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
CN104165585BActive Publication Date: 2016-12-28SHANGHAI MITSUBISHI ELEVATOR CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SHANGHAI MITSUBISHI ELEVATOR CO LTD
Publication Date
2016-12-28

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Abstract

The invention discloses a non-contact high-precision calibration method of a tool coordinate system of a single robot, comprising the following steps: first, calibrating a fundamental coordinate system of a robot; second, calibrating a workpiece coordinate system of the robot. The calibration employed by the invention is that a tool sleeve can perform a significantly complete calibration on the tool coordinate system of the robot. The calibration is that the tool sleeve can ensure repeatability of each operation, so as to furthest reduce errors generated by man-made calibration. The method provided by the invention, the non-contact high-precision calibration method of the fundamental coordinate system of the robot, and the non-contact high-precision calibration method of a tool coordinate system of the single robot are cooperated for application, so that basic technical basis is provided to realize accurate transformation of the robot pose, parameterization programming of the robot, high-precision coordination work of a robot group and pose transformation of the robot, resettlement of the robot system, multi-station program share of the robot and locus program of the robot and the like.
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Description

technical field

[0001] The invention relates to a calibration method for an industrial robot, in particular to a non-contact high-precision calibration method for a tool coordinate system of a single robot. 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 and tools, so it is very important to calibrate the robot’s environmental parameters (workpiece c...

Claims

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