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Method for correcting errors of industrial robot offline programming on spot

An industrial robot and off-line programming technology, applied in the direction of instruments, manipulators, manufacturing tools, etc., can solve the problems of complex calibration methods and high calibration equipment prices, and achieve the effect of simple and easy methods, precise and accurate simulation, and avoid inaccuracy

Inactive Publication Date: 2017-05-31
吉林省凯迪科技有限公司
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Problems solved by technology

[0004] In order to solve the technical problems of high price of correction equipment and complex correction methods in the existing error correction methods, the present invention provides a method for correcting errors in off-line programming of industrial robots in the field

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  • Method for correcting errors of industrial robot offline programming on spot
  • Method for correcting errors of industrial robot offline programming on spot
  • Method for correcting errors of industrial robot offline programming on spot

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Embodiment Construction

[0041] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0042] Such as Figure 1 to Figure 4 As shown, the present invention corrects the method for the error of off-line programming of industrial robots in the field as follows:

[0043] First of all, the on-site layout is carried out in the off-line programming simulation of industrial robots, and the industrial robots are placed. Then select two points in the entire layout to place industrial cameras, and these two points need to be special, convenient, and easy to place. angle). Then, establish a new coordinate system based on these two industrial cameras: take the position of one of the industrial cameras as the origin of the coordinate system, the direction of the line connecting with the other industrial camera is the positive direction of the X axis, and the direction of the optical axis of the industrial camera is Y The positive direction of the axis, a...

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Abstract

The invention discloses a method for correcting errors of industrial robot offline programming on spot and belongs to the technical field of industrial robot offline programming. According to the method, offline programming simulation of an industrial robot is carried out in a computer, the specific positions of two industrial cameras are determined, a new simulation coordinate system is established, the positions of two correcting points and the coordinate values of the two correcting points are determined in the new coordinate system, and three feature points, within the shooting range of the two industrial cameras, on the industrial robot and the coordinate values of the three feature points are determined; on spot, the two industrial cameras are arranged according to the simulation position and shoot the correcting points, and the coordinates of the correcting points and a correction matrix are obtained; the three feature points, determined in simulation, on the robot are shot, and the coordinates of the three feature points relative to the industrial cameras are obtained; and homogeneous transformation in coordinate transformation is utilized, related data needed by correction is obtained, the data is transmitted to the computer, and the offline programming simulation of the industrial robot is corrected. The method is simple and easy to practice, and robot offline programming simulation is more precise and accurate.

Description

technical field [0001] The invention belongs to the technical field of off-line programming of industrial robots, and in particular relates to a method for correcting errors in off-line programming of industrial robots in the field. Background technique [0002] Robot off-line-programming system (Robot off-line-programming System) is the most active and cutting-edge research direction in the field of robot research. In recent years, with the rapid development of computer technology, microelectronics technology and network technology, robot technology has also developed rapidly. It integrates the latest scientific research results of various disciplines such as mechanical engineering, electronic engineering, automatic control engineering and artificial intelligence. At present, many types of robots have been put into engineering applications, creating huge economic and social benefits. A robot is a programmable mechanical device, and its functional flexibility and intelligen...

Claims

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Application Information

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IPC IPC(8): B25J9/16G06T7/80
CPCB25J9/1671
Inventor 李岩胡成威刘克平隋吉雷崔振丰
Owner 吉林省凯迪科技有限公司
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