Robot calibration method based on measuring head

A calibration method and robot technology, applied in the field of robot calibration, can solve problems such as expensive data measurement and complex calibration models, and achieve the effects of improving absolute positioning accuracy, obvious calibration effect, and low cost

Inactive Publication Date: 2015-08-12
JIANGNAN UNIV
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Problems solved by technology

However, in the previous calibration process, the established calibration model was complex, and data measurement required expensive measuring instruments, an

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  • Robot calibration method based on measuring head
  • Robot calibration method based on measuring head
  • Robot calibration method based on measuring head

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Embodiment Construction

[0031] refer to figure 1 , 2 , 3, 4, a method for calibration of a robot based on a measuring head, comprising the following steps:

[0032] A. Establish robot kinematics model

[0033] Establishing the robot kinematics model is the basis for analyzing the performance of the robot, and the robot motion model is established by the traditional D-H method. The D-H method is to use four parameters θ, d, α, a to represent the homogeneous transformation relationship between the robot linkages, θ represents the robot joint x i-1 and x i Angle around the z axis; d stands for x i-1 and x i The distance to translate along the z-axis; α represents z i-1 and z i Rotation angle around the x-axis; a represents z i-1 and z i The distance translated along the x-axis transforms the link coordinate system i to the homogeneous transformation matrix A of the link coordinate system i-1 i for:

[0034] A i =Rot(X,α i-1 )Trans(X,a i-1 )Rot(Z,θ i )Trans(Z,d i )

[0035] Then the tota...

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Abstract

The invention relates to a robot calibration method based on a measuring head. The robot calibration method comprises the following steps: establishing a robot kinematic model; arranging the measuring head on an end of a flange disc of the robot; carrying out tool parameter calibration of the measuring head; disposing a calibration block in the robot working space; carrying out the demonstration and the measurement of the calibration block; carrying out the kinematic parameter calibration of the robot; and identifying the calibration experiment results. The measuring head is used for the technology field of the robot calibration, and the robot calibration method is simple, practical, and effective, and is suitable for any serial connection robots, and therefore the universality is strong, and at the same time, the absolute positioning precision of the robots can be improved.

Description

technical field [0001] The invention relates to a robot calibration method based on a measuring head, belonging to the technical field of robot calibration. Background technique [0002] 1. With the development of industrial technology and the sharp rise in labor costs, domestic industrial robots have been rapidly developed and applied. Generally speaking, the repeated positioning accuracy of industrial robots is very high (up to 0.01 mm), while its absolute positioning accuracy is low, generally ranging from a dozen millimeters to several millimeters, which has a great impact on the performance of the robot, so it is necessary to The robot performs parameter calibration to identify the actual parameters of the robot and improve the absolute positioning accuracy. [0003] 2. Robot calibration is an integrated process of modeling, measurement, parameter identification and error compensation. Firstly, the robot error identification model is established, and then the experime...

Claims

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Application Information

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IPC IPC(8): G01B21/00
CPCG01B21/00
Inventor 平雪良齐飞刘洁蒋毅
Owner JIANGNAN UNIV
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