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Automatic Calibration Algorithm of Robot TCP Based on Binocular Vision

Published: 22 October 2021 Publication History

Abstract

The Tool Center Point (TCP) coordinate parameter of the robot end tool is the benchmark of the robot operation. In this paper, a robot TCP automatic calibration algorithm based on binocular vision measurement is proposed. A target which can be recognized by the binocular vision sensor is attached to the robot TCP. The pose transformation between the vision sensor and the robot base is calculated by taking the binocular vision three-dimensional space measurement as the constraint and combining with the multiple translational motions of the robot end tool. After several free rotations of the end tool of the robot, TCP takes the measurement vector of the corresponding binocular vision sensor as the stroke to carry out the hypothetical parallel movement. So that the translated TCP is located at the same point in the space. To calculate the data of the corresponding flange coordinate system after the translation of TCP, and finally infers the position parameters of the TCP of the robot.

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Cited By

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  • (2023)Automatic Calibration of Tool Center Point for Six Degree of Freedom RobotActuators10.3390/act1203010712:3(107)Online publication date: 27-Feb-2023
  • (2022)Research on target measurement based on fusion of binocular and TOF system2022 3rd International Conference on Computer Vision, Image and Deep Learning & International Conference on Computer Engineering and Applications (CVIDL & ICCEA)10.1109/CVIDLICCEA56201.2022.9824353(290-293)Online publication date: 20-May-2022
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cover image ACM Other conferences
CCRIS '21: Proceedings of the 2021 2nd International Conference on Control, Robotics and Intelligent System
August 2021
278 pages
ISBN:9781450390453
DOI:10.1145/3483845
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 22 October 2021

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Author Tags

  1. Robot TCP
  2. Space Coordinate Transformation
  3. Vision Measurement

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  • Research-article
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  • Refereed limited

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  • Engineer Research Center for Intelligent Robotics, Ji Hua Laboratory, Foshan, China

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CCRIS'21

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Cited By

View all
  • (2023)Automatic Calibration of Tool Center Point for Six Degree of Freedom RobotActuators10.3390/act1203010712:3(107)Online publication date: 27-Feb-2023
  • (2022)Research on target measurement based on fusion of binocular and TOF system2022 3rd International Conference on Computer Vision, Image and Deep Learning & International Conference on Computer Engineering and Applications (CVIDL & ICCEA)10.1109/CVIDLICCEA56201.2022.9824353(290-293)Online publication date: 20-May-2022

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