关键词: 相机空间操作, 工具标定, 多点标定, 工具中心点, 点约束

Abstract: The tool calibration means calculating the transformation matrix of the tool coordinate system relative to the end of the robot coordinate system. Traditional solution realizes point constraint by manual teaching. A calibration method based on visual camera space positioning was proposed. It used the camera to build the relation between the 3D space of the robot and the 2D space of camera to achieve the point constraints of the center point of the rings marks which were used as feature points and stuck on the edge factor. Visual positioning did not need camera calibration and other tedious process. The Tool Center Point (TCP) was figured out based on the forward kinematics derivation process of the robot and camera space point constraint. The calibration error of repeated experiments was less than 0.05 mm, and the absolute positioning error was less than 0.1 mm. The experimental results verify that the tool calibration based on camera space positioning has high repeatability and reliability.

Key words: Camera Space Manipulator (CSM), tool calibration, multi-point calibration, Tool Center Point (TCP), point constraint