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In some industries, such as auto fast repair industry, work pieces are fixture-free, which will lead to the pose error and bring down the quality of the product. In this paper, a pose calibration and trajectory adjustment of robot (PCTAR) based on monocular vision method is put forward. This PCTAR method uses a camera to take pictures of the work piece in the ideal pose and the actual pose. Based on the essential matrix between these two images and some additional information, the pose error of the work piece can be calculated. Then, according to the transformation relation between coordinate systems, the trajectory of robot can be calibrated. This PCTAR method uses only one camera, which means the cost is low, and the calibration process is simple and easy to operate. The results of simulations and experiments have shown that this PCTAR method achieves satisfactory performance.

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Pose Calibration and Trajectory Adjustment of Robot Based on Monocular Vision

  • 会议论文

  • 发表日期：

    2025年

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  • Yang Zhang,
  • Xingwei Zhao,
  • Bo Tao

摘要

In some industries, such as auto fast repair industry, work pieces are fixture-free, which will lead to the pose error and bring down the quality of the product. In this paper, a pose calibration and trajectory adjustment of robot (PCTAR) based on monocular vision method is put forward. This PCTAR method uses a camera to take pictures of the work piece in the ideal pose and the actual pose. Based on the essential matrix between these two images and some additional information, the pose error of the work piece can be calculated. Then, according to the transformation relation between coordinate systems, the trajectory of robot can be calibrated. This PCTAR method uses only one camera, which means the cost is low, and the calibration process is simple and easy to operate. The results of simulations and experiments have shown that this PCTAR method achieves satisfactory performance.