Method and device for calibration of workpiece coordinate system, and method and device for workpiece processing

Abstract

The invention discloses a method for calibration of a workpiece coordinate system. The method for calibration of the workpiece coordinate system comprises the steps that (1) an original point of a tool coordinate system of an industrial robot moves to random three points, not collinear, in a workpiece coordinate system of the industrial robot to obtain workpiece coordinates, in the workpiece coordinate system, of the three points and base coordinates, in a base coordinate system of the industrial robot, of the three points, (2) direction vectors of the three workpiece coordinates and direction vectors of the three base coordinates are obtained according to the workpieces coordinates and the base coordinates of the three points respectively, and (3) a homogeneous transfer matrix of the workpiece coordinate system relative to the base coordinate system is obtained according to the direction vectors of the three workpiece coordinates and the direction vectors of the three base coordinates to accomplish calibration of the workpiece coordinate system. The invention further discloses a device for calibration of the workpiece coordinate system and a method and device for workpiece processing. According to the mode, the method and device for calibration of the workpiece coordinate system and the method and device for workpiece processing can simply and rapidly achieve calibration of the workpiece coordinate system, and is good in operability.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a calibration method and device for a workpiece coordinate system and a workpiece processing method and device. Background technique [0002] In the use of industrial robots, in order to facilitate welding and fix a coordinate system on the workpiece, most of the operation tasks are defined in this workpiece coordinate system; in addition, in the robot programming, the operation tasks need to be defined in the robot's base coordinate system. The conversion relationship between the workpiece coordinate system and the base coordinate system needs to be calibrated in advance, which is called the calibration of the workpiece coordinate system. When the position or posture of the workpiece changes, in order to better express the operation task, the workpiece coordinate system needs to be re-calibrated. Therefore, in actual operation, it is required to quickly realize the calibration o...

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Problems solved by technology

[0003] In the long-term research and development, the inventor of the present application found that in the prior art workpiece coordinate system calibration method, the origin of the tool coordinate system needs to move to the three points in the workpiece coordinate system that meet the above conditions; in certain special cases, when the tool coordinate system When the origin of the coordinate system cannot reach any of the above three points, it will lead to the inability to complete the calibration of the workpiece coordinate system, and there are certain limitations

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