Planar constraint based robot calibration method

A technology of plane constraint and calibration method, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as low calibration accuracy, complicated operation, and increased cost
CN104608129AInactive Publication Date: 2015-05-13JIANGNAN UNIV
6 Cites 46 Cited by

Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
JIANGNAN UNIV
Publication Date
2015-05-13
Estimated Expiration
Not applicable · inactive patent

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention relates to a planar constraint based robot calibration method. The planar constraint based robot calibration method specifically comprises the following steps of utilizing a DH and MDH combination method to establish a robot kinematic model, establishing a robot tail end position error model based on a differential conversion principle, establishing a position calibration model of a robot based on planar constraint, setting a calibration block pose position, demonstrating and recording the robot tail end theoretical pose position, calibrating motion parameters of a robot, utilizing a calibration result to perform comparison, and performing re-calibration if the accuracy requirement is not met. The planar constraint based robot calibration method has the advantages of being simple, practical, efficient and low in cost, expensive measurement instruments are not needed, calibration cost is reduced, and positioning accuracy is improved.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention relates to a robot punctuation method based on plane constraints, and relates to the technical field of industrial robot calibration. Background technique

[0002] 1. The positioning accuracy of the robot is an important performance index of the tandem robot, the basis of the off-line programming of the robot, and an important guarantee for the robot to complete the task. With the complexity of the robot application environment, the industry has put forward higher requirements for the positioning accuracy of the robot, and the robot is expected to have a high absolute positioning accuracy. However, due to the influence of robot parts processing and assembly errors, robot flexible deformation errors, and errors caused by environmental factors, the absolute positioning accuracy of the robot is only in the range of ±100mm to 0.1mm. The robot kinematics calibration is the most effective way to improve the positioning accuracy of the robot. I...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More