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发明公开
CN102485441A 机械手臂的定位方法及校正方法 有权

机械手臂的定位方法及校正方法
摘要：
一种机械手臂的定位方法及校正方法，其先提供一机械手臂、一感光装置、一校正板及一控制单元，并且感光装置配置于机械手臂的前端。之后，通过感光装置撷取一校正板图像，并且依据光束交会法计算出感光装置相对于校正板的相对位置。此外，本发明更提出一种机械手臂的校正方法，其通过驱使感光装置绕校正板的一基准轴进行旋转，以计算校正板与机械手臂之间的平移矩阵，并且驱使感光装置沿校正板的三相互正交的基准轴平移，以计算校正板与机械手臂之间的旋转矩阵。
摘要（英）：

The present invention relates to a ROBOT POSITIONING METHOD AND a CALIBRATION METHOD, wherein a robot, a optical sensing device, a calibration plate and a control unit, the optical sensing device is configured at a front end of a robot, then, the optical sensing device captures a calibration plate image, and a relative position of the optical sensing device with respective to a calibration plate is calculated according to a Bundle Adjustment. The robot calibration method includes the following steps that an optical sensing device is driven to rotate around a reference axis of a calibration plate, so as to calculate a translation matrix between the calibration plate and the robot, and the optical sensing device is driven to translate along three orthogonal reference axes of the calibration plate, so as to calculate a rotation matrix between the calibration plate and the robot.

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