文献类型：期刊文献

英文题名：A vision-based wheel-shaped tool calibration method for robot processing system

作者：Liu, Shuang[1];Kong, Dechang[1];Cheng, Huayi[1];Zhu, Lin[1];Shi, Shuang[1];Wang, Yan[1];Yin, Xiaoqia[1];Zhang, Xiancheng[1]

机构：[1]East China Univ Sci & Technol, Sch Mech & Power Engn, 130 Meilong Rd, Shanghai 200237, Peoples R China

年份：2026

外文期刊名：PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART B-JOURNAL OF ENGINEERING MANUFACTURE

收录：;EI(收录号：20260219894714);WOS:【SCI-EXPANDED(收录号:WOS:001657073200001)】；

基金：The authors disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work was supported by the National Key Research and Development Program of China under Grant 2022YFB4602102, the National Natural Science Foundation of China under grant No. 52005333, and the Shanghai Gaofeng Project for University Academic Program Development.

语种：英文

外文关键词：robot vision; hand-eye calibration; TCP calibration; TCF calibration; hand-tool calibration

摘要：Robot processing technology is widely used in machining and surface strengthening areas due to the advantages of intelligence and flexibility. Tool calibration is essential for the robot processing system to control the processing trajectory accurately. For components with complex surfaces, the wheel-shaped tool has significant advantages of reaching delicate regions. However, existing tool calibration methods are not suitable for the wheel-shaped tool and face problems such as inaccuracy and complex operation. In this paper, a vision-based wheel-shaped tool calibration method is proposed for robot processing system. Firstly, a novel hand-eye calibration method is proposed to achieve accurate rotation matrix and transfer vector between the vision scanner and the robot base. Then, the wheel annular surface is scanned and extremum points are extracted to calibrate the TCP (tool-center-position). Special tool planes are scanned and their normal vectors represent the TCF (tool-coordinate-frame). Furthermore, the TCP and TCF are used for the hand-tool transformation relationship calibration. Finally, a robot ultrasonic rolling system using a wheel-shaped tool is established, and tool calibration experiments are carried out to verify the feasibility of the proposed method. Additionally, the proposed method is evaluated in repeatability accuracy and calibration error.