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A Calibration Method of Industrial Robot Kinematic Parameters 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 structure of the method

Active Publication Date: 2019-03-05
ANHUI UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

However, due to the characteristics of the linear displacement sensor itself, such as low accuracy compared to the laser tracker, the measurement data is one-dimensional (only the distance between two points can be measured), etc., which limit its application in the field of robot calibration, so It is an urgent need to develop a calibration method for robot kinematics parameters based on linear displacement sensors

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  • A Calibration Method of Industrial Robot Kinematic Parameters Based on Linear Displacement Sensor
  • A Calibration Method of Industrial Robot Kinematic Parameters Based on Linear Displacement Sensor
  • A Calibration Method of Industrial Robot Kinematic Parameters Based on Linear Displacement Sensor

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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...

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Abstract

The invention discloses a calibration method of industrial robot kinematic parameters based on a linear displacement sensor, and belongs to the field of robot technology. This method fixes the sensor at several positions in the robot working space, makes the robot move to different designated positions and stops according to the instructions of the teaching program, and obtains the distance data between the robot end TCP and the sensor reference position through the sensor, and records the joint angle value; and then performs Coarse calibration uses the robot TCP to obtain the initial value of the sensor's reference position. Based on the measurement data and calibration equation, obtain a more accurate value of the sensor's reference position. Only considering the joint angle zero deviation to obtain the calibration equation, complete the coarse calibration; then perform fine calibration. , considering all DH parameters of the robot, end link parameters, and sensor zero position deviation, a calibration equation is established, and the calibration is completed after multiple iterations. The invention has the characteristics of simple structure, easy implementation, high calibration accuracy and fast convergence speed.

Description

Technical field: [0001] The invention belongs to the technical field of robots, and in particular relates to a method for calibrating 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 deviations...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80G06T7/20G06T7/00G06T5/00
CPCG06T5/80
Inventor 单建华佘慧莉
Owner ANHUI UNIVERSITY OF TECHNOLOGY
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