一种基于双目立体视觉的焊接机器人TCP标定方法  

A TCP Calibration Method for Welding Robots Based on Binocular Stereo Vision

作　　者：刘海[1,2] 赵东宏 LIU Hai;ZHAO Donghong(School of Intelligent Manufacturing,Yangzhou Polytechnic Institute,Yangzhou 225000,Jiangsu;School of Mechanical Engineering,University of Jiangsu,Zhenjiang 212000,Jiangsu)

机构地区：[1]扬州工业职业技术学院智能制造学院,江苏扬州225000 [2]江苏大学机械工程学院,江苏镇江212000

出　　处：《济源职业技术学院学报》2024年第4期56-61,共6页Journal of Jiyuan Vocational and Technical College

基　　金：扬州市科技项目(YZ2020177)。

摘　　要：焊接机器人末端焊枪的工具中心点(tool central point,TCP)参数是确保焊接机器人系统能够顺利运行的关键。在工业环境中,研究一种高效而准确的TCP校准方法是至关重要的。本文基于双目立体视觉测量技术结合标定板定位以及镜面成像原理,提出了一种适用于工业制造现场的快速TCP参数标定法。该方法具备非接触式测量、快速校准和高精度等优势,避免了传统接触式TCP校准过程中接触判断造成的误差。实验结果表明,本文所提方法的校准精度显著高于传统接触式标定,满足了工业现场对高精度和快速TCP标定的需求。The TCP parameters of the welding torch at the end of the welding robot are crucial for ensuring the smooth operation of the robotic welding system.In industrial environments,designing an efficient and accurate TCP calibration method is essential.This paper proposes a fast TCP calibration method suitable for industrial manufacturing sites,based on binocular stereo vision measurement technology combined with calibration board positioning and the principle of specular imaging.This method offers advantages such as non-contact measurement,rapid calibration,and high precision,avoiding errors caused by contact judgment in traditional contact-based TCP calibration.The experimental results show that the calibration accuracy of the proposed method is significantly higher than that of traditional contact-based calibration,meeting the industrial requirements for high-precision and fast TCP calibration.

关 键 词：焊接机器人 手眼标定 TCP标定 双目立体视觉 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]