Method for calibrating industry robot

A technology of industrial robot and calibration method, which is applied in the field of calibration of industrial robots and can solve the problem of insufficient positioning accuracy

Active Publication Date: 2008-07-30
KUSN HUAHENG ENG TECH CENT
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  • Claims
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Problems solved by technology

The positioning accuracy of the existing industrial robots calibrated with repeated positioning a

Method used

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

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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 an industrial robot calibration method. The method comprises the following steps of : establishing a position and orientation transformational matrix of the coordinate system of a robot end effector relative to a base coordinate system; establishing a position coordinate vector P of the center of the gauge head of a laser tracker arranged on the end effector relative to the base coordinate system through the position and orientation transformational matrix; getting a linear relationship of position error with structural parameter error and joint variable error through a total differential of the position coordinate vector P; getting a compensation value of the structural parameter error and the joint variable error by substituting the position coordinate vector in the linear relationship; finally, getting the accurate position and orientation transformation matrix of the coordinate system of the robot end effector relative to the base coordinate system, thus completing the calibration of the positioning accuracy of the robot and eliminating the technical bias. The calibrated industrial robot can meet the requirements of various application occasions and running positions.

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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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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