Robot hand-eye calibration method and apparatus, computing device, medium and product
US12042942B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 19, 2019 |
| Grant date | Jul 23, 2024 |
| Priority date | — |
| Expiry date | Jul 19, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
When a force sensor on a robot arm detects that the force of contact between an end of a calibration device and a calibration plate reaches a threshold, the robot arm stops, and the end of the calibration device performs marking at the contact position between the end of the calibration device and the calibration plate. The robot arm moves upward and stops at a position where the end of the robot arm is at a predetermined height. At this position, a camera at the end of the robot arm photographs marks on the calibration plate, records the coordinates of the marks in the camera coordinate system, and records the coordinates of the end of the calibration device in the robot coordinate system. A calibration transformation matrix is calculated according to the recorded coordinates of at least three marks.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.