Non-contact high-precision calibration method for the tool coordinate system of a single robot
A tool coordinate system and calibration method technology, applied in the field of industrial robot calibration, can solve problems such as numerical error, inability to complete calibration of robot tool body, and accurate control of robot parametric programming that affects robot pose
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[0146] The present invention adopts the calibration finger frock installed with the measuring ball, and the calibration finger frock is installed on the robot flange or the tool body; the center of the measuring ball (the center point of the measuring ball is used as the calibration point) is measured by a laser measuring instrument; The laser measuring instrument has a coordinate system of the laser measuring instrument. The data measured by the laser measuring instrument are processed through the algorithm of coordinate transformation, and the relationship between the coordinate system of the laser measuring instrument and the base coordinate system of the robot and the workpiece coordinate system are respectively established to construct The relationship between the robot's base coordinate system and the workpiece coordinate system and the relationship between the tool coordinate system and the robot end coordinate system, so as to perform non-contact high-precision calibrati...
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