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Calibration method for multi-robot system base coordinate system possessing cooperation relation

A base coordinate system, multi-robot technology

Inactive Publication Date: 2011-10-26
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The current base coordinate system calibration methods of multi-robot collaborative systems generally require additional sensors or measuring devices, and the steps and accuracy of the calibration methods are also very different.

Method used

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  • Calibration method for multi-robot system base coordinate system possessing cooperation relation
  • Calibration method for multi-robot system base coordinate system possessing cooperation relation
  • Calibration method for multi-robot system base coordinate system possessing cooperation relation

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Embodiment Construction

[0057] Taking the dual-robot collaborative system as an example, the hardware basis for realizing the present invention is as follows: Figure 5 shown. Figure 5 1 is a robot , 2 is a robot , 3 is the calibration finger, 4 is the robot controller, 5 is the robot The controller, 6 is the coordination controller, and 7 is the collaborative system teaching box. Among them, the controllers of each robot have installed joint position sensors and can complete the robot's forward kinematic transformation, and most industrial robots meet this requirement. The coordination controller 6 completes the planning and control of the collaborative motion among multiple robots, including tasks such as the calibration of the base coordinate system between the collaborative robots. Coordinating controller 6 is a functional component that can be physically realized by extending the system software on the existing robot controller. For the multi-robot collaborative system, the collaborat...

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Abstract

The invention introduces a calibration method for a multi-robot system base coordinate system possessing a cooperation relation. The basic thinking of the method is acquiring position information required by a calibrating equation through constructing 4 groups of handshaking motions of specific forms between two cooperative robots and relation position relations among the base coordinate systems of cooperative robots are calculated with the aid of the calibrate equation in a specific form. According to the method provided in the invention, other than a calibrating pointer introduced in the invention, it is possible to rapidly and accurately calibrate the relative positions of the base coordinate systems of cooperative robots without adding any sensor or measuring equipment. The invention provides a technology base for realizing a more advanced robot controller having a multi-robot cooperation function.

Description

technical field [0001] The invention proposes a new method for calibrating a base coordinate system of a collaborative robot for a multi-robot collaborative system. With the help of the internal joint position sensors and calibration fingers of the robot, this method can calibrate the relative poses between the robot base coordinate systems with cooperative relationship without adding any sensing or measuring equipment. The invention belongs to the technical field of industrial robots and flexible manufacturing systems. Background technique [0002] There are many complex assembly tasks or the handling of large workpieces in modern production. The emergence of multi-robot collaborative systems provides a convenient and effective way to solve the above problems. Multi-robot collaborative systems have become a research hotspot in the field of robotics, especially in the design and implementation of flexible manufacturing systems, playing an increasingly important role. In a ...

Claims

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Application Information

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IPC IPC(8): G01B5/004
Inventor 甘亚辉戴先中
Owner SOUTHEAST UNIV
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