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Robot tool central point calibration method using two-dimensional measurement functional tablet

A tool center point, two-dimensional measurement technology, applied in the direction of measuring devices, instruments, etc., can solve the problems of complicated calibration operation and low precision

Active Publication Date: 2015-03-25
CENT SOUTH UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The present invention proposes a method for calibrating the center point of a robot tool using a flat plate with a two-dimensional measuring function. Tool to assist robot TCP calibration work, reduce the difficulty of alignment in the calibration process, improve calibration efficiency, and easily realize calibration automation

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  • Robot tool central point calibration method using two-dimensional measurement functional tablet
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  • Robot tool central point calibration method using two-dimensional measurement functional tablet

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with the embodiments and the accompanying drawings.

[0028] Such as figure 1 As shown, it is a schematic structural diagram of the robot and the two-dimensional measurement function plate used in the embodiment of the present invention, including a fixed robot base 1, a 6-DOF robot 2, a welding torch 3, and a resistive touch screen 4 used as a calibration tool.

[0029] {F 0} is the robot world coordinate system established in the space where the robot base is located, {F 6} is the end coordinate system of the robot tool in the space where the end flange of the robot is located. The computer 5 is used to collect the signals of the resistive screen to determine whether the resistive screen is touched, and the coordinates of the touch point on the screen. The computer is connected to the robot controller 6 through the network. When the touch signal appears on the resistive screen, it can send a stop m...

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Abstract

The invention discloses a robot tool central point calibration method using a two-dimensional measurement functional tablet. A robot is controlled to enable a TCP to make contact with a measurement area of a calibration tool more than three times in different postures in the calibration process, joint coordinate information of the robot is recorded in the contact process, and the two-dimensional coordinates of the contact points in a measurement plane are output through the two-dimensional position measurement function of the calibration tool; the coordinates of the TCP in a robot tail end tool coordinate system are calculated according to measured joint rotation angle information of the robot and the coordinate data of the contact points on the tablet and in combination with the structural parameters of the robot, and the calibration accuracy is evaluated. According to the calibration method, the TCP of the robot does not need to coincide with the same fixed point multiple times, the point-point coincidence requirement is weakened to point-surface coincidence, and operation is easy. When the TCP of the robot has small deviation, autonomous calibration can be realized.

Description

technical field [0001] The invention relates to a method for calibrating the center point of a robot tool, in particular to a method for calibrating the center point of a robot tool using a two-dimensional measuring function plate. Background technique [0002] In order to complete certain tasks, industrial robots need to install various tools at the end, such as welding guns, spray guns, grippers, etc. The shape and size of the tools are different, and after the tool is replaced or adjusted, the actual working point of the work will change relative to the robot. If a fixed world coordinate system is used for programming, it needs to be reprogrammed every time the tool is adjusted, and the work efficiency is low. [0003] A more convenient method is to establish a tool coordinate system on the robot tool, whose origin is the tool center point (TCP). The robot is programmed in this coordinate system. When the tool is adjusted, it only needs to recalibrate the pose of the wo...

Claims

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Application Information

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IPC IPC(8): G01B21/00G01B21/04
CPCG01B21/00G01B21/04
Inventor 韩奉林严宏志何锐波
Owner CENT SOUTH UNIV
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