Rapid industrial robot tail end pose measuring device and measuring method thereof

Abstract

The invention discloses a rapid industrial robot tail end pose measuring device and a measuring method thereof. The rapid industrial robot tail end pose measuring device is characterized by comprising a planar rotating device, a concentric triaxial adjusting device, a magnetic base and a target ball. Firstly, an industrial robot is controlled to move to a point to be measured, then, the planar rotating device is controlled to drive the target ball to do circling motion, the position of the target ball is measured through a laser tracker, the concentric triaxial adjusting device can actively adjusts the direction of the target ball according to the motion of the planar rotating device to ensure that the target ball can reflect laser rays; according to a rotating plane and a trajectory circle center are fit according to measuring point data, a coordinate system (E) of the rapid tail end pose measuring device is established, a tail end pose in a measurement coordinate system (S) can be calculated; an expression of a flange pose in the measurement coordinate system (S) is further obtained through conversion matrix between a flange coordinate system (N) and the coordinate system (E) of the rapid tail end pose measuring device, and accordingly pose measurement of an industrial robot tail end is achieved.

Description

technical field [0001] The invention relates to a fast measuring device for the end pose of an industrial robot and a measuring method thereof, belonging to the technical field of industrial robots. Background technique [0002] With the continuous development of high-end manufacturing industry, the absolute positioning accuracy requirements of industrial robots have been gradually increased, especially in the application fields of laser welding, laser cutting and aerospace. Research has found that the absolute positioning accuracy of industrial robots can be achieved through robot kinematics parameter calibration technology improvement. [0003] The robot calibration process usually includes four basic steps: modeling, measurement, identification, and compensation. At present, the calibration methods of kinematic parameters are mainly divided into three types: open-loop method, closed-loop method and axis measurement method. [0004] Among them, the open-loop method has be...

AI Technical Summary

Problems solved by technology

[0007](1) The measurement target equipment (target ball or special target) has a limited measurement angle range, which affects the measurement of industrial robot pose data; (2) The pose measurement target The operation of the equipment is complicated or the cost is high; (3) Human intervention in the measurement process reduces the calibration efficiency of industrial robot kinematics parameters and introduces a large measurement uncertainty

Images