Automatic Determining Method of Relationship Between Robot Base Coordinate System and World Coordinate System
A base coordinate system, automatic determination technology, applied in the field of robotics, can solve the problems of cumbersome operations and calculations
Active Publication Date: 2018-02-02
BEIJING XINGHANG MECHANICAL ELECTRICAL EQUIP
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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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[0081] In order to make the objectives, technical solutions and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.
[0082] On the contrary, the present invention covers any alternatives, modifications, equivalent methods and schemes defined by the claims in the spirit and scope of the present invention. Further, in order to enable the public to have a better understanding of the present invention, some specific details are described in detail in the detailed description of the present invention below. Those skilled in the art can fully understand the present invention without the description of these details. The present invention will be further described below in conjunction with the drawings and specific...
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The invention discloses a method for automatically determining the relationship between a robot base coordinate system and a world coordinate system, comprising the following steps: installing a designated tooling; determining the position of the robot end flange coordinate system {6} relative to the robot base coordinate system {Base} Homogeneous transformation matrix; determine the homogeneous transformation matrix of the robot end flange coordinate system {6} relative to the target ball coordinate system {Ba}; determine the homogeneous transformation matrix of the target ball coordinate system {Ba} relative to the laser tracker coordinate system {JG} Transformation matrix; determine the homogeneous transformation matrix of the world coordinate system {W} relative to the laser tracker coordinate system {JG}; determine the homogeneous transformation matrix of the world coordinate system {W} relative to the robot base coordinate system {Base}. The invention utilizes the advantages of high-precision measurement of the laser tracker, reads the internal variables of the robot, and applies the method of coordinate transformation to realize the automatic determination of the relationship between the robot's base coordinate system and the world coordinate system, with high automation, fast speed and accuracy high degree.
Description
Technical field [0001] The invention belongs to the technical field of robots, and specifically 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, there have been more and more applications of robots instead of manual production, with high productivity, convenient control, and high degree of automation. Application robots have become an indispensable role in modern industrial production. [0003] However, when the robot is used to process and assemble the workpiece, it is necessary to determine the relative positional relationship between the robot and the workpiece, that is, the relative positional relationship between the robot base coordinate system and the workpiece coordinate system, and then program the robot to automatically control the workpiece Purpose of processing and assembly. Due to the frequent changes in the position of the wo...
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IPC IPC(8): G01B11/00
Inventor 范秀斌张水仙于斌
Owner BEIJING XINGHANG MECHANICAL ELECTRICAL EQUIP