Industrial robot base coordinate system calibration method based on laser tracker

Abstract

The invention discloses an industrial robot base coordinate system calibration method based on a laser tracker. The method includes the steps that target bases needed for measurement are installed, a calibration system is preprocessed, coordinate systems needed for calibration are established, the relational expression of posture relation matrixes of the coordinate systems is acquired, data are collected through a control robot and the laser tracker, the corresponding posture matrixes are acquired, and finally the posture relation between a robot base coordinate system and a measurable coordinate system is acquired so as to determine the specific posture of the robot base coordinate system. The robot base coordinate system can be calibrated only through the laser tracker, no repetition is needed after calibration, repeated calibration time is shortened, meanwhile, the accuracy of the laser tracker is high, and the accuracy of acquired data of the base coordinate system is high.

Description

technical field [0001] The invention relates to the technical field of calibration of industrial robots, in particular to a base coordinate calibration method of a series industrial robot using a laser tracker. Background technique [0002] Since the invention of the robot, after years of development, its technology has made many major achievements. The calibration of robot accuracy is an integral part of it. Although many robots have high repeat positioning accuracy, their absolute positioning accuracy is relatively high. It is not high, which makes it one of the bottlenecks restricting the development of the robot industry. In order to improve the absolute positioning accuracy of the robot, robot calibration technology came into being. [0003] Robot calibration technology is the process of using the parameter identification method to process the relevant data of the robot obtained by advanced measurement methods to identify the accurate parameters of the robot model, the...

AI Technical Summary

Problems solved by technology

Since the origin of the robot’s base coordinate system is unreachable, the base coordinates of the robot cannot be calibrated directly, which leads to many methods of using different measurement methods and tools to calibrate the robot’s base coordinates, such as using calibration objects to calibrate, using Multiple robots handshake operation for calibration, etc. The above methods all need to install corresponding end devices or use multiple robots, and the operation is more complicated; using calibration objects for calibration has high requirements on the objects themselves, and the accuracy needs to be investigated; and through multi-robot calibration It is suitable for the development environment of multiple robots, but it is not applicable to the condition of only a single robot system, so it is necessary to invent a simple method for calibration with a single robot system, and this method does not need to be re-calibrated after one calibration

Images