Four-target ball combined measurement device and method for industrial robot posture

Abstract

The invention provides a four-target ball combined measurement device and method for an industrial robot posture. The method comprises industrial robot posture measurement hardware, industrial robot posture measurement flow and industrial robot posture solving flow, wherein the industrial robot posture measurement hardware carries out measurement according to the instruction of the industrial robot posture measurement flow, transmits the measurement result to the industrial robot posture solving flow to carry out direct calculation of the industrial robot posture and finally obtains the industrial robot posture measurement result with low measurement uncertainty. According to the four-target ball combined measurement device and method for the industrial robot posture, simple and low-measurement uncertainty industrial robot posture measurement can be achieved, and the four-target ball combined measurement device and method can be widely applied to the field of posture measurement.

Description

technical field [0001] The invention belongs to the field of precision and performance measurement and evaluation of joint-type and parallel-type industrial robots, and in particular relates to a four-target ball combined measurement device and method for the pose and posture of industrial robots. Background technique [0002] With the emergence of intelligent production lines and unmanned factories, industrial robots have gradually expanded from conventional applications such as handling, spraying, and welding to precision operations such as automatic assembly, size inspection, and precision machining. For example, industrial robots are used in the aircraft assembly process to achieve precision riveting , which requires higher and higher pose characteristics. [0003] The pose of an industrial robot includes the position and attitude of its mechanical interface, where the position of the mechanical interface is represented by the position of its tool center point, and the a...

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Problems solved by technology

Among them, the direct measurement method mainly depends on the repeatability positioning accuracy of the robot. Because the measurement process introduces systematic errors, which reduces the accuracy of the measurement system, it is difficult for direct measurement equipment to meet the requirements of industrial robot pose measurement accuracy; in combined measurement equipment, A high-precision camera requires the cooperation of multiple devices to realize the attitude measurement of an industrial robot. Therefore, the system requires high coordination between devices. At the same time, its measurement results are affected by the resolution of the camera and the accuracy of the data processing algorithm, and it is difficult to achieve this at a long measurement distance. Meet the measurement accuracy requirements of 10 microns; the laser tracker is widely used in the field of robot pose measurement due to its high measurement accuracy and simple operation, but it needs to cooperate with the pose measurement model to achieve industrial robot pose measurement, while the existing measurement model An iterative algorithm is required to solve it, so there are disadvantages such as large data processing errors and long time consumption

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