Zero calibration method of three-degree-of-freedom parallel robot

Abstract

The invention relates to a zero calibration method of a three-degree-of-freedom parallel robot. The zero calibration method of the three-degree-of-freedom parallel robot includes the following steps that firstly, a laser sensor is installed at the tail end of a stationary platform; secondly, a space rectangular coordinate system is built in a working plane of the three-degree-of-freedom parallel robot; thirdly, a movable platform of the parallel robot is controlled to move in the working space by three fixed vectors in the x direction, the y direction and the z direction, and the distances between the stationary platform and the movable platform in the three poses are recorded by an electric transducer; and fourthly, the included angles between robot master arms in the position where the movable platform is located after the movable platform moves for three times and the horizontal plane are worked out, then a master arm driving motor rotates by a corresponding angle, and the robot master arms are driven to rotate to the horizontal position in the working space. According to the zero calibration method of the three-degree-of-freedom parallel robot, uncertain factors of manual calibration are overcome, and high calibration precision can be achieved; and complex algorithms or calibration tools are not needed, and the calibration process is simple and convenient.

Description

technical field [0001] The invention relates to the technical field of industrial robot control methods, in particular to a zero point calibration method for a three-degree-of-freedom parallel robot. Background technique [0002] Due to its compact structure, high rigidity, and strong carrying capacity, parallel robots are widely used in military, medical, and electronic fields. The zero point is the benchmark of the robot coordinate system. A robot that cannot determine the zero point cannot judge its own position, and it is even more difficult to accurately control its trajectory. Usually, before leaving the factory, the manufacturer will calibrate the mechanical parameters of the industrial robot, and give the parameters and zero position of each connecting rod. According to analysis, the phenomenon of zero point loss is more serious in the robots independently developed in my country, such as sudden power failure, collision with the environment, exceeding the mechanical...

AI Technical Summary

Problems solved by technology

However, there is no easy and accurate method for retrieving the zero point at present

[0003] For example, the Chinese patent publication number is CN104354166B, a kind of three-degree-of-freedom parallel robot zero point calibration method, a telescoping ruler with scale is installed between the static platform and the dynamic platform of the robot to measure the distance between the dynamic and static platforms in real time. Accurately find the zero point of the robot, but it is necessary to connect the telescopic scale with the dynamic and static platforms through the ball pair, which is inconvenient to operate

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