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An Online Compensation Method for Robot Positioning Error Aided by External Measurement

A compensation method and robot technology, applied in the field of robots, can solve problems such as time-consuming installation and debugging, sensor position and signal interference, and achieve the effect of being convenient for industrial field application

Active Publication Date: 2019-12-17
TIANJIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

These complex monitoring devices will inevitably result in time-consuming installation and commissioning as well as position and signal interference between sensors

Method used

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  • An Online Compensation Method for Robot Positioning Error Aided by External Measurement
  • An Online Compensation Method for Robot Positioning Error Aided by External Measurement
  • An Online Compensation Method for Robot Positioning Error Aided by External Measurement

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Embodiment Construction

[0025] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the embodiments and accompanying drawings. Here, the exemplary embodiments and descriptions of the present invention are used to explain the present invention, but not to limit the present invention.

[0026] The online positioning error compensation method of the present invention will be described in detail below in conjunction with a five-degree-of-freedom hybrid robot with a rotating bracket disclosed in Chinese patent publication No. CN104985596A.

[0027] A method for on-line compensation of robot positioning errors assisted by external measurement of the present invention comprises the following steps:

[0028] (1) The laser tracker is used as the measuring instrument, and the reflective ball of the laser tracker is fixed at the end of the tool of the robot end effector;

[0029] (2) ...

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Abstract

The present invention discloses a method for on-line compensation of positioning error of a robot assisted by external measurement, comprising the following steps: using a laser tracker as a measuring instrument; fixing a reflecting ball of the laser tracker at a tool end of a robot end effector; establishing a robot end effector coordinate system and a laser tracker coordinate system; initializing the systems and using the coordinates of three randomly set reference points in the robot control system to calculate the transformation matrix from the robot end effector coordinate system to the laser tracker coordinate system; carrying out real-time measurement and detecting the position error of the robot end effector at any position and calculating the compensation vector; performing synchronous control and online compensating the errors. The method of the present method directly measures the three-dimensional position information of the end effector by the laser tracker, and then compensates for the position information of the end effector.

Description

technical field [0001] The invention relates to a robot, in particular to a positioning error compensation method for manufacturing equipment, which utilizes an external measuring instrument to realize on-line compensation of the positioning error of a robot end effector. Background technique [0002] Geometric accuracy is an important performance index of industrial robots. Before the robot leaves the factory or is installed and debugged, the manufacturer can provide calibration services to ensure the accuracy of the robot. However, due to factors such as load, gravity, thermal effect, mechanical clearance, and vibration during processing, the accuracy of the robot end effector gradually decreases and cannot meet the processing accuracy requirements. Returning the robot to the factory for calibration or asking the manufacturer to calibrate on-site will undoubtedly increase production costs. Therefore, error compensation is usually used to improve the end accuracy of the ro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/00
CPCG01B11/002
Inventor 丁雅斌章点黄田梅江平田文杰刘海涛尹福文陈伟峰董成林
Owner TIANJIN UNIV
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