Kinematic calibration system and method for industrial robot

An industrial robot and calibration system technology, applied in the field of kinematics calibration system of industrial robots, can solve the problems of complex operation and expensive equipment, and achieve the effects of simple operation, low cost, and improved absolute positioning accuracy

Active Publication Date: 2017-08-15
NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
View PDF6 Cites 37 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Aiming at the technical problems of expensive kinematics calibration equipment and complex operation, the present invention provides a kinematics calibration system and method for industria

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
  • Kinematic calibration system and method for industrial robot
  • Kinematic calibration system and method for industrial robot
  • Kinematic calibration system and method for industrial robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0029] Embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0030] Figure 1 to Figure 6 Shown is the structural representation of the present invention.

[0031] The reference signs therein are: measurement target base 1, installation rod 2, connecting rod 3, target sphere 4, end effector 5, sleeve 51, telescopic shaft 52, execution ball 53, robot 6, first cable 7, The second cable 8, the computer 9.

[0032] The kinematics calibration system for industrial robots of the present invention includes a measurement target placed in a working area, a robot 6 , an end effector 5 arranged on the robot 6 , and a computer 9 . The end effector 5 includes three independent telescopic detection clubs located at the execution end of the robot 6 , and each detection club is provided with a displacement sensor for detecting the telescopic displacement of the center of the ball. The computer 9 is provided with a fi...

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 kinematic calibration system and method for an industrial robot. The kinematic calibration system comprises measurement targets placed in a working area, a robot and an end effector arranged on the robot, as well as a computer, wherein the computer is provided with a first receiving module for reading joint angle data of the robot, a second receiving module for reading detection data of three displacement sensors, a first computation module for computing the nominal coordinate positions of the measurement targets according to data of both the first receiving module and the second receiving module, and a second computation module for computing compensation data of the robot according to the difference between the nominal distance of the measurement targets and the actual distance. The kinematic calibration system can not only correct kinematic parameters of the robot to improve the absolute positioning accuracy of operation but also calibrate the relative position relationship between a workpiece and a base of the robot, is very low in cost and simple and convenient to operate, and can be widely applied to middle and small-sized enterprises.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, in particular to a kinematics calibration system and method for industrial robots. Background technique [0002] The repetitive positioning accuracy of industrial robots is generally very high, but due to errors in the manufacturing and installation process, their absolute positioning accuracy is low. The positioning accuracy can be improved by kinematics calibration. [0003] Robot kinematics calibration generally includes four steps, modeling, measurement, error identification, and compensation. Among them, high-precision measuring equipment, such as laser trackers, will be used in the measuring step. Such equipment is bulky, expensive, and requires specialized personnel to operate. [0004] In the offline programming of robots, due to the deviation between the offline environment and the real environment, it is necessary to calibrate the relative positional relationship between th...

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): B25J19/00
CPCB25J19/0095
Inventor 杨桂林王仁成张驰陈庆盈王永超
Owner NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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