US 12,257,726 B2
Robot and robot hand-eye calibrating method
Jen-Yuan Chang, Hsinchu County (TW); and Chun-Tse Lee, Hsinchu (TW)
Assigned to NATIONAL TSING HUA UNIVERSITY, Hsinchu (TW)
Filed by NATIONAL TSING HUA UNIVERSITY, Hsinchu (TW)
Filed on Oct. 24, 2022, as Appl. No. 18/048,862.
Claims priority of application No. 111124615 (TW), filed on Jun. 30, 2022.
Prior Publication US 2024/0001557 A1, Jan. 4, 2024
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1692 (2013.01) [B25J 9/1653 (2013.01); B25J 9/1664 (2013.01); B25J 9/1697 (2013.01)] 9 Claims
OG exemplary drawing
 
6. A robot hand-eye calibrating method, comprising:
a camera rotating step is performed, wherein a processor rotates a camera such that a target object enters a picture of the camera, wherein the camera corresponds to a camera coordinate;
a robotic manipulator moving step, wherein the processor moves a robotic manipulator such that a calibrating image on the robotic manipulator moves towards a target object, wherein the robotic manipulator corresponds to a robotic manipulator coordinate;
a datasets recording step, wherein the processor records robotic manipulator coordinate datasets and camera coordinate datasets of the calibrating image as the calibrating image moving towards the target object;
a hand-eye calibrating step, wherein the processor uses the robotic manipulator coordinate datasets and the camera coordinate datasets to execute a hand-eye calibrating algorithm to obtain a calibrated mapping between the camera coordinate and the robotic manipulator coordinate; and
a distance determining step, wherein the processor determines whether the calibrating image is close to the target object according to a distance threshold, and if the calibrating image is close to the target object, the hand-eye calibrating step is then executed; if the calibrating image is not close to the target object, the datasets recording step is continued.