公开(公告)号：US20190308326A1

公开(公告)日：2019-10-10

申请号：US16448925

申请日：2019-06-21

Applicant: Cognex Corporation

Inventor： Lifeng Liu ,  Cyril C. Marrion ,  Tian Gan ,  David Michael ,  Han Xiao

IPC: B25J9/16 ,  G06T7/73 ,  G06T7/80 ,  G06T7/70

Abstract: Described are machine vision systems and methods for simultaneous kinematic and hand-eye calibration. A machine vision system includes a robot and a 3D sensor in communication with a control system. The control system is configured to move the robot to poses, and for each pose: capture a 3D image of calibration target features and robot joint angles. The control system is configured to obtain initial values for robot calibration parameters, and determine initial values for hand-eye calibration parameters based on the initial values for the robot calibration parameters, the 3D image, and joint angles. The control system is configured to determine final values for the hand-eye calibration parameters and robot calibration parameters by refining the hand-eye calibration parameters and robot calibration parameters to minimize a cost function.