Non-contact high-precision calibration method of robot base coordinate system and its application

Abstract

The invention discloses a non-contact high-precision calibration method for a robot base coordinate system, comprising the following steps: step 1, installing a calibration finger tool; step 2, taking points for calibration; and step 3, obtaining the robot's The calibration matrix of the base coordinate system. With the help of the advantages of high precision and non-contact measurement of the laser measuring instrument, the invention can realize the non-contact high precision of the robot base coordinate system through the position encoder of the robot's internal joints and the calibration finger tooling set, and the algorithm of coordinate transformation. The calibration of the robot and the non-contact high-precision calibration method of the workpiece coordinate system of a single robot and the non-contact high-precision calibration method of the tool coordinate system of a single robot can realize the non-contact high-precision calibration of the entire robot system calibration. The invention also discloses a non-contact high-precision calibration method for poses among multiple robots.

Description

technical field [0001] The invention relates to a calibration method of an industrial robot, in particular to a non-contact high-precision calibration method of a robot base coordinate system. The invention also relates to a non-contact high-precision calibration method for poses among multiple robots. Background technique [0002] The flexible processing and production unit based on industrial robots has become the main development direction of the manufacturing industry. Among them, the accurate control of the robot pose, the parametric programming of the robot, the high-precision coordination work of the robot group, the transformation of the robot pose, and the control of the robot system The needs of relocation, robot multi-station program sharing, robot trajectory planning, etc. are gradually becoming the focus of attention. All of the above aspects require the establishment of accurate models of the actual robot and its working environment, as well as other equipment...

AI Technical Summary

Problems solved by technology

like figure 1 Shown is the TCP (Tool Coordinate Point) calibration method of the robot. The operation of this calibration method is relatively cumbersome, and it also has certain requirements for the space point. It is done by obtaining several points; moreover, the calibration accuracy varies from operator to operator, and there are certain uncontrollable factors, which makes the value obtained after calibration have a large error, usually at the millimeter level, and takes a lot of time

The disadvantages of this calibration method cannot meet the requirements of modern production for higher precision of robots, higher efficiency of calibration operations, and higher calibration accuracy

[0005] Chinese patent 201010545419.7 discloses a robot tool coordinate system automatic calibration device and method based on laser tracking measurement, but it only calibrates the robot tool coordinate system, not the entire robot system, which causes even if the accuracy of the tool coordinate system reaches To a certain extent, but because the accuracy of other coordinate systems cannot match, it will also affect the accurate control of the robot's pose, the parametric programming of the robot, the high-precision coordination of the robot group, the transformation of the robot's pose, and the relocation of the robot system. Applications in robot multi-station program sharing, robot trajectory planning, etc.

In addition, the number of points taken during calibration is relatively large, and the operation is relatively cumbersome.

Most importantly, the calibration of the tool coordinate system is carried out for the tools designed by the author himself. In actual use, the tools at the front end of the robot are various according to different applications, so their practicability is not very high.

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