Researches On Hand-eye Calibration Accuracy Analysis Of Industrial Robot

Since the reform and opening up,China's industrial development has been constantly improved,especially in the direction of power inspection,robots have been widely used[1].In order to ensure the normal power supply and use of the power system,the substation rarely stops operation.In order to reduce the outage and find the hidden trouble of various equipment in time,patrol inspection is an indispensable link.Careful observation of the surface of the equipment for cracks,discharge traces and meter indications can find the defects and hidden trouble of the equipment,so as to avoid its further development And cause accidents.However,in the actual inspection,due to the height,angle,weather and light problems of the equipment,the equipment can not be observed in place,the meter instructions can not be read accurately,and the inspection quality is greatly reduced.Therefore,if we can use some automatic ways to carry out high reliability inspection,such as robot inspection,the maintenance of power system substation can be greatly improved.Firstly,the camera calibration model is introduced to complete the calibration of the camera model.Camera calibration is an important pre link of hand eye calibration.The accurate hand eye calibration in the follow-up work is greatly affected by the accurate camera calibration in the early stage.This paper introduces two methods to calibrate the camera of robot,which are the most classical two-step method and chessboard method.However,using plane template to calibrate the camera does not depend on the highly required calibrator of the method.Therefore,chessboard method of Zhang Zhengyou is an important and convenient calibration method.The main principle is to calibrate the camera through a plane template placed in different positions This method The advantage of calibration is that it is relatively simple to use the aid of foreign objects.Then,on the basis of camera calibration,the specific method of hand-eye calibration is introduced.Firstly,the Eye-in-Hand model is selected as the hand-eye model according to the practical application of industrial robots.On this basis,the traditional two-step method,matrix direct product method,screw method and linear calibration method are introduced.The essence of hand-eye calibration is to solve the problem and find the transformation relationship between the coordinate systems of the robot by solving the equation,so as to realize precise and complex industrial operation guided by the vision of the camera at the end of the manipulator.Next,by summarizing the classical algorithms mentioned above,an efficient automatic hand-eye calibration method for robots is proposed.The method proposed in this paper not only greatly reduces the manpower requirement in the calibration process,but also needs much less time than the traditional algorithm to complete the rapid calibration,which is very suitable for practical industrial production applications.Finally,the paper builds a practical industrial robot vision experiment platform,verifies the algorithm discussed in this paper,and draws the conclusion that this method is effective,and the algorithm further proves the superiority of the proposed algorithm,and has a certain economic and practical value.