x2)，
e＝2·(y3-y2)，
f＝x32+y32-x22-y22，
The calculation formula for the first center 16 is:
the first center 16(x, y) is the center coordinate a.
And 5: the shaft arm and the rotating shaft keep the same position as the step 3, the point of the first circle center 16 corresponding to the head 15 is taken as a second mark by the camera 21 by taking the first circle center 16 as a reference, and the coordinates of the second mark captured by the camera 21 are recorded by the vision system software as a first A coordinate (x11, y 11).
Step 6: after the arm and shaft 14 remain in place and the tip 15 is rotated 90 ° clockwise, the vision system software records the coordinates of the second marker captured by the camera 21 as the second a coordinates (x21, y 21).
And 7: after the shaft arm remains in place and the tip 15 continues to rotate 90 ° clockwise, the vision system software records the second identified coordinates captured by the camera 21 as the third a coordinates (x31, y 31).
And 8: and calculating a second circle center of the circle where the first A coordinate, the second A coordinate and the third A coordinate are located by using vision system software, wherein the second circle center is used as a final center coordinate of the rotating shaft.
The calculation method of the second circle center is as follows: the first A coordinate (x11, y11), the second A coordinate (x21, y21) and the third A coordinate (x31, y31) are set as (x, y) the first center 16 coordinate
Wherein,
a＝2·(x21-x11)，
b＝2·(y21-y11)，
c＝x212+y212-x112-y112，
d＝2·(x31-x21)，
e＝2·(y31-y21)，
f＝x312+y312-x212-y212。
and step 9: after the central coordinate 17 of the left-hand operation mode is obtained, the camera 21 takes a point of the central coordinate 17 of the left-hand operation mode corresponding to the end head 15 as a final mark 18, the mechanical arm 10 is switched from the left-hand operation mode to the right-hand operation mode, the shooting multiple of the camera 21 is amplified by 25 times, the amplification process is as shown in fig. 4, the shooting multiple is gradually amplified from the original state without amplification multiple, then the second joint shaft 13 is finely adjusted by the demonstrator to drive the rotating shaft 14 and the end head 15 to slightly move, so that the final mark 18 is overlapped with the central coordinate 17 obtained in the left-hand operation mode, the current coordinate is recorded by the vision system software, and the coordinate calibration of the right-hand operation mode of the rotating shaft 14 is completed.
The pixel of the magnifying camera 21 is 800 ten thousand pixels, the shooting time is 25 times, and the mark area reaches 3cm2The resolution is 3264 × 2448, and the precision can reach 0.9 × 10-5m, the alignment calibration is more accurate than that observed by human eyes by hundreds of times.
In some embodiments, the pixels of the camera 21 may also be selected to be more than 800 ten thousand pixels, and the accuracy will be higher.
In some embodiments, the accuracy of the center coordinate is not critical, and the first circle center is taken as the center coordinate of the rotating shaft 14.
In some embodiments, if it is required to calibrate the center coordinate more accurate than the second circle center, the point where the second circle center corresponds to the end is used as a third identifier, the operations of steps 5 to 8 are repeated to obtain a third circle center, and the coordinate of the third circle center is used as the center coordinate of the rotating shaft in the left-hand operation mode. And by analogy, if a more accurate center coordinate than the nth circle center is needed, the point where the nth circle center corresponds to the end is used as the (n + 1) th mark, the operations in the steps 5 to 8 are repeated to obtain the (n + 1) th circle center, and finally the (n + 1) th circle center is used as the center coordinate of the rotating shaft of the final left-hand operation mode.
In some embodiments, after steps 1, 2, and 3, the first coordinate 16a, the second coordinate 16b, and the third coordinate 16c are overlapped, that is, the first coordinate 16a is equal to the second coordinate 16b is equal to the third coordinate 16c, then the center of the initial mark 22 and the center of the rotation axis 14 are on the same axis, the first coordinate 16a, the second coordinate 16b, and the third coordinate 16c fall on the position of the center coordinate 17, the coordinate of the first circle center 16 is calculated to be equal to the first coordinate 16a, the second coordinate 16b, or the third coordinate 16c, and the first coordinate 16a, the second coordinate 16b, or the third coordinate 16c is the center coordinate 17 of the rotation axis 14. Steps 5 to 8 may be continued without further processing, and the operation of step 9 is directly continued.
The working principle of the coordinate calibration method of the mechanical arm is as follows: the center coordinates 17 of the rotation axis 14 are first determined by the left operation mode, and then by switching the right operation mode, in the case of magnifying the recognition multiple of the camera 21, the final identifier 18 is made to coincide with the center coordinates 17 of the left operation mode, and the center coordinates 17 of the left operation mode are designated as the center coordinates 18 of the right operation mode, and then the center coordinates 17 obtained by the left operation mode are the center coordinates common to the left operation mode and the right operation mode.
Of course, the coordinate calibration method of the manipulator of the invention can also calibrate the center coordinate of the right-hand operation mode first and then calibrate the coordinate of the left-hand operation mode, at this time, the center coordinate calibration method of the right-hand operation mode is performed according to steps 1 to 8, and the coordinate calibration method of the left-hand operation mode is performed according to step 9.
In some embodiments, the initial mark 22 may also be installed on the top of the rotating shaft 14, in this case, the head 15 is installed on the top of the rotating shaft 14, the initial mark 22 is installed on the upper surface of the head 15, the camera 21 is located above the initial mark 22, when the head 15 moves to the lower side of the camera 21 and the initial mark 22 falls within the lens view range of the camera 21, the camera 21 is parallel to the initial mark 22, and the coordinate calibration of the robot arm 10 by the cooperation of the camera 21 and the initial mark 22 can also be realized.
Alternatively, in some applications, the positions of the camera 21 and the initial mark 22 may be interchanged, that is, the camera 21 is mounted on the head 15, and the initial mark 22 is fixedly mounted on a plane parallel to the plane of the camera 21.
In conclusion, according to the coordinate calibration method of the mechanical arm, sampling and calculation in the measurement process are automatically completed by the camera 21 and the vision system software, human eye alignment is not needed, the probability of random errors is reduced, the overlapping operation is performed in the visual field of the image magnification times shot by the camera 21, the precision is hundreds of times higher than that of human eye alignment, and the method is simple and rapid to operate and high in applicability and flexibility.
The coordinate calibration method of the mechanical arm is also suitable for the coordinate calibration of the mechanical arm with the shaft arm only comprising the first joint shaft 12 and the first joint arm 12a, or the coordinate calibration of the mechanical arm with the shaft arm comprising more than two joint shafts and joint arms, and can also realize accurate calibration.
The coordinate calibration method of the mechanical arm is also suitable for the coordinate calibration of the mechanical arm with only a left-hand operation mode or only a right-hand operation mode.
The above-mentioned embodiments only express one embodiment of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A coordinate calibration method of a mechanical arm is characterized by comprising a calibration tool, wherein the calibration tool comprises a camera, an initial mark and visual system software, the mechanical arm comprises a shaft arm, a rotating shaft connected with the shaft arm and a head connected with the rotating shaft, the initial mark is installed on the head, the camera is parallel to the surface where the initial mark is located, and the coordinate calibration method of the mechanical arm comprises the following steps:
step 1: the shaft arm moves from one end far away from the camera to the position where the camera is located until the initial mark is over against the lens of the camera, the initial mark is clearly visible in the visual field range of the lens of the camera, and the visual system software records the coordinate of the initial mark captured by the camera as a first coordinate;
step 2: the position of the shaft arm is kept unchanged, and after the end head rotates anticlockwise or clockwise for a certain angle, the vision system software records the coordinate of the initial identifier captured by the camera as a second coordinate;
and step 3: the position of the shaft arm is kept unchanged, and after the end head continues to rotate anticlockwise or clockwise for a certain angle, the coordinate of the initial identifier captured by the camera is recorded by the vision system software to serve as a third coordinate;
and 4, step 4: calculating a first circle center of a circle where the first coordinate, the second coordinate and the third coordinate are located by using the vision system software, wherein the first circle center is used as a center coordinate of the rotating shaft;
and if the first coordinate is coincident with the second coordinate, the first coordinate or the second coordinate is taken as the center coordinate of the rotating shaft, and the step 3 and the step 4 are omitted.
2. The coordinate calibration method of a robot arm according to claim 1, wherein: further comprising the steps of:
and 5: the shaft arm and the rotating shaft keep the same position as that in the step 3, the first circle center is taken as a reference, the point, corresponding to the end, of the first circle center is taken by the camera as a second identifier, and the coordinate, captured by the camera, of the second identifier is recorded by the vision system software to serve as a first A coordinate;
step 6: the position of the shaft arm is kept unchanged, and after the end head rotates anticlockwise or clockwise for a certain angle, the vision system software records the coordinate of the second identifier captured by the camera as a second A coordinate;
and 7: the position of the shaft arm is kept unchanged, and after the end head continues to rotate anticlockwise or clockwise for a certain angle, the coordinate of the second identifier captured by the camera is recorded by the vision system software to serve as a third coordinate A;
and 8: calculating a second circle center of a circle where the first A coordinate, the second A coordinate and the third A coordinate are located by using the vision system software, wherein the second circle center is used as a center coordinate of the rotating shaft;
and if the first A coordinate is superposed with the second A coordinate, the first A coordinate or the second A coordinate is the central coordinate of the rotating shaft.
