On-site real-time temperature compensation method of industrial robot based on vision sensor

Abstract

The invention discloses an industrial robot on-site real-time temperature compensation method based on a visual sensor. The industrial robot on-site real-time temperature compensation method based on the visual sensor comprises that: (1) a visual sense sensor is installed and fixed near a pedestal of the industrial robot; (2) a robot temperature compensation track is demonstrated, taught and stored through teaching programming when the robot is in a cold state; (3) under the cold state, the robot can automatically operate a temperature compensation track and stores cold state coordinators of a calibrated point; (4) under a thermal state, the robot re-operate the compensation track and stores thermal coordinators of the calibrated point; (5) a robot kinematics model parameter error which is caused by a temperature effect is calculated; (6) a robot kinematics model parameter is updated and a rotation angle corrective value of each joint in a working track of the robot is calculated; and (7) the robot enters a next working cycle, and the steps from the (4) to the step (6) are repeated. The industrial robot on-site real-time temperature compensation method based on the visual sensor can correct the change of a moving track of the robot which is caused by temperature and realizes the robot temperature error compensation effect.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, in particular to a visual sensor-based on-site real-time temperature compensation method for industrial robots. Background technique [0002] Industrial robots are an important part of modern manufacturing. With the improvement of modern manufacturing precision, the requirements for industrial robot motion accuracy are getting higher and higher. However, industrial robots will produce very obvious temperature errors during continuous high-speed motion, that is, after a period of continuous high-speed motion of the robot, the TCP (Tool Center Point) at the end of the robot will have a very obvious position drift. Taking an industrial robot with an arm span of 3m as an example, after moving continuously at 100% speed for 1 hour, for the same target point, the position of the TCP at the end of the robot can change by up to 0.5mm, that is, there will be a large position difference in the ro...

AI Technical Summary

Problems solved by technology

[0006] The present invention aims to overcome the deficiencies of the prior art, and proposes a visual sensor-based on-site real-time temperature compensation method for industrial robots, which can solve the problem of deviations in the trajectory of the robot caused by ambient temperature changes or the robot’s own heat production during continuous high-speed motion. question

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