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Calibration system and method of robot

A calibration system and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of expensive equipment, complicated installation and operation, and low positioning accuracy

Active Publication Date: 2016-06-15
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 to solve the problems of expensive existing equipment, complicated installation and operation, or low positioning accuracy.

Method used

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  • Calibration system and method of robot
  • Calibration system and method of robot
  • Calibration system and method of robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0056] Embodiment 1: as Figure 1-6 As shown, a robot calibration system includes a calibration device, a robot 19, a computer 20, a robot cable 21, and a calibration device cable;

[0057] The calibration device is connected and communicated with the computer 20 by the calibration device cable, and the robot 19 is connected and communicated with the computer 20 by the robot cable 21; the data of the calibration device and the joint rotation angle of the robot 19 are collected by the computer 20, and the calibration device is obtained according to two consecutive acquisitions. The data of the robot 19 is used to calculate the distance between two points in space at the end of the robot 19; the data of the calibration device includes the length of the wire of the wire sensor 17, the angle of the angle sensor I5, and the angle of the angle sensor II14.

[0058] The calibration device includes a lower base plate 1, a bearing housing I2, a tapered roller bearing I3, a blocking pla...

Embodiment 2

[0094] Embodiment 2: as Figure 1-6 As shown, a robot calibration system includes a calibration device, a robot 19, a computer 20, a robot cable 21, and a calibration device cable;

[0095] The calibration device is connected and communicated with the computer 20 by the calibration device cable, and the robot 19 is connected and communicated with the computer 20 by the robot cable 21; the data of the calibration device and the joint rotation angle of the robot 19 are collected by the computer 20, and the calibration device is obtained according to two consecutive acquisitions. The data of the robot 19 is used to calculate the distance between two points in space at the end of the robot 19; the data of the calibration device includes the length of the wire of the wire sensor 17, the angle of the angle sensor I5, and the angle of the angle sensor II14.

[0096] The calibration device includes a lower base plate 1, a bearing housing I2, a tapered roller bearing I3, a blocking pla...

Embodiment 3

[0130] Embodiment 3: as Figure 1-6 As shown, a robot calibration system includes a calibration device, a robot 19, a computer 20, a robot cable 21, and a calibration device cable;

[0131] The calibration device is connected and communicated with the computer 20 by the calibration device cable, and the robot 19 is connected and communicated with the computer 20 by the robot cable 21; the data of the calibration device and the joint rotation angle of the robot 19 are collected by the computer 20, and the calibration device is obtained according to two consecutive acquisitions. The data of the robot 19 is used to calculate the distance between two points in space at the end of the robot 19; the data of the calibration device includes the length of the wire of the wire sensor 17, the angle of the angle sensor I5, and the angle of the angle sensor II14.

[0132] The calibration device cable includes a pull wire sensor cable 22, an angle sensor cable II24, and an angle sensor cabl...

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Abstract

The invention relates to a calibration system and method of a robot and belongs to the field of robot calibration. The calibration system comprises a calibration device, the robot, a computer, a robot cable and a calibration device cable. The calibration device is connected with the computer for communication through the calibration device cable. The robot is connected with the computer for communication through the robot cable. The computer is used for collecting data of the calibration device and joint rotation angles of the robot and calculating the distance of tail ends of the robot between two points in the space according to the two times of continuously collected data of the calibration device. The data of the calibration device comprises the length of a wire drawing sensor, the angle of an angle sensor I, and the angle of an angle sensor II. According to the calibration system and method of the robot, data support with higher robustness is provided for structure parameter calculation, and meanwhile, calibration operation is more flexible, easy and convenient; the reliability and precision of structure parameter calculation are improved; coordinate values of the tail end of the robot do not need to be measured, so that operation steps are simplified, and the calibration efficiency is improved.

Description

technical field [0001] The invention relates to a robot calibration system and method, 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. Nowadays, the repetitive positioning accuracy of robots is relatively high, but the absolute positioning accuracy is very low. More than an order of magnitude, the problem of absolute positioning accuracy has seriously restricted the application capabilities and scope of industrial robots. Since the robot is a multi-degree-of-freedom device, this structural form has the disadvantage of accumulative error amplification, and the structural parameter errors of joints at all levels will be amplified step by step, resulting in a decrease in the accuracy of the robot. [0003] Calibration is an effective method to elimina...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1692
Inventor 高贯斌张怀山那靖伞红军伍星
Owner KUNMING UNIV OF SCI & TECH
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