Fast Calibration For Production Lines Of High-speed Pick-and-place Parallel Robot

This article deals with the rapid calibration of the production lines of high-speedpick-and-place parallel robot based on vision metrology. It mainly includes thekinematic calibration of parallel robot and position calibration of the production lines,covers vision measurement principle, error modeling, parameter identification, errorcompensation, position analysis of production lines. The following works has beenaccomplished.1. The pixel equivalent calibration model of camera is structured and a approach ofmain point calibration is presented based on center without distortion of imaging.Then the error measuring principle is expounded using monocular vision in planemeasurement. It provides an important basis for the measurement of end-effectorposition error based on vision measurement method.2. On the analysis of the geometric errors affecting robot accuracy, the simplifiederror model and the inverse/forward kinematics model including15parametererrors of the robot is established by using the method vector chain. It offers anintellectual rationale for the construction of the error identification model usingmonocular vision.3. The results of computer simulation and calibration experiments show that theproposed method is simple, effective and strong practicality.4. The positions relation between the robot and production line is analyzed based onmonocular vision. It provides an important safeguard for robot catch put materialat high speed.