Method for automatically determining relation between robot base coordinate system and world coordinate system

Abstract

The invention discloses a method for automatically determining the relation between a robot base coordinate system and a world coordinate system. The method includes the following steps that a specified tool is mounted; a homogeneous transformation matrix of a robot tail end flange coordinate system {6} relative to the robot base coordinate system {Base} is determined; a homogeneous transformation matrix of the robot tail end flange coordinate system {6} relative to a target sphere coordinate system {Ba} is determined; a homogeneous transformation matrix of the target sphere coordinate system {Ba} relative to a laser tracker coordinate system {JG} is determined; a homogeneous transformation matrix of the world coordinate system {W} relative to the laser tracker coordinate system {JG} is determined; a homogeneous transformation matrix of the world coordinate system {W} relative to the robot base coordinate system {Base} is determined. According to the method, the advantage of high-precision measurement of the laser tracker is utilized, the internal variable of a robot is read, a coordinate conversion method is used for automatically determining the relation between the robot base coordinate system and the world coordinate system, the degree of automation is high, the speed is high and the precision is also high.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a method for automatically determining the relationship between a robot base coordinate system and a world coordinate system. Background technique [0002] In industrial production, more and more robots have been used instead of manual production, with high productivity, convenient control and high degree of automation. The application of robots has become an indispensable role in modern industrial production. [0003] However, in the application of robots to process and assemble workpieces, it is necessary to determine the relative positional relationship between the robot and the workpiece, that is, the relative positional relationship between the robot’s base coordinate system and the workpiece coordinate system, and then achieve automatic alignment of the workpiece by programming the robot. The purpose of processing and assembling. Due to the frequent changes in t...

AI Technical Summary

Problems solved by technology

Due to frequent changes in the position of the workpiece, it is necessary to frequently measure the robot base coordinate system, and the measurement of the robot base coordinate system requires cumbersome operations and calculations

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