Advanced Search
ZHENG Jian, ZHANG Ke, LUO Zhifeng, WANG Zhigang. Hand-eye calibration of welding robot based on the constraint of spatial line[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2018, 39(8): 108-113. DOI: 10.12073/j.hjxb.2018390211
Citation: ZHENG Jian, ZHANG Ke, LUO Zhifeng, WANG Zhigang. Hand-eye calibration of welding robot based on the constraint of spatial line[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2018, 39(8): 108-113. DOI: 10.12073/j.hjxb.2018390211
shu

Hand-eye calibration of welding robot based on the constraint of spatial line

  • Shanghai Key Laboratory of Materials Laser Processing and Modification, Shanghai Jiao Tong University, Shanghai 200240, China

More Information
  • Received Date: April 12, 2017
    Graphical Abstract
    • Abstract
  • The calibration of vision sensor and welding robot is essential in the application of intelligent robot. In this article, to solve the hand-eye calibration of a welding robot holding a line structured light sensor, a method based on a spatial straight line is proposed. Firstly, the robot is required to manipulate randomly its end-effector so that the light plane projected by the line structured light sensor could intersect the calibration template at different configurations. Then the characteristic point extraction algorithm is used to extract the intersection point of the line structure light and the straight line. And a nonlinear optimization model is established based on the linear constraint. Finally, the penalty function method and the advanced Powell algorithm are used to solve the position and direction parameters simultaneously. Based on the above method, a series of experiments is carried out and the experimental results show that the method is versatile and suitable for on-site calibration, which effectively improves the calibration accuracy. The calibration accuracy is within 0.2 mm.
    • FullText(HTML)
    • References (8)
  • Besl P J. Active, optical range imaging sensors[J]. Machine Vision and Applications, 1988, 1(2):127-152.
    Che C, Ni J. A ball-target-based extrinsic calibration technique for high-accuracy 3-D metrology using off-the-shelf laser-stripe sensors[J]. Precision Engineering, 2000, 24(3):210-219.
    Santolaria J, Pastor J, Brosed F, et al. A one-step intrinsic and extrinsic calibration method for laser line scanner operation in coordinate measuring machines[J]. Measurement Science and Technology, 2009, 20(4):045107.
    王胜华, 都东, 张文增, 等. 机器人定点变位姿手-眼标定方法[J]. 清华大学学报:自然科学版, 2007, 47(2):165-168 Wang Shenghua, Du Dong, Zhang Wenzeng, et al. Hand-eye calibration for the robot by measuring a fixed point from different poses[J]. Journal-Tsinghua Universlty Science and Technology, 2007, 47(2):165-168
    吴聊, 杨向东, 蓝善清, 等. 基于平面模板的机器人TCF标定[J]. 机器人, 2012, 34(1):98-103 Wu Liao, Yang Xiangdong, Lan Shenqing, et al. Robotic TCF calibration based on a planar template[J]. Robot, 2012, 34(1):98-103
    Shiu Y C, Ahmad S. Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations of the form AX=XB[J]. IEEE Transactions on Robotics and Automation, 1989, 5(1):16-29.
    Tsai R Y, Lenz R K. A new technique for fully autonomous and efficient 3D robotics hand/eye calibration[J]. IEEE Transactions on Robotics and Automation, 1989, 5(3):345-358.
    Yin S, Guo Y, Ren Y, et al. A novel TCF calibration method for robotic visual measurement system[J]. Optik-International Journal for Light and Electron Optics, 2014, 125(23):6920-6925.
    • Related Articles

Catalog

    Get Citation
    XML
    Article views (941) PDF downloads (99) Cited by()
    Turn off MathJax
    Article Contents
    Abstract
    References

    Website Copyright © Editorial Office of Transactions of the China Welding Institution, Welding Journals Publishing HouseTel：0451-86323218Address：No. 2077, Chuangxin Road, Songbei District, Harbin

    Supported by: Beijing Renhe Information Technology Co. Ltd    Baidu Analytics

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return