Robot calibration method capable of achieving automatic trajectory correction

Abstract

The invention discloses a robot calibration method capable of achieving an automatic trajectory correction and resolves the problems of not only consuming time and labor but also having low correction precision caused by an artificial correction trajectory in prior art. The method comprises the following steps of: (1) shooting a robot clamp and a workpiece by a vidicon, and calibrating the shot image, so as to obtain a newest position relation between the robot clamp and the workpiece; (2) performing an image processing algorithm analysis on the shot image, so as to obtain the position informations of the workpiece and the end effector of the robot clamp; (3) according to the position informations, calculating the moving data required by keeping the consistent positions of the workpiece and the end effector of the robot clamp; and (4) automatically loading the moving data into an original motion trajectory program, thereby automatically obtaining a new motion trajectory program aiming at the new position of the workpiece or the robot, so as to finish the trajectory correction.

Description

technical field [0001] The invention relates to a trajectory correction method, specifically, a robot calibration method capable of realizing automatic trajectory correction. Background technique [0002] At present, most product processing requires the application of robots to cooperate with other processing equipment for processing operations, such as: putting unprocessed parts on the processing equipment and removing processed parts from the processing equipment. If the processing equipment breaks down, it is often necessary to move the processing equipment out of the workshop for maintenance, but it is difficult to accurately fix the processing equipment returned to the workshop after maintenance, and the re-fixed position will have a small gap compared with the original position. When the traditional robot is working, it is necessary to teach or program the trajectory and action that needs to be moved in advance. If the original trajectory is used at this time, the robo...

AI Technical Summary

Problems solved by technology

If the processing equipment breaks down, it is often necessary to move the processing equipment out of the workshop for maintenance, but it is difficult to accurately fix the processing equipment returned to the workshop after maintenance, and the re-fixed position will have a small gap compared with the original position. When the traditional robot is working, it is necessary to teach or program the trajectory and action that needs to be moved in advance. If the original trajectory is used at this time, the robot will not be able to accurately complete the work of loading and unloading.

[0003] In the prior art, once the position of the workpiece or the robot is shifted, or the fixture installed on the robot is replaced, it is necessary to artificially correct the coordinates of each moving point in the original motion trajectory program one by one. Manually correcting the trajectory not only Time-consuming and labor-intensive, seriously affecting the processing efficiency, and the accuracy of manual correction is difficult to be effectively guaranteed

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