An online error compensation device and method for a robot based on a photography system
An error compensation, robotic technology
Active Publication Date: 2019-03-12
TIANJIN UNIV
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Problems solved by technology
However, this method requires cumbersome calibration in the robot workspace, and the selection of the calibration lattice has a great influence on the accuracy.
At positions other than the calibration point, the error cannot be guaranteed
Moreover, the calibration can only calibrate the position error, but not the attitude error, which has certain limitations
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[0024] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, and the described specific embodiments are only for explaining the present invention, and are not intended to limit the present invention.
[0025] The inventive concept of the present invention is as Figure 4 As shown, the two-dimensional inclination measuring instrument and the auxiliary target of the photogrammetry system are respectively fixed on the end of the robot actuator, and the two-dimensional inclination measuring instrument, the multi-station multi-camera combined photogrammetry system and the industrial robot control cabinet are respectively connected with the upper computer. connect. The initial installation position of the two-dimensional inclinometer is that the X-axis and Y-axis of the two-dimensional inclinometer coincide with the X-axis and Y-axis of the defined robot base coordinate system...
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The invention discloses a camera shooting system-based robot on line error compensation device comprising an industrial robot, a multiple observation station and multiple camera combination photogrammetry system, a spatial inertia coordinate measurement system, a photogrammetry system auxiliary drone and a host computer; functions of the spatial inertia coordinate measurement system are jointly fulfilled via a two-dimension inclination angle measuring meter and an encoder built in the industrial robot, the multiple observation station and multiple camera combination photogrammetry system is used for measuring positions and postures of a drone fixed on the robot, the two-dimension inclination angle measuring meter can be used for measuring postures of a tail end of the robot in two directional angles, three-dimensional postures of the tail end of the robot can be measured via high precision angle data solved and calculated via the robot, a compensation value can be obtained after three-dimensional posture data and posture data measured by the camera shooting system are subjected to data integrating and comparing operation, and error can be compensated via control over the industrial robot. The camera shooting system-based robot on line error compensation device does not require off-line calibration of the robot and is high in precision, and the camera shooting system-based robot on line error compensation device can be applied in the industrial fields such as the processing and manufacturing field and the like.
Description
technical field [0001] The invention relates to an industrial robot, in particular to an online error compensation device and method for a robot based on a photography system. Background technique [0002] Industrial robots are more and more widely used in the field of industrial processing and manufacturing because of their advantages such as large working space, high flexibility and low price. However, due to its own large machining error, coupled with the influence of other factors in the working process: such as temperature, vibration, etc., although the repeat positioning accuracy of the robot is high, its absolute positioning accuracy is very low. Moreover, due to the open-loop structure in series, the rigidity of the mechanical arm is also low, and its error is more obvious under the load. Therefore, it cannot be applied in fields such as machining requiring higher precision. At the same time, the off-line programming of industrial robots is also developing rapidly....
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IPC IPC(8): G01B11/00
CPCG01B11/005
Inventor 张福民史晓佳曲兴华刘柏灵
Owner TIANJIN UNIV