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Pull-cord encoder based calibration method of industrial robot

An industrial robot and robot technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problem that the absolute positioning accuracy of the robot cannot meet the requirements of offline programming, and achieve the effect of easy implementation, compensation for loss, and improvement of absolute positioning accuracy.

Inactive Publication Date: 2015-09-09
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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AI Technical Summary

Problems solved by technology

[0004] Due to the influence of many error sources, the absolute positioning accuracy of the newly assembled robot cannot meet the requirements of offline programming applications
[0005] However, at this stage, the repetitive positioning accuracy of the robot can reach a very high accuracy.

Method used

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  • Pull-cord encoder based calibration method of industrial robot
  • Pull-cord encoder based calibration method of industrial robot
  • Pull-cord encoder based calibration method of industrial robot

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Embodiment Construction

[0027] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0028] Such as figure 1 shown. In the calibration algorithm of industrial robots based on wire draw encoders, the calibration system consists of a robot controller 1, a robot to be calibrated 2, a connecting rod 3, a wire draw encoder 4, a data acquisition card 5 and a computer 6. The industrial robot 1 whose basic process is to be calibrated is installed at a fixed position in the workshop, and its coordinate system is related to the earth coordinate system. The end flange of the robot is equipped with a connecting rod 3 matching the pull-wire encoder, and the pull-wire encoder 4 Try to place it in the middle of the working range of the robot. Under this principle, the position of the pull-wire encoder 4 can be arbitrary, and the robot 2 to be calibrated moves to different positions in space under the drive of the r...

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Abstract

The invention discloses a pull-cord encoder based calibration method of an industrial robot. The method includes: calculating an error model of the robot according to a kinematic model of the robot and the structure of a pull-cord robot; allowing structural errors of the robot to fully affect rules of an end effector to demonstrate the robot; according to a command of a demonstration program, allowing the robot to move a specified position, and acquiring distances of the pull-cord encoder when the robot is at different positions; according to the acquired measurement data and end positional data of the robot, calculating a reference position of the pull-cord encoder; by means of the calculated reference position and the error model built, calibrating structural parameters of the robot; according to structural errors obtained in the calibration process, correcting the structural parameters of the robot; repeating the steps from five to seven until that the precision is satisfactory. The method is easy to implement and convenient to operate.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and relates to an industrial robot calibration algorithm based on a cable encoder. Background technique [0002] With the widespread use of robots in various industries, the industry has put forward higher requirements for the repetitive positioning accuracy and absolute positioning accuracy of industrial robots. This demand is particularly prominent in the aerospace field. [0003] In a large aircraft, there are about 1.5 to 2 million connecting parts. The position accuracy and surface quality of the connecting holes have a great influence on the machining accuracy of the holes. In the early days of aircraft development, these holes were drilled and riveted by hand. However, with the development of digital technology, the drilling and riveting of holes through offline programming can greatly improve the efficiency of aircraft assembly. Offline programming has very high requirements ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
Inventor 张得礼王珉丁力平陶克梅陈文亮洪伟松潘国威王谢苗周伟王夫康
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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