Method for calibrating absolute precision of industrial robot based on PMPSD

An industrial robot, absolute precision technology, applied in the field of robot calibration, can solve the problem of not being able to accurately identify the geometric parameter error of industrial robots, and achieve the effect of saving calibration time, avoiding errors, and avoiding PSD feedback control strategies

Active Publication Date: 2017-05-31
湖州菱创科技有限公司
View PDF7 Cites 19 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the problem with this method is that it is difficult to accurately project the laser beam to the center of the PSD through feedback control for industrial robots with low precision, so

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method for calibrating absolute precision of industrial robot based on PMPSD
  • Method for calibrating absolute precision of industrial robot based on PMPSD
  • Method for calibrating absolute precision of industrial robot based on PMPSD

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0023] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the embodiments and with reference to the accompanying drawings.

[0024] A PMPSD-based absolute precision calibration method for industrial robots, the operation flow chart is as follows image 3 As shown, the method includes the following steps:

[0025] The first step: establish the robot error kinematics model, including the following steps:

[0026] Step (1), use the D-H rule to build a robot error kinematics model.

[0027] In the D-H rule, the kinematic relationship between two adjacent bars is:

[0028]

[0029] In the formula, is the kinematic relationship between link i and link i-1, where a i is the connecting rod length, Δa i is the connecting rod length error, d i is the connecting rod offset distance, Δd i is the connecting rod offset error, α i is the joint tors...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a method for calibrating the absolute precision of an industrial robot based on a PMPSD. The method is characterized by comprising the following steps: establishing a robot error kinematic model, constructing a space multipoint virtual constraint, and carrying out data sampling by virtue of a PSD (Position Sensitive Detector); correcting a pose of a terminal laser of the robot by virtue of a space vector relation, correcting a joint corner of the robot by virtue of the corrected pose, and replacing a joint corner obtained from a robot demonstrator and a controller; constructing a model constraint target function, and optimizing the model constraint target function by virtue of a minimizing method, so as to obtain parameter errors of the industrial robot; and finally correcting a geometric parameter nominal value by virtue of the parameter errors, so as to finish the kinematic calibration and absolute precision correction of the industrial robot. By virtue of the method for calibrating the absolute precision of the industrial robot based on the PMPSD, the error problems caused by utilizing a PSD feedback control strategy and coordinate conversion are avoided; and the method is applicable to series-connection joint type robots and plant joint type robots.

Description

technical field [0001] The invention relates to the technical field of robot calibration, in particular to a PMPSD (Pose ModifyPosition Sensitive Detector)-based industrial robot absolute precision calibration method. Background technique [0002] With the expansion of the application field of industrial robots and the demand of high-end manufacturing industry, higher requirements are put forward for the performance of industrial robots. Positioning accuracy is an important index reflecting the comprehensive performance of the robot, which can be divided into repeat positioning accuracy and absolute positioning accuracy. At present, the repeated positioning accuracy of industrial robots is relatively high, but its absolute positioning accuracy is low, which makes it difficult to meet the production needs of high-precision industries (such as automobile manufacturing, electrical and electronic industries). [0003] The positioning errors of industrial robots are mainly divid...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G06F17/50
CPCG06F30/17G06F30/20
Inventor 白瑞林李松洋
Owner 湖州菱创科技有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap