Zero calibration method of six-axis industrial robot

Abstract

The invention discloses a zero calibration method of a six-axis industrial robot. The zero calibration method comprises the following steps that reference positions are selected and set as initial zeros; a first joint axis is rotated on the basis of the reference positions; a second joint axis is adjusted to allow the inner side of the second joint axis to be kept in a horizontal position; a group of positions, where a difference value of a rotation angle of the second joint axis is maximum, in various groups of positions where a difference value of a rotation angle of the first joint axis is 180 degrees is determined; the first joint axis is rotated to a position perpendicular to the group of positions, which is the zero position of the first joint axis; on this basis, the second joint axis to a sixth joint axis are calibrated horizontally or perpendicularly by a precise level gauge; the rotation angles of the joint axes are written down; and the zero positions of the joint axes, namely the zero positions of the six-axis industrial robot are acquired finally. According to the method, the scale-free six-axis industrial robot can acquire the zero positions easily and quickly under the condition that the zeros are lost, and the motion precision of the industrial robot is improved.

Description

technical field [0001] The invention relates to the technical field of calibration of industrial robots, in particular to a zero point calibration method of a six-axis industrial robot. Background technique [0002] The zero point is the datum of the robot coordinate system. Without the zero point, the robot cannot judge its own position. Usually industrial robots will calibrate the mechanical parameters of the robot before leaving the factory, and give the parameters and zero position of each connecting rod of the industrial robot, but in special cases, such as battery replacement, exceeding the mechanical limit position, collision with the environment, manual Moving the joints of the robot will cause the loss of the zero point. In this case, how to easily find the current zero point position of the robot is the guarantee of the precise motion control of the robot. At present, except for the industrial robot with its own scale, which can control each joint to the zero posi...

AI Technical Summary

Problems solved by technology

Usually industrial robots will calibrate the mechanical parameters of the robot before leaving the factory, and give the parameters and zero position of each connecting rod of the industrial robot, but in special cases, such as battery replacement, exceeding the mechanical limit position, collision with the environment, manual Moving the joints of the robot will cause the loss of the zero point. In this case, how to easily find the current zero point position of the robot is the guarantee of the precise motion control of the robot.

At present, except for industrial robots with scales, which can control the joints to the zero position through the controller, for industrial robots without scales, there is no simple zero point calibration method to restore the zero point of the lost zero point robot.

Images