一种结合手眼标定与TCP标定的标定方法OA

Traditional methods of calibrating the tool center point(TCP)and conducting hand-eye calibration were performed separately,resulting in significant cumulative errors.This paper proposed a collaborative calibration method combining TCP calibration and hand-eye calibration.The nine-point method and planar TCP calibration method were adopted to obtain the initial hand-eye calibration matrix and initial TCP offset,and the coordinate equations for arbitrary points in space were established in the base coordinate system.With the Lie algebra linear dimensionality reduction method,TCP values,rotation angles,camera height,and error compensation quantities of the hand-eye matrix were acquired,and the precise values for hand-eye calibration and TCP calibration were derived.Simulation and experimental results demonstrated that the average calibration position error of the proposed collaborative calibration algorithm was approximately 34%lower than that of the separate calibration method,thus improving the robot's calibration accuracy.