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Industrial robot measurement method based on tail end numbered tool

An industrial robot and measurement method technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of narrow positioning and tracking field of view, low cost, expanding the fixed binocular vision measurement range, etc., to achieve low cost and improve positioning accuracy. , to solve the effect of narrow field of view

Inactive Publication Date: 2015-08-26
JIANGNAN UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

This measurement method is simple and practical, with high reliability and low cost. It expands the measurement range of fixed binocular vision and solves the problem of narrow field of vision for positioning and tracking in traditional vision systems.

Method used

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  • Industrial robot measurement method based on tail end numbered tool
  • Industrial robot measurement method based on tail end numbered tool
  • Industrial robot measurement method based on tail end numbered tool

Examples

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Embodiment Construction

[0028] Attached below figure 1 , 2 , 3 and 4 describe in detail the specific embodiments of the present invention. The examples applied here are not only applicable to this example, but are applicable to different application fields of various tandem industrial robots.

[0029] Refer to figure 1 , The industrial robot measuring method based on the end-numbered target ball of the present invention includes the following steps:

[0030] A. For the overall layout of the work space, install and fix the numbered target ball and other devices;

[0031] Try to choose a working environment with low vibration intensity and low environmental pollution. According to the working space of the industrial robot body and the motion trajectory of the end of the robot, reasonably plan the measurement layout and measurement network to ensure measurement accuracy. The binocular CCD camera and the light source generator Fix it within its measuring range and connect cables, capture cards and other device...

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Abstract

The invention relates to an industrial robot measurement method based on a tail end numbered tool. The method specifically includes the following steps that the overall arrangement of a work space is conducted, and the number tool and other devices are installed and fixed; a binocular CCD camera is calibrated, and a tool pre-calibration database is established; a DH kinematic model is updated so that the theoretical pose of a tool frame can be obtained; the images of numbered points are collected, and data processing is performed so that coordinate values can be obtained; coordinates are converted into a robot base frame from a camera frame; the position of the tool center and the posture of the tool frame are obtained according to captured point coordinates; as is verified in an experiment, positioning precision is improved. The measurement method solves the problem that a traditional vision system is narrow in positioning and tracing view field, effectively improves the positioning precision of the behaviors of the robot, has the advantages of being simple, reliable and efficient and reduces the cost for measuring the tail end pose of the robot.

Description

Technical field [0001] The invention belongs to the technical field of robot positioning and measurement, and particularly relates to a method for positioning and measuring the end position and posture of an industrial robot. Background technique [0002] Robots are widely used in industrial production, military, aerospace, medical and other fields. Among them, the accuracy of industrial robot motion directly affects its production performance and application range, and how to improve the positioning accuracy of industrial robots has become very important. The use of vision systems to feed back the precise position information of the robot's end in real time, and adjust the robot's motion trajectory based on the position information, has become a hot research topic. Robot measurement, whether it is moving target tracking or positioning and grasping, acquiring the precise position and posture of the robot end in its base coordinate system has become a key technology. At present, ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1697
Inventor 平雪良刘洁齐飞蒋毅
Owner JIANGNAN UNIV
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