Industrial robot positioning precision calibration method

An industrial robot and positioning accuracy technology, applied in the field of robot calibration, to achieve the effects of high measurement accuracy, improved absolute positioning accuracy, and strong versatility

Inactive Publication Date: 2012-09-26
UNIV OF SHANGHAI FOR SCI & TECH
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Problems solved by technology

At present, there is no accurate calibration method for the motion accuracy of industrial robots.

Method used

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  • Industrial robot positioning precision calibration method
  • Industrial robot positioning precision calibration method

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Embodiment Construction

[0027] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

[0028] See attached Figure 1~2 , the industrial robot positioning accuracy calibration method of the present invention comprises the following steps:

[0029] (1) Establish the kinematics model of the robot

[0030] Robot kinematics analysis is usually represented by the Denavit-Hartenberg (D-H) connection transformation homogeneous coordinate model.

[0031] exist figure 1 In , first specify a local reference coordinate system for each joint, and then transform the two adjacent joints. transforming, The angle represents the rotation angle around the z-axis (also called the joint rotation angle), d represents the distance between two adjacent public vertical l...

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Abstract

The invention relates to an industrial robot positioning precision calibration method used for improving robot absolute positioning precision. The method comprises the steps that: a robot kinetics model is established; a rotary joint equation is established by using a circumferential method; joint torsion angle parameter values are calculated; the actual pose of a robot end is measured accurately by utilizing a laser tracker; D-H algorithm inversion kinetics equation is improved to obtain geometrical structural parameters; calibration of joint distance parameter values and calibration of joint offset are realized, and thereby first calibration is completed. Error correction is carried out on D-H parameters based on first calibration results, and if positioning precision can not meet requirements, second calibration can be carried out by substituting parameter correction values, instead of theoretical parameter values, into the kinetics equation. Absolute positioning precision of the robot is improved with the calibration method, which is proved in experiments. According to the invention, the calibration method is advantaged in that the method is simple and practical and introduces small external errors.

Description

technical field [0001] The invention relates to a calibration method for a robot, in particular to a calibration method for improving the positioning accuracy of an industrial robot. Background technique [0002] The kinematic accuracy of an industrial robot plays a vital role in its application reliability in production. The geometric parameter error of each joint of the robot is the most important cause of the positioning error of the robot, which is mainly caused by the deviation between the actual geometric parameters of the joints and the theoretical parameter values ​​generated during the manufacturing and installation process. Calibration can greatly reduce the pose error of the robot, thereby improving the absolute accuracy of the robot. [0003] The result of the calibration is a set of identified robot parameters. These parameters can be used as product quality inspection indicators provided to robot manufacturers, and can also be used to improve the absolute accu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 蔡锦达秦绪祥刘耀孙福佳杨丽红
Owner UNIV OF SHANGHAI FOR SCI & TECH
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