关键词: 机器人焊接, 摄像机标定, 手眼标定, 激光视觉

Abstract:

The camera and hand-eye calibrations are two important elements in the applications of vision robot. Aiming at a robot welding system with laser vision, this paper proposes a method for the simultaneous calibration of camera and hand-eye. The proposed method, which is based on the relationship between the hand-eye matrix and the matrix of the robot hand frame to the robot base frame, can simultaneously solve the camera parameters and the hand-eye matrix by one test. Calculated results show that the proposed method, which is easy to implement with high speed and feasibility, avoids the complicated experiments and solution process arising from the traditional methods, and is of a high calibration precision, thus meeting the requirements of seam tracking by robots.

Key words: robot welding, camera calibration, hand-eye calibration, laser vision