Industrial robot kinematics parameter rapid low-cost calibration device and method thereof

A robot kinematics, industrial robot technology, applied in the direction of digital control, electrical program control, etc., can solve the problems of low positioning accuracy, complicated installation and operation, expensive calibration equipment, etc., and achieve the effect of low cost, small size and low cost

Inactive Publication Date: 2012-05-09
WUXI NANLIGONG TECH DEV
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to propose a laser positioning device based on multiple (2 and above) position sensitive devices (PSD) to realize the calibration of 18 kinematic parameters of industrial robots, and can calibrate all bar parameters of industrial robots, mainly including Rod length, rod torsion angle, joint length and joint rotation angle to solve bottleneck problems such as expensive calibration equipment, complicated installation operation or low positioning accuracy

Method used

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  • Industrial robot kinematics parameter rapid low-cost calibration device and method thereof
  • Industrial robot kinematics parameter rapid low-cost calibration device and method thereof
  • Industrial robot kinematics parameter rapid low-cost calibration device and method thereof

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Embodiment

[0032] Using the device of the present invention to carry out calibration virtual reality simulation on the industrial robot IRB1600, two PSDs are used in the test, and the specific implementation steps are as follows:

[0033] The first step is to place the laser positioning device (8) based on multiple PSDs in the reachable workspace of the industrial robot, combining figure 1 and figure 2 , Virtual reality establishes industrial robot kinematics mathematical model, robot end connection device and laser beam mathematical model, PSD mathematical model, random error model, etc., and randomly generates robot rod parameter errors;

[0034] In the second step, based on the calibration device, the end of the industrial robot is equipped with a laser to automatically project the laser beam to the center point of one of the PSDs in different attitudes, increasing the random interference error based on the PSD feedback positioning and the robot joint motor code disc, and reading dif...

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Abstract

The invention discloses an industrial robot kinematics parameter rapid low-cost calibration device and a method thereof. The calibration device comprises two or more PSDs (Position Sensitive Devices), a signal treatment circuit, a signal collection card, a chargeable battery, a wireless digital communication transmission and reception card and an industrial control computer. Two PSDs with given position relationship are used as feedback devices, kinematics parameters of a constrained optimization objective function which can calibrate an industrial robot are established by respectively projecting leaser beams of different postures at the central points of the surfaces of two PSDs for multiple times, wherein the kinematics parameters comprise rod length, rod torsion angle, joint length and joint corner zero position. The main part of the device is a laser locating device based on multiple PSDs. The device has the advantages of small volume, low cost, no wire and cable and easiness for installation and operation. The calibration device can realize automatic location of the robot without manual intervention on the basis of the positions of light spots of the leaser beams fed back by the PSDs and has the characteristics of low cost, portability, high precision, automation, high efficiency and the like.

Description

technical field [0001] The invention belongs to the rapid calibration technology of kinematics parameters of industrial robots, in particular to a fast and low-cost calibration device and method for kinematics parameters of industrial robots. 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 cali...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/414
Inventor 刘永
Owner WUXI NANLIGONG TECH DEV
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