Robot Tool Center Point Calibration using Computer Vision

摘要

Today, tool center point calibration is mostly done by a manual procedure. The method is very time consuming and the result may vary due to how skilled the operators are. This thesis proposes a new automated iterative method for tool center point calibration of industrial robots, by making use of computer vision and image processing techniques. The new method has several advantages over the manual calibration method. Experimental verifications have shown that the proposed method is much faster, still delivering a comparable or even better accuracy. The setup of the proposed method is very easy, only one USB camera connected to a laptop computer is needed and no contact with the robot tool is necessary during the calibration procedure. The method can be split into three different parts. Initially, the transformation between the robot wrist and the tool is determined by solving a closed loop of homogeneous transformations. Second an image segmentation procedure is described for finding point correspondences on a rotation symmetric robot tool. The image segmentation part is necessary for performing a measurement with six degrees of freedom of the camera to tool transformation. The last part of the proposed method is an iterative procedure which automates an ordinary four point tool center point calibration algorithm. The iterative procedure ensures that the accuracy of the tool center point calibration only depends on the accuracy of the camera when registering a movement between two positions.