Industrial mechanical arm precision calibrating method based on collaborative Kriging

A technology of collaborative kriging and industrial machinery, applied in the field of robotics, can solve problems such as expensive and troublesome kinematic models, and achieve the effect of simple method, good versatility, and improved operation accuracy

Inactive Publication Date: 2017-06-06
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

At present, the existing calibration methods for industrial manipulators are mainly to correct the kinematic model of the industrial manipulator. Although these methods can obtain the error of the parameters of the kinematic model, the parameters of the kinematic model are written into the non-open source control of the industrial manipulator. cumbersome and expensive in the system

Method used

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  • Industrial mechanical arm precision calibrating method based on collaborative Kriging
  • Industrial mechanical arm precision calibrating method based on collaborative Kriging
  • Industrial mechanical arm precision calibrating method based on collaborative Kriging

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Embodiment approach

[0020] see figure 1 , the device used in the present invention is made up of industrial mechanical arm, laser tracker and target ball. The target ball is fixed at the end of the industrial robot arm.

[0021] The steps of the method of the present invention are described in detail below.

[0022] The specific implementation steps of the inventive method are as follows:

[0023] Step 1: Set up the laser tracker on the ground so that the movement space of the industrial robot arm is included in the measurement range of the laser tracker, and install the target ball at the end of the industrial robot arm;

[0024] Step 2: Use the target ball as the center point of the tool, and obtain the coordinates of the target ball relative to the end coordinate system of the industrial manipulator arm through the calibration method of the tool center point of the industrial manipulator;

[0025] Step 3: Mark the coordinate system of the laser tracker to the base of the industrial robot ar...

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Abstract

The invention discloses an industrial mechanical arm precision calibrating method based on collaborative Kriging and belongs to the technical field of robots. A device used for the method is composed of an industrial mechanical arm, a laser tracker and a target ball. The target ball is fixed to the tail end of the industrial mechanical arm and serves as a tool center point. According to the method, actual coordinates of some points are measured through the laser tracker; then position errors of theoretical coordinates and the actual coordinates of the points are obtained; and by building a crossover variation function and adopting a collaborative Kriging interpolation method, the position errors of the points in the movement space of the industrial mechanical arm are estimated. The method is simple, it is not needed to build a kinetic model of the industrial mechanical arm, and the method has the beneficial effects that universality is good, the running precision of the industrial mechanical arm can be improved, and inner parameters of an industrial mechanical arm controller device are not needed to be modified.

Description

technical field [0001] The present invention relates to robot technology, and more specifically, the present invention relates to an industrial manipulator arm precision calibration method based on collaborative kriging. Background technique [0002] With the continuous improvement of the development level of modern industry, industrial mechanical arms have the characteristics of high production efficiency. Industrial robotic arms have been widely used in military, aerospace manufacturing, automobile manufacturing, entertainment, service and other technical fields. Due to the influence of comprehensive factors (processing error, assembly error, control error, external disturbance, temperature change, etc.), there are certain differences between the theoretical kinematics model of the industrial manipulator and the actual kinematics model, which leads to the absolute Decrease in positioning accuracy. The decline in the absolute positioning accuracy of industrial manipulator...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 袁培江陈冬冬林敏青曹双倩刘元伟蔡鹦
Owner BEIHANG UNIV
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