A Method of Initial Position Calibration of Station Movable Measuring Mechanism Based on Wire-drawn Encoder

Abstract

An initial position calibration method of a movable site measurement mechanism based on a stay wire encoder is disclosed. The method is characterized by visualizing a four-site layout and carrying out preliminary modeling on an overall measurement structure; popularizing a D-H model expressing a coordinate system among joints of a robot to coordinate transformation among four-site layout sites of a measurement module, and introducing four parameters of alpha, d1, d2 and beta to express the coordinate transformation among the four sites; establishing a four-site coordinate system mathematic model; and solving the D-H model established by the above measurement structure and acquiring four unknown quantities in an initial position calibration geometry model so as to determine a mutual position relation among the sites and ensure precision of a measurement mechanism initial position By using the algorithm, efficiency is high, cost is low, environment adaptability is high, an application scope is wide, the method is easy to realize and operation is convenient.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and relates to a station movable initial position calibration algorithm based on a pull-wire encoder. Background technique [0002] At present, with the rapid development of robot technology, industrial robots have been widely used in various industries. In the aviation industry, traditional manufacturing industry, electronic information industry and other industries, industrial robots are required to complete the tasks to be completed according to precise trajectories. [0003] The calibrated industrial robot can reach the specified point within the allowable error range, but in offline programming, arc welding and other tasks, it is often required that the industrial robot can accurately complete the task according to a certain trajectory. [0004] A measurement system with high precision and fast response is of great significance to the measurement of the robot's trajectory. However,...

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Problems solved by technology

[0006] In the cable-type space position measuring mechanism with the patent publication number CN103486989A, since the four stations of the measuring mechanism are fixed, that is, the four stations of the measuring mechanism cannot be moved during the measurement process, otherwise the previously measured data will be invalid

Therefore, the biggest disadvantage of the measurement method of the measurement mechanism is that the site is fixed, which greatly limits the measurement environment and increases the difficulty of measurement. Therefore, in order to ensure the measurement accuracy and improve the environmental adaptability of the measurement mechanism, Make the measuring mechanism better applicable to different industries and measurements in different environments

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