3. The coordinate calibration method of a robot arm according to claim 1 or 2, wherein: the mechanical arm comprises a left-hand operation mode and a right-hand operation mode, the steps 1 to 5 or the steps 1 to 8 are the left-hand operation mode, and the coordinate calibration method of the mechanical arm further comprises the following steps:
and step 9: after the central coordinate of the left-hand operation mode is obtained, the camera takes a point of the central coordinate of the left-hand operation mode corresponding to the end as a final identifier, the mechanical arm is switched from the left-hand operation mode to the right-hand operation mode, the shooting multiple of the camera is amplified, the shaft arm is adjusted, the final identifier is overlapped with the central coordinate, and the coordinate calibration of the right-hand operation mode of the mechanical arm is completed.
4. A coordinate calibration method of a robot arm according to claim 3, wherein: and 9, amplifying the shooting times of the camera by more than ten times.
5. The coordinate calibration method of a robot arm according to claim 1, wherein: in step 4, calculating a first center of a circle where the first coordinate, the second coordinate, and the third coordinate are located by using the vision system software, where the coordinates of the first coordinate, the second coordinate, and the third coordinate are (x1, y1), (x2, y2), (x3, y3), respectively, and the coordinate of the first center of the circle is (x, y), and the calculation method of the first center of the circle is as follows:
<mrow> <mi>x</mi> <mo>=</mo> <mfrac> <mrow> <mo>(</mo> <mi>b</mi> <mo>&CenterDot;</mo> <mi>f</mi> <mo>-</mo> <mi>e</mi> <mo>&CenterDot;</mo> <mi>c</mi> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <mi>b</mi> <mo>&CenterDot;</mo> <mi>d</mi> <mo>-</mo> <mi>e</mi> <mo>&CenterDot;</mo> <mi>a</mi> <mo>)</mo> </mrow> </mfrac> <mo>,</mo> </mrow>
<mrow> <mi>y</mi> <mo>=</mo> <mfrac> <mrow> <mo>(</mo> <mi>d</mi> <mo>&CenterDot;</mo> <mi>c</mi> <mo>-</mo> <mi>a</mi> <mo>&CenterDot;</mo> <mi>f</mi> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <mi>b</mi> <mo>&CenterDot;</mo> <mi>d</mi> <mo>-</mo> <mi>e</mi> <mo>&CenterDot;</mo> <mi>a</mi> <mo>)</mo> </mrow> </mfrac> </mrow>
wherein,
a＝2·(x2-x1)，
b＝2·(y2-y1)，
c＝x22+y22-x12-y12，
d＝2·(x3-x2)，
e＝2·(y3-y2)，
f＝x32+y32-x22-y22。
6. the coordinate calibration method of a robot arm according to claim 1, wherein: the camera is an industrial camera.
7. The coordinate calibration method of a robot arm according to claim 1, wherein: the pixels of the camera are more than or equal to 800 ten thousand.
8. The coordinate calibration method of a robot arm according to claim 1, wherein: the camera is displaced from the position of the initial mark.
9. The coordinate calibration method of a robot arm according to claim 1, wherein: the shaft arm comprises a first joint shaft, a first joint arm, a second joint shaft and a second joint arm which are sequentially connected, the rotating shaft is connected with the second joint arm, and the end head is installed at the tail end of the rotating shaft.
10. The coordinate calibration method of a robot arm according to claim 9, wherein: the second articulation axis is perpendicular to the first articulation arm and the rotation axis is perpendicular to the second articulation arm.
