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Method for calibrating industry robot

A technology of industrial robot and calibration method, applied in the field of industrial robot calibration, can solve the problem that the positioning accuracy is not high enough

Active Publication Date: 2009-10-07
KUSN HUAHENG ENG TECH CENT
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AI Technical Summary

Problems solved by technology

The positioning accuracy of the existing industrial robots calibrated with repeated positioning accuracy is often not high enough at points that have not been taught, and cannot meet actual needs

Method used

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  • Method for calibrating industry robot
  • Method for calibrating industry robot

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Experimental program
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Embodiment Construction

[0016] The specific implementation of the calibration method of a kind of industrial robot of the present invention is described below, and it comprises the following steps:

[0017] (a) In the Cartesian coordinate system, establish the kinematics model of the robot, and obtain the pose transformation matrix of the coordinate system of the end effector of the robot relative to the base coordinate system.

[0018] Selecting the kinematic model of the robot is a key process of calibration, because the kinematic model is an important factor that determines the various accuracy of the robot. The most basic and most general kinematics model of a robot is the Denavit-Hartenberg (D-H for short) model. In this model, the relationship between adjacent joints can be expressed by 4 independent D-H parameters, one of which is the joint variable θ i , and the other three are member structural parameter constants d i 、a i 、α i (See the definition of the 4 parameters later).

[0019] De...

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Abstract

The invention relates to a calibration method for an industrial robot. By establishing the pose transformation matrix of the coordinate system of the robot end effector relative to the base coordinate system, the probe center of the laser tracker on the end effector is established through the pose transformation matrix. Relative to the position coordinate vector p of the base coordinate system, the linear relationship between the position error, the structural parameter error and the joint variable error is obtained after fully differentiating the position coordinate vector p, and the experimental data is substituted into the linear relationship to obtain the structural parameter error, joint variable error The error compensation value finally obtains the accurate pose transformation matrix of the coordinate system of the robot end effector relative to the base coordinate system, completes the calibration of the positioning accuracy of the robot, overcomes technical bias, and enables the calibrated industrial robot to meet various requirements. different application occasions and different working position requirements.

Description

technical field [0001] The invention relates to a calibration method for an industrial robot, in particular to a calibration method for improving the positioning accuracy of an industrial robot. Background technique [0002] The repeated positioning accuracy of the robot refers to: when the robot moves to a certain teaching point, the robot link position sensor reads and stores the data of the joint variables of each link, and the position accuracy when the robot returns to the teaching point is the position accuracy of the robot. repeat positioning accuracy. Nowadays, the robot manufacturers only give the repeated positioning accuracy of the robot when the robot leaves the factory, and the accuracy is generally in the range of 0.05 mm to 0.1 mm. [0003] The target pose of industrial robots in motion is generally determined by the Cartesian coordinate system. The problem of robot inverse kinematics research is to move the robot to a point (calculation point) that has never...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00G01B11/03
Inventor 杨文玉程学刚南小海丁思成
Owner KUSN HUAHENG ENG TECH CENT
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