Calibration method of robot tool coordinate system
A technology of tool coordinate system and correction method, which is applied in the field of correction of industrial robot tool coordinate system, and can solve problems such as errors, large errors, and robot tool coordinate system errors
Active Publication Date: 2017-12-01
SHENZHENSHI YUZHAN PRECISION TECH CO LTD
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Problems solved by technology
However, due to the manual assembly of processing tools, the structure of the robot itself, or the tool coordinate system customized by the robot, there will be certain errors, resulting in a certain error in the tool coordinate system of the robot.
Manual corrections are time-consuming, laborious, and have relatively large errors
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[0015] In practical applications, robots complete various operations by installing actuators (such as processing tools or clamping fixtures) at their ends. In this embodiment, the robot grabs the workpiece through the actuator for processing. Before processing, it is usually necessary to define a tool coordinate system on the workpiece grabbed by the actuator. The accuracy of the tool coordinate system directly affects the precise operation of the robot. In this embodiment, the coordinate system where the workpiece is located is the actual tool coordinate system, and the robot defines a basic tool coordinate system to obtain the actual tool coordinate system of the workpiece grasped by the robot. The correction of the tool coordinate system of the workpiece on the robot by using the robot tool coordinate system correction method of the present invention will be described in detail below.
[0016] see Figure 1 to Figure 3 In the robot tool coordinate system calibration method...
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A method for correcting a robot tool coordinate system, for accurately correcting the tool coordinate system of a workpiece held by a robot, the robot has a basic tool coordinate system, comprising the following steps: A, establishing an estimated tool coordinate system based on the basic tool coordinate system ; B. Move the workpiece along the coordinate axis direction of the estimated tool coordinate system, measure the moved position and obtain the values of the axial rotation angle deviation ΔRy, ΔRx1, ΔRz2 of the estimated tool coordinate system; C, estimate the tool coordinate system Compensate the axial rotation angle deviation ΔRy, ΔRx1, ΔRz2 and obtain the corrected estimated tool coordinate system; D. Rotate the workpiece along the coordinate axis of the corrected estimated tool coordinate system, measure the position before and after the rotation and obtain the estimated The value of the origin deviation Δx, Δy, Δz of the tool coordinate system; E, the estimated coordinate system compensates the origin deviation Δx, Δy, Δz and obtains the corrected tool coordinate system. With this correction method, the correction accuracy is high and the correction method is simple.
Description
technical field [0001] The invention relates to a method for correcting a robot, in particular to a method for correcting a tool coordinate system of an industrial robot. Background technique [0002] Robotics is widely used in industrial fields, such as automatic assembly, welding, grinding, etc. Various tasks are accomplished by installing different actuators (such as pneumatic grippers or processing tools) at the end of the robot. In the existing robot processing, the processing of the product is generally completed by installing the processing tool at the end of the robot. For example, a grinder is installed on the grinding robot to grind the product fixed on the workbench, and the accuracy of the tool coordinate system of the grinder is established. The accuracy directly affects the grinding accuracy, that is, the accuracy of the robot tool coordinate system becomes an important indicator for the robot to achieve precise operation. However, due to the manual assembly ...
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IPC IPC(8): G01B21/00
CPCB25J9/1692G05B2219/39021G05B2219/39026Y10S901/02
Inventor 邱隆恩武勇
Owner SHENZHENSHI YUZHAN PRECISION TECH CO LTD