Robot calibration system and method based on incomplete end coordinate information

A coordinate information, robot technology, applied in the field of robot calibration system, can solve the problems of complicated operation steps, low positioning accuracy and high equipment cost

Active Publication Date: 2016-05-04
KUNMING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention provides a robot calibration system and method based on incomplete coordinate information at the end to solve the problems of high cost, cumbersome operation steps and low positioning accuracy of existing equipment

Method used

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  • Robot calibration system and method based on incomplete end coordinate information
  • Robot calibration system and method based on incomplete end coordinate information
  • Robot calibration system and method based on incomplete end coordinate information

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0047] Embodiment 1: as Figure 1-2 As shown, a robot calibration system based on incomplete coordinate information at the end, including a fixed platform 1, a magnetic base 2, a connecting rod 3, a wire sensor 4, an inclination sensor 5, a universal joint 6, a robot 7, and a wire sensor cable 8 , robot cable 9, inclination sensor cable 10, computer 11;

[0048] The magnetic base 2 is mounted on the fixed platform 1 by magnetic force, the magnetic base 2 and the wire sensor 4 are connected together through the connecting rod 3, the end of the wire of the wire sensor 4 is installed on the universal joint 6, and on the universal joint 6 Attached with an inclination sensor 5, the inclination sensor 5 moves with the universal joint 6, and the universal joint 6 is installed on the robot 7; the pull wire sensor 4 and the inclination sensor 5 are respectively connected to the computer 11 through the pull wire sensor cable 8 and the inclination sensor cable 10. , the robot 7 is conne...

Embodiment 2

[0080] Embodiment 2: as Figure 1-2 As shown, a robot calibration system based on incomplete coordinate information at the end, including a fixed platform 1, a magnetic base 2, a connecting rod 3, a wire sensor 4, an inclination sensor 5, a universal joint 6, a robot 7, and a wire sensor cable 8 , robot cable 9, inclination sensor cable 10, computer 11;

[0081] The magnetic base 2 is mounted on the fixed platform 1 by magnetic force, the magnetic base 2 and the wire sensor 4 are connected together through the connecting rod 3, the end of the wire of the wire sensor 4 is installed on the universal joint 6, and on the universal joint 6 Attached with an inclination sensor 5, the inclination sensor 5 moves with the universal joint 6, and the universal joint 6 is installed on the robot 7; the pull wire sensor 4 and the inclination sensor 5 are respectively connected to the computer 11 through the pull wire sensor cable 8 and the inclination sensor cable 10. , the robot 7 is conne...

Embodiment 3

[0082] Embodiment 3: as Figure 1-2 As shown, a robot calibration method based on non-complete coordinate information of the end, the specific steps of the method are as follows:

[0083] Step1, paste the inclination sensor 5 on the universal joint 6, and install the universal joint 6 on the end of the robot 7;

[0084] Step2, install the pull wire sensor 4 on the magnetic watch base 2 through the connecting rod 3, and fix the magnetic watch base 2, and connect the pull wire of the pull wire sensor 4 to the end of the universal joint 6;

[0085] Step3, power on, turn on the inclination sensor 5, the cable sensor 4, and the robot 7, and move the robot 7 to the initial pose and satisfy the initialization count variable v=0;

[0086] Step4, judging whether to complete the data acquisition operation;

[0087] If the data collection has been completed, go to Step7; if not, go to Step4;

[0088] Step5. The counting variable is incremented by 1: v=v+1;

[0089] Step6, collect the...

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Abstract

The invention relates to a robot calibration system and method based on incomplete end coordinate information and belongs to the field of robot calibration. A magnetic gauge stand of the robot calibration system based on the incomplete end coordinate information is mounted on a fixed platform by means of magnetic force; the magnetic gauge stand is also connected with a tie wire sensor by means of a connecting rod; an end of a tie wire of the tie wire sensor is mounted on a universal joint; a tilt angle sensor is attached on and moves along with the universal joint that is mounted on a robot; the tie wire sensor and the tile angle sensor are in connection communication with a computer via a tie wire sensor cable and a tilt angle sensor cable, respectively, while the robot is in connection communication via a robot cable; and the computer is used for acquiring a tie wire length of the tie wire sensor, an angle of the tilt angle sensor and a joint turn angle of the robot. The robot calibration system and method based on the incomplete end coordinate information have the advantages of improving the reliability and accuracy of structural parameter calculation, and improving the calibration efficiency while simplifying operation steps.

Description

technical field [0001] The invention relates to a robot calibration system and method based on terminal incomplete coordinate information, belonging to the field of robot calibration. Background technique [0002] With the widespread use of robots in various industries, the industry has strict requirements on the repetitive positioning accuracy and absolute positioning accuracy of industrial robots during motion. Since the robot is a multi-degree-of-freedom device, there is error accumulation in this structural form. The disadvantage of magnification is that the structural parameter errors of joints at all levels will be magnified step by step, resulting in a decrease in the accuracy of the robot. [0003] Calibration is an effective method to eliminate the error of robot structure parameters. Currently, commonly used robot calibration methods generally rely on precision measuring instruments such as laser trackers, laser interferometers, and three-coordinate measuring machi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
CPCB25J19/0066
Inventor 高贯斌张怀山那靖伞红军伍星
Owner KUNMING UNIV OF SCI & TECH
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