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Industrial robot calibration method based on distance error models

An industrial robot and distance error technology, applied in the field of robot calibration, can solve problems such as difficult to complete accurately, easy to introduce external errors, and unable to meet the requirements of practical applications.

Inactive Publication Date: 2013-08-07
SUZHOU UNIV
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Problems solved by technology

[0003] However, when using the traditional method to calibrate and compensate the position error, it involves the transformation between the coordinate system of the measurement system and the basic coordinate system of the robot. Because this process is difficult to complete accurately, and the operation is complicated, it is easy to introduce external errors. The calibration result is inaccurate and cannot meet the requirements of practical applications

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  • Industrial robot calibration method based on distance error models

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[0048] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0049] ginseng figure 1 as shown, figure 1 For the industrial robot calibration method based on distance error model in a specific embodiment of the present invention comprises the following steps:

[0050] S1, establish the robot MDH kinematics model;

[0051] The DH model is the most basic kinematics model at present. It embeds the...

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Abstract

The invention discloses an industrial robot calibration method based on distance error models. The method comprises: establishing a robot MDH (modified Denavit-Hartenberg) kinematic model; subjecting the errors of a matrix to homogeneous transformation; establishing a robot distance error calibration model; measuring the end actual pose of a robot; calibrating geometrical parameter errors of every connecting rod of the robot; and performing experimental verification. The industrial robot calibration method based on the distance error models has the advantages of being simple, practical, high-efficiency and rapid, is applicable to any series articulated robots, has a strong commonality, and can improve the positioning accuracy and the distance accuracy of an industrial robot simultaneously.

Description

technical field [0001] The invention relates to the technical field of robot calibration, in particular to an industrial robot calibration method based on a distance error model. Background technique [0002] The performance requirements of industrial robots in modern manufacturing industry are constantly improving. The two main evaluation indicators of robot performance are: repeated positioning accuracy and absolute positioning accuracy. Nowadays, the repetitive positioning accuracy of robots is relatively high, but the absolute positioning accuracy is very low, generally differing by more than one order of magnitude, so it cannot meet the requirements of high-precision machining. The study found that the absolute positioning accuracy is mainly affected by the accuracy of the connecting rod parameters in the robot kinematics model, and the calibration technology can improve the absolute positioning accuracy of the robot by correcting the robot kinematics parameters. There...

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Application Information

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IPC IPC(8): B25J9/16
Inventor 王振华许辉陈国栋孙荣川任子武孙立宁洪云波
Owner SUZHOU UNIV
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