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| CN108015770A (en) * | 2017-12-07 | 2018-05-11 | 王群 | Position of manipulator scaling method and system |
| CN109732643A (en) * | 2018-12-11 | 2019-05-10 | 中国铁建重工集团有限公司 | A kind of caliberating device and method for mechanical arm |
| CN110103217A (en) * | 2019-05-09 | 2019-08-09 | 电子科技大学 | Industrial robot hand and eye calibrating method |
| CN110340881A (en) * | 2018-04-03 | 2019-10-18 | 泰科电子(上海)有限公司 | Calibration method and system for robot tool |
| CN110500986A (en) * | 2019-09-25 | 2019-11-26 | 蓝思智能机器人(长沙)有限公司 | Determine the method, system and unthreaded hole operating system of turntable rotation center line position |
| CN111091480A (en) * | 2020-01-06 | 2020-05-01 | 中交四航局江门航通船业有限公司 | Positioning method of pouring equipment |
| CN111250406A (en) * | 2020-03-16 | 2020-06-09 | 科为升视觉技术（苏州）有限公司 | PCB detection production line automatic placement method and system based on visual positioning |
| CN111283676A (en) * | 2018-12-07 | 2020-06-16 | 中达电子零组件(吴江)有限公司 | Tool coordinate system calibration method and calibration device of three-axis mechanical arm |
| CN111311692A (en) * | 2020-03-05 | 2020-06-19 | 广州市斯睿特智能科技有限公司 | Visual calibration method for simple robot |
| WO2021159489A1 (en) * | 2020-02-14 | 2021-08-19 | 西门子（中国）有限公司 | Coordinate system calibrating method, demonstrating board, and projecting member |
| CN113296395A (en) * | 2021-05-14 | 2021-08-24 | 珞石（山东）智能科技有限公司 | Robot hand-eye calibration method in specific plane |
| CN113715062A (en) * | 2021-09-14 | 2021-11-30 | 西安交通大学 | Calibration method for parameters of connecting rod of mechanical arm |
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| CN108015770A (en) * | 2017-12-07 | 2018-05-11 | 王群 | Position of manipulator scaling method and system |
| CN110340881A (en) * | 2018-04-03 | 2019-10-18 | 泰科电子(上海)有限公司 | Calibration method and system for robot tool |
| CN111283676A (en) * | 2018-12-07 | 2020-06-16 | 中达电子零组件(吴江)有限公司 | Tool coordinate system calibration method and calibration device of three-axis mechanical arm |
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| CN109732643B (en) * | 2018-12-11 | 2021-04-06 | 中国铁建重工集团股份有限公司 | Calibration device and method for mechanical arm |
| CN110103217A (en) * | 2019-05-09 | 2019-08-09 | 电子科技大学 | Industrial robot hand and eye calibrating method |
| CN113795358A (en) * | 2019-06-17 | 2021-12-14 | 西门子（中国）有限公司 | Coordinate system calibration method and device and computer readable medium |
| CN110500986B (en) * | 2019-09-25 | 2021-08-24 | 蓝思智能机器人(长沙)有限公司 | Method and system for determining rotary center line position of rotary table and unthreaded hole operation system |
| CN110500986A (en) * | 2019-09-25 | 2019-11-26 | 蓝思智能机器人(长沙)有限公司 | Determine the method, system and unthreaded hole operating system of turntable rotation center line position |
| CN111091480A (en) * | 2020-01-06 | 2020-05-01 | 中交四航局江门航通船业有限公司 | Positioning method of pouring equipment |
| CN111091480B (en) * | 2020-01-06 | 2023-08-04 | 中交四航局江门航通船业有限公司 | Positioning method of pouring equipment |
| WO2021159489A1 (en) * | 2020-02-14 | 2021-08-19 | 西门子（中国）有限公司 | Coordinate system calibrating method, demonstrating board, and projecting member |
| CN111311692A (en) * | 2020-03-05 | 2020-06-19 | 广州市斯睿特智能科技有限公司 | Visual calibration method for simple robot |
| CN111311692B (en) * | 2020-03-05 | 2023-08-25 | 广州市斯睿特智能科技有限公司 | Visual calibration method of simple robot |
| CN111250406A (en) * | 2020-03-16 | 2020-06-09 | 科为升视觉技术（苏州）有限公司 | PCB detection production line automatic placement method and system based on visual positioning |
| CN111250406B (en) * | 2020-03-16 | 2023-11-14 | 科为升视觉技术（苏州）有限公司 | Automatic placement method and system for PCB detection assembly line based on visual positioning |
| CN113296395A (en) * | 2021-05-14 | 2021-08-24 | 珞石（山东）智能科技有限公司 | Robot hand-eye calibration method in specific plane |
| CN113715062A (en) * | 2021-09-14 | 2021-11-30 | 西安交通大学 | Calibration method for parameters of connecting rod of mechanical arm |
| CN113715062B (en) * | 2021-09-14 | 2023-07-07 | 西安交通大学 | A Calibration Method of Mechanical Arm Connecting Rod Parameters |
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