Industrial robot zero-position self-calibration method and device

An industrial robot and robot technology, which is applied to measuring devices, optical devices, instruments, etc., can solve the problems of complicated installation and operation, low positioning accuracy, expensive equipment, etc., and achieve the effect of high degree of automation, high precision and low cost.

Inactive Publication Date: 2011-02-09
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0006] The purpose of the present invention is to propose a virtual point-constrained robot self-calibration method and its device based on a position sensitive device (

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  • Industrial robot zero-position self-calibration method and device
  • Industrial robot zero-position self-calibration method and device
  • Industrial robot zero-position self-calibration method and device

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Embodiment

[0035] Using the device of the present invention to carry out the calibration test on the industrial robot IRB1600, the specific implementation steps are as follows:

[0036] a) Arbitrarily place the PSD device in the robot workspace, and establish space virtual point constraints. Note that the spatial location of this constraint point is unknown. The position sensitive device PSD 4 adopts a segmented high-precision photoelectric device with a resolution of 0.1um and an effective surface diameter of 10mm, which can detect the two-dimensional position of the laser beam spot on the PSD surface. The PSD output signal is given the two-dimensional position coordinates of the laser spot on the PSD surface by the signal processing circuit 5, which is used as a feedback signal to precisely control the position of the robot, that is, the center point of the PSD surface is used as the robot positioning target position.

[0037] b) Precise robotic positioning based on laser and PSD. Th...

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Abstract

The invention discloses a novel industrial robot zero-position self-calibration method and a novel industrial robot zero-position self-calibration device. In the method, a PSD device is optionally arranged in a robot-reachable working space first, and then a central point projected on the PSD is automatically positioned by depending on a beam of laser passing through the tail end of the robot so as to realize a calibration task of the robot. Accurate positioning and control of the robot is realized through high-precision PSD feedback; the position of the PSD central point is calculated by a wire-based method; and the zero error of the robot is obtained through an iterative algorithm by establishing a target function based on point constraint. The method does not need the position of the PSD central point or actual physical contact measurement, and has the obvious advantages of low cost, automation, portability, high efficiency, high precision and the like.

Description

technical field [0001] The invention belongs to the calibration technology of industrial robots, in particular to a self-calibration method and a device for the joint zero position of a 6-degree-of-freedom industrial robot. Background technique [0002] With the expansion of the application range of industrial robots and the need for complex tasks, the positioning accuracy of industrial robots is becoming more and more important. At present, industrial robots have high repeatability (0.1mm or higher), but (absolute) positioning accuracy is very low (up to 1cm or worse). The problem of positioning accuracy has seriously restricted the application capabilities and scope of industrial robots. Although there are many factors that lead to the low positioning accuracy of the robot, such as gear error, thermal expansion, and mechanical deformation of the robot rod, the most important factor comes from the parameter error of the robot kinematics model. Robot calibration technology ...

Claims

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Application Information

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IPC IPC(8): G01B11/00
Inventor 刘永席宁
Owner NANJING UNIV OF SCI & TECH
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