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Method and equipment for calibrating base coordinate systems of multi-robot system

A basic coordinate system and multi-robot technology, applied in manipulators, manufacturing tools, etc., can solve the problems of expensive precision instruments, expensive instruments and equipment, and no longer applicable, and achieve the effect of simple structure, low cost, and easy replacement

Active Publication Date: 2016-07-13
GUANGDONG UNIV OF TECH +1
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Problems solved by technology

However, in the traditional robot system, the robot has been installed in a fixed position in advance. Once the robot moves, the original calibration results will no longer be applicable, and it is necessary to use sophisticated instruments for calibration again, which is time-consuming and laborious, and the price of precision instruments expensive
The calibration of multi-robots is mostly measured by precision instruments. The disadvantages are: ⑴ poor flexibility and low efficiency; ⑵ complicated steps and poor operability; ⑶ expensive instruments and equipment, high cost

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  • Method and equipment for calibrating base coordinate systems of multi-robot system
  • Method and equipment for calibrating base coordinate systems of multi-robot system

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Embodiment Construction

[0034] The invention provides a method for calibrating the base coordinate system of a multi-robot system, the steps are as follows:

[0035] S1. Group two or more robots that have a cooperative relationship with each other according to their cooperative relationship, and establish a constraint relationship between the two robot base coordinate systems for each group of two robots;

[0036] S2. In one set of dual-robot base coordinate systems established in step S1, set one of the robots as the master robot, whose robot base coordinate system is the master robot base coordinate system, and the other as the slave robot, whose robot base coordinate system is From the robot base coordinate system;

[0037] S3. According to the constraint relationship of the dual-robot base coordinate system established in step S1, use the alignment tool installed at the end of the robot to perform alignment and positioning, and obtain the coordinates of the alignment point in the master robot bas...

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Abstract

The invention discloses a method for calibrating base coordinate systems of a multi-robot system. The method includes the steps of firstly, grouping robots pairwise according to coordination relations; secondly, establishing a constraint relationship between base coordinate systems of each pair of robots; thirdly, adopting alignment tools mounted at the tail ends of the robots, acquiring coordinate data, and enabling the system to automatically process the constraint relationships and the coordinate data acquired by the alignment tools so as to obtain a pose relationship of each pair of robots and complete calibration; finally, repeating the steps to complete calibration of the base coordinate systems of the multi-robot system. The invention further discloses equipment for calibrating the base coordinate systems of the multi-robot system. Recalibration of the multi-robot system can be completed automatically after the equipment is installed, and particularly, recalibration is necessary due to the fact that displacement is inevitable after the robots work every time. The method and the equipment for calibrating the base coordinate systems of the multi-robot system can complete calibration automatically and quickly.

Description

technical field [0001] The present invention relates to the technical field of air conditioning, and more specifically relates to a method and equipment for calibrating the base coordinate system of a multi-robot system. Background technique [0002] At present, multi-robot coordination operating system has become a research hotspot in the field of robotics. For many complex assembly tasks, the multi-robot coordinated operating system provides a convenient and effective way. [0003] In a multi-robot system, each robot needs to know the position of other robots when performing tasks, that is, to determine the relative pose between the base coordinate system of other robots and its own base coordinate system. However, in the traditional robot system, the robot has been installed in a fixed position in advance. Once the robot moves, the original calibration results will no longer be applicable, and it is necessary to use sophisticated instruments for calibration again, which ...

Claims

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Application Information

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IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 管贻生吴鸿敏邓华健毕志强张宏
Owner GUANGDONG UNIV OF TECH
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