Design of a Vision Calibration Method of Kinematic Parameters for 6-DoF Manipulator

Abstract:

A novel low-cost monocular vision based robot end pose measurement method was proposed, and the kinematic parameters identification of a 6-DOF manipulator was designed and implemented. By using the hierarchical measurement method and the absolute coding method with calibration plate, the problems such as the small measurement range and the large influence of the camera distortion on the measurement accuracy in the current visual measurement process were solved. The robot calibration process was simplified by using the kinematic parameter identification model based on position error and monocular vision measurement system. Finally, the practicability and effectiveness of the proposed scheme were verified by experiments.

Key words:kinematic calibration;monocular vision;two-step measurement method;positional error