Industrial robot kinematic parameter calibration algorithm based on linear displacement sensor

A technology of robot kinematics and industrial robots, applied in the field of robots, can solve problems such as low precision and limited application, and achieve the effects of easy implementation, improved absolute positioning accuracy, and simple algorithm structure

Active Publication Date: 2016-11-09
ANHUI UNIVERSITY OF TECHNOLOGY
View PDF5 Cites 12 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the characteristics of the linear displacement sensor itself, such as low precision compared with the laser tracker, the measurement data is one-dimensional (only the distance between two points ca

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Industrial robot kinematic parameter calibration algorithm based on linear displacement sensor
  • Industrial robot kinematic parameter calibration algorithm based on linear displacement sensor
  • Industrial robot kinematic parameter calibration algorithm based on linear displacement sensor

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0023] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0024] Such as figure 2 shown. The linear displacement sensor uses a wire sensor, and of course other sensors, such as a laser tracker, can also be used. The calibration system consists of a robot controller 1, an industrial robot to be calibrated 2, a connecting rod 3, a cable sensor 4, a data acquisition card 5 and a computer 6. The basic process is: the industrial robot 2 to be calibrated is installed in a fixed position, the end flange of the industrial robot is equipped with a connecting rod 3 matching the cable sensor, and the cable sensor 4 is placed as fixedly as possible in the working space of the industrial robot. In principle, the position of the cable sensor can be arbitrary, and the industrial robot 2 to be calibrated moves to different positions in space under the drive of the robot controller 1, and...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses an industrial robot kinematic parameter calibration algorithm based on a linear displacement sensor, which belongs to the technical field of robots. According to the algorithm, the sensor can be fixed at a position in working space of the robot, the robot moves to a different specified position according to a teaching program instruction and stops, the distance data between the tail end TCP of the robot and the reference position of the sensor can be acquired via the sensor, and a joint angle value is recorded; then, rough calibration is carried out, the robot TCP is used for acquiring the initial value of the reference position of the sensor, a more accurate value of the reference position of the sensor is acquired according to the measurement data and a calibration equation, the calibration equation is obtained when zero variation of the joint angle is only considered, and rough calibration is completed; and fine calibration is carried out, all DH parameters of the robot, tail end connection rod parameters and the sensor zero variation are considered, a calibration equation is built, and calibration is completed after multiple iterations. The industrial robot kinematic parameter calibration algorithm based on the linear displacement sensor has the advantages of simple structure, easy realization, high calibration precision, quick convergence speed and the like.

Description

Technical field: [0001] The invention belongs to the technical field of robots, and in particular relates to a calibration algorithm of kinematic parameters of an industrial robot based on a linear displacement sensor. Background technique: [0002] With the continuous expansion of the application range of industrial robots and the complexity of their tasks in industrial production, the requirements for the position and attitude accuracy of industrial robots are also getting higher and higher. At present, industrial robots have a high repeat positioning accuracy, within 0.1mm, but the absolute positioning accuracy is very low, above 1mm, or even 1cm, which severely limits the application range of industrial robots. Many reasons lead to low positioning accuracy of industrial robots, the most important of which is the parameter deviation of the geometric structure in the kinematics model. Calibration technology is an effective method to compensate for these parameter deviatio...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G06T7/20G06T7/00G06T5/00
CPCG06T5/006
Inventor 单建华佘慧莉
Owner ANHUI UNIVERSITY OF TECHNOLOGY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap