Method and system for realizing robot way point migration by binocular tracking

• Main Authors: CHENG JIANHUA, WANG XIAONAN, ZHENG SHUNYI
• Format: Patent
• Language: Chinese; English
• Published: 18.10.2019
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention relates to a method and a system for realizing robot way point migration by binocular tracking. The method comprises the following steps that a robot performs calibration scanning on a target object according to a plurality of first preset positions, and a plurality of corresponding first calibration way point position coordinates of the tail end of a robot arm in a robot body coordinate system are obtained; a first pose conversion matrix between a tracker coordinate system and a target object reference coordinate system and a second pose conversion matrix between the tracker coordinate system and a scanner coordinate system are obtained; an initial pose transformation matrix between the scanner coordinate system and the target object reference coordinate system is obtained according to the pose relationship of each component and an initial calibration and scanning process of the target object in advance, a target calibration conversion matrix is acquired between a robotarm tail end coordinate s