A Method for Calibrating the Zero Position of Humanoid Robot Joints

Abstract

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...

AI Technical Summary

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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