Calibration method for robot joint and calculating device

A technology of robot joints and calibration methods, applied in measurement devices, instruments, manipulators, etc., can solve problems such as low efficiency of calibration solutions, and achieve the effects of safe and reliable calibration process, high calibration efficiency, and improved accuracy

Active Publication Date: 2017-10-20
深圳如布科技有限公司
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Problems solved by technology

[0003] The purpose of the present invention is to provide a calibration method and computing

Method used

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  • Calibration method for robot joint and calculating device
  • Calibration method for robot joint and calculating device

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Example Embodiment

[0019] The embodiments of the present invention will be described in detail below with reference to the drawings.

[0020] figure 1 It is a flowchart showing a calibration method of a robot joint according to an embodiment of the present invention. The method for controlling smart home appliances according to the embodiments of the present invention can be applied to various electronic devices with automatic control functions, such as industrial computers, programmable controllers, and single-chip computers.

[0021] The position feedback sensor of the robot joint according to the present invention may include various sensors that can feedback position information. For example, the position feedback sensor may include a variable resistor. The variable resistor is mounted on the motor output shaft of the joint directly or through gears. During the movement of the robot, the variable resistor feedbacks the position information of the joint. For another example, the position feedback...

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Abstract

The invention provides a calibration method for a robot joint. A position feedback sensor of the robot joint comprises a variable resistor. The calibration method includes the steps that the joint to be calibrated is controlled to move in the first direction; when the joint to be calibrated reaches the movement limit in the first direction, a first ADC value of the variable resistor is obtained; the joint to be calibrated is controlled to move in the second movement direction; when the joint to be calibrated reaches the movement limit in the second direction, a second ADC value of the variable resistor is obtained; the function relation between the absolute angle of the joint to be calibrated and the ADC value of the variable resistor is determined according to the first ADC value, the second ADC value, the first absolute angle value of the movement limit in the first direction and the second absolute angle value of the movement limit in the second direction; and the function relation between the absolute angle of the joint to be calibrated and the ADC value of the variable resistor is set in a robot control system according to the determined function relation.

Description

technical field [0001] The invention relates to the technical field of robot control. More specifically, it relates to a calibration method and computing device for robot joints. Background technique [0002] After the production and assembly of the robot is completed, the parameters of each joint need to be calibrated, and the zero position, limit position and position information during the movement process can be obtained to improve the accuracy and precision of the movement. The traditional calibration scheme of robot joints requires manual participation or fixture assistance, which is inefficient. Contents of the invention [0003] The purpose of the present invention is to provide a calibration method and computing device for robot joints, so as to solve the problem of low efficiency of the existing calibration scheme. [0004] One aspect of the present invention provides a calibration method for a robot joint. The position feedback sensor of the robot joint includ...

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Application Information

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IPC IPC(8): B25J19/00G01B21/22
CPCB25J19/0066B25J19/0095G01B21/22
Inventor 韩守谦贾凯宾
Owner 深圳如布科技有限公司
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