CN108908399B - 一种基于同心圆环模板的机器人手眼标定方法 - Google Patents
一种基于同心圆环模板的机器人手眼标定方法 Download PDFInfo
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- CN108908399B CN108908399B CN201810596402.0A CN201810596402A CN108908399B CN 108908399 B CN108908399 B CN 108908399B CN 201810596402 A CN201810596402 A CN 201810596402A CN 108908399 B CN108908399 B CN 108908399B
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000006243 chemical reaction Methods 0.000 claims abstract description 29
- 238000004364 calculation method Methods 0.000 claims abstract description 23
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
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CN109900207A (zh) * | 2019-03-12 | 2019-06-18 | 精诚工科汽车***有限公司 | 机器人视觉工具的工具中心点标定方法及*** |
CN110497386B (zh) * | 2019-08-26 | 2021-03-30 | 中科新松有限公司 | 一种协作机器人手眼关系自动标定方法 |
CN110834333B (zh) * | 2019-11-14 | 2021-11-02 | 中科新松有限公司 | 一种机器人手眼标定方法及存储介质 |
CN110977980A (zh) * | 2019-12-17 | 2020-04-10 | 上海嘉奥信息科技发展有限公司 | 基于光学定位仪的机械臂实时手眼标定方法及*** |
CN112525074B (zh) * | 2020-11-24 | 2022-04-12 | 杭州素问九州医疗科技有限公司 | 标定方法、***、机器人、计算机装置和导航*** |
CN114800520B (zh) * | 2022-05-23 | 2024-01-23 | 北京迁移科技有限公司 | 高精度的手眼标定方法 |
Citations (5)
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CN102922521A (zh) * | 2012-08-07 | 2013-02-13 | 中国科学技术大学 | 一种基于立体视觉伺服的机械臂***及其实时校准方法 |
CN103706568A (zh) * | 2013-11-26 | 2014-04-09 | 中国船舶重工集团公司第七一六研究所 | 基于机器视觉的机器人分拣***及方法 |
CN107256568A (zh) * | 2017-05-08 | 2017-10-17 | 西安交通大学 | 一种高精度机械臂手眼相机标定方法及标定*** |
CN107498558A (zh) * | 2017-09-19 | 2017-12-22 | 北京阿丘科技有限公司 | 全自动手眼标定方法及装置 |
CN108122257A (zh) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | 一种机器人手眼标定方法及装置 |
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KR100386090B1 (ko) * | 2001-04-02 | 2003-06-02 | 한국과학기술원 | 동심원 패턴을 이용한 카메라 내부변수 보정시스템 및카메라 보정방법 |
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Patent Citations (5)
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CN102922521A (zh) * | 2012-08-07 | 2013-02-13 | 中国科学技术大学 | 一种基于立体视觉伺服的机械臂***及其实时校准方法 |
CN103706568A (zh) * | 2013-11-26 | 2014-04-09 | 中国船舶重工集团公司第七一六研究所 | 基于机器视觉的机器人分拣***及方法 |
CN108122257A (zh) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | 一种机器人手眼标定方法及装置 |
CN107256568A (zh) * | 2017-05-08 | 2017-10-17 | 西安交通大学 | 一种高精度机械臂手眼相机标定方法及标定*** |
CN107498558A (zh) * | 2017-09-19 | 2017-12-22 | 北京阿丘科技有限公司 | 全自动手眼标定方法及装置 |
Non-Patent Citations (1)
Title |
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基于同心圆环模板的摄像机标定方法;徐仙伟等;《科学技术与工程》;20131130;9375-9380 * |
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Denomination of invention: A robot hand eye calibration method based on concentric ring template Effective date of registration: 20211201 Granted publication date: 20200721 Pledgee: Hangzhou High-tech Financing Guarantee Co.,Ltd. Pledgor: HANGZHOU LINGXI ROBOT INTELLIGENT TECHNOLOGY Co.,Ltd. Registration number: Y2021980013785 |
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