A Method for Calibrating the Zero Position of Humanoid Robot Joints
A humanoid robot and robot technology, applied in the field of humanoid robots, can solve problems such as high cost, narrow scope of application, complex equipment development technology, etc., and achieve the effects of saving device costs, saving development costs, and reducing human operation errors
Active Publication Date: 2019-08-06
深圳智能博世科技有限公司
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Problems solved by technology
This method requires the development of a set of visual algorithm processing and detection equipment specially for robot zero position calibration. The equipment development technology is complex, the cost is high, and it is only suitable for use in mass production, with a narrow scope of application.
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[0026] A method for calibrating the joint zero position of a humanoid robot according to the present invention is carried out in sequence according to the following steps:
[0027] Step 1: Use the PC host computer software and mobile APP to connect to the humanoid robot through a wired or wireless connection, or send a joint zero calibration command to the humanoid robot through voice control, and the humanoid robot control center will enter the zero position. Bit calibration mode, start to calibrate each joint;
[0028] Step 2: During zero calibration, the humanoid robot control center sends a rotation command to the joint to be calibrated; the robot control center queries the angle of the joint to be calibrated at intervals, and when the joint to be calibrated cannot rotate, it is considered that the joint to be calibrated has rotated When reaching the joint limit surface, the robot control center calculates the zero position error value, saves it, and starts to calibrate th...
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The invention belongs to the technical field of humanoid robots, and particularly relates to a zero calibration method for humanoid robot joints. The method includes the steps that PC upper computer software and mobile phone APPs are adopted to be connected to a humanoid robot through wired connection or wireless connection, or a voice control mode is used for sending out a joint zero calibration instruction to the humanoid robot, a humanoid robot control center can enter into a zero calibration mode, and accordingly each joint begins to be calibrated; during zero calibration, the humanoid robot control center sends rotating instructions to the joints to be calibrated; and the humanoid robot control center inquires the angles of the joints to be calibrated once after some interval of time, it is regarded that the joints to be calibrated have already rotated to joint limitation surfaces when the joints to be calibrated cannot be rotated any more, the humanoid robot control center figures out the error value of one zero position and further stores the error value, and then the zero position of the next joint begins to be calibrated. By the adoption of the zero calibration method, development cost and device cost are reduced, and there is no need to additionally develop a zero calibration device independently.
Description
technical field [0001] The invention belongs to the technical field of humanoid robots, and in particular relates to a method for calibrating the zero position of joints of humanoid robots. Background technique [0002] The humanoid robot mainly includes a head, two hands, and two legs. The head has 1-3 joints, each hand has 3 joints and each leg has 3-6 joints, each joint is a degree of freedom. Due to the position sensor error of the joint, the installation position error of the joint output gear and the rudder disc, etc., the values of the zero position of different joints are different. The position sensor and its angular error such as figure 1 shown. [0003] The number of teeth of the joint output gear is N, and the angle of each tooth is 360° / N. Generally, in order to facilitate assembly, the rudder disc and the joint output gear are allowed to deviate by 2 teeth, that is, the maximum will be 2*360° / N degree of error. Assume that the joint gear used has 25 teet...
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IPC IPC(8): B25J9/16
CPCB25J9/1692
Inventor 钟桂鑫薛跃荣刘凌云
Owner 深圳智能博世科技有限公司