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Robot kinematics calibration method based on vision measurement and distance error model

A technology of robot kinematics and distance error, which is applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., and can solve problems such as repetition errors

Inactive Publication Date: 2016-07-20
NANJING UNIV OF TECH
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Problems solved by technology

However, when performing visual hand-eye calibration, due to the use of the nominal value of the kinematic parameters of the robot, there is a repetition error in the calibrated pose.

Method used

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  • Robot kinematics calibration method based on vision measurement and distance error model
  • Robot kinematics calibration method based on vision measurement and distance error model
  • Robot kinematics calibration method based on vision measurement and distance error model

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Embodiment Construction

[0057] Such as figure 1 Shown is the flow chart of the robot kinematics calibration method based on visual measurement and distance error model, the implementation of the present invention will be further described below according to the accompanying drawings and specific examples:

[0058] S1, establish the corrected robot D-H model;

[0059] The D-H model is the most basic robot kinematics model. It is a method to describe how to model the connecting rods and joints of the robot, and is widely applicable to any robot configuration. figure 2 Shown is the D-H kinematics model diagram of the 6-axis robot, which contains 4 geometric parameters: link length a, link rotation angle α, link offset distance d, and joint angle θ. The homogeneous transformation relationship matrix of the adjacent joint coordinate system of the traditional D-H model connecting rod i-1 and connecting rod i is shown in the following formula (1):

[0060]

[0061] However, when the rotation axes of t...

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Abstract

The invention discloses a robot kinematics calibration method based on vision measurement and a distance error model. The method includes the steps that a corrected robot D-H model is established; the distance error model is established; a robot kinematics calibration model is established; simultaneous calibration of a hand-eye relation and kinematics parameters is performed; measurement of an actual coordinate position of a tail end is performed; robot D-H parameters are corrected; and experimental verification is conducted. The robot kinematics calibration method based on vision measurement and the distance error model and provided by the invention has the advantages of being simple, efficient and fast; a non-contact measurement mode of vision detection is adopted; meanwhile, repetitive errors of hand-eye calibration are considered, and the calibration model is simplified through a mode of an equidistance model; and accordingly, the positioning precision and distance precision of an industrial robot can be greatly improved, the robot kinematics calibration method is universally suitable for series connection joint-type robots, and certain practical significance is achieved.

Description

technical field [0001] The invention relates to the technical field of robot kinematics calibration, in particular to an industrial robot kinematics calibration method based on visual measurement and a distance error model. Background technique [0002] Since the world's first robot was produced, robots have played an increasingly important role in people's lives and production fields. In actual work, there is an error between the end pose of the robot obtained by the control software and the actual pose reached by the end of the robot. Generally speaking, the repetitive positioning accuracy of the robot is very high, while the absolute positioning accuracy of the robot is not too high. The reasons for the low absolute positioning accuracy of the robot include errors in production, handling, assembly, and joint transmission errors. However, in many fields of robot application, such as complex assembly, maintenance, welding, etc., due to their own characteristics, robots mu...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/04
CPCB25J9/046B25J9/1605B25J9/1653B25J9/1697
Inventor 嵇保健沈健洪磊凌超
Owner NANJING UNIV OF TECH
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