关键词: 焊接机器人, 激光视觉传感器, 手眼系统, 结构光, 主动视觉, 光平面标定

Abstract: To achieve the structured light vision guided welding robot system calibration, and solve the problem of complex, and difficult to make target in the existing calibration methods, a new self-calibration technique based on active vision is proposed. This self-calibration technique calibrates the camera inner parameter, rotating section of hand-eye matrix by controlling the robot 5 pure translational motions. And it calibrates the translation section of hand-eye matrix and the equation of the light plane by controlling the robot 2 motions with revolving with three feature points in the scene without a specific target. The actual test results in the structured light vision guided welding robot system based on Denso robot show that the calibration approach is stable, and can reach the precision of ±0.93 mm. This self-calibration method to the structured light vision guided welding robot system with easy feature selection is simple, and has significance to the actual use in the field of industry.

Key words: welding robot, laser vision sensor, eye-in-hand system, structured light, active vision, light plane calibration