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

A base coordinate system and multi-robot technology, applied in the field of industrial robots and flexible manufacturing systems, can solve the problems of calibration method steps and accuracy differences

Inactive Publication Date: 2013-01-16
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 method for calibrating the base coordinate system of a collaborative robot applied to a multi-robot system. The basic idea of ​​this method is to obtain the pose information required for the calibration equation by constructing four sets of specific forms of handshake actions between two collaborative robots, and calculate the relative pose relationship between the base coordinate systems of the collaborative robots with the help of specific forms of calibration equations . Adopting the method introduced in the present invention, except the calibration finger introduced in the invention, can quickly and accurately calibrate the relative pose between the robot base coordinate systems with cooperative relationship without adding any sensors and measuring equipment, in order to realize the More advanced robot controllers for multi-robot collaboration capabilities provide the technical basis.

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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Patent Type & Authority Patents(China)
IPC IPC(8): G01B5/004
Inventor 甘亚辉戴先中
Owner SOUTHEAST UNIV
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