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| Kinematic Calibration of Industrial Robots Based on Binocular Vision Distance Error Measurement |
| JIANG Xiaohui,LI Xuxiang,SUN Yifei,ZHU Haojie |
| School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China |
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Abstract Aiming at the high cost and low end precision of robot calibration in the production process, a kinematic calibration method for industrial robots based on binocular vision distance error measurement is proposed. Firstly, we performed binocular camera calibration and distortion correction, then calculated the distance of matching feature points based on a binocular vision measurement model, and proposed a binocular disparity spatial position matching strategy in 3D spatial coordinates. Secondly, based on the robot kinematic model, the differential operator is introduced to establish the robot differential motion model and the robot kinematic error model, and then we obtained the relationship between the kinematic parameters of each joint of the robot and the end position error of the robot. Finally, by taking the IRB1200 robot as the research object, we compared and analyzed the distance error and position error obtained by using the high-precision laser tracker and binocular vision measurement method, and both errors are within the range of 10-1 mm, which meets the requirements, and after we performed the kinematics calibration on robot by using various optimization algorithms, the distance error has been reduced by an average of 61.5% compared with the pre-optimization level. The kinematic calibration method of industrial robot based on binocular vision distance error measurement can effectively improve the robot end precision and reduce the calibration cost.
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Received: 02 January 2024
Published: 30 September 2024
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2024, Vol. 45 
