Robot original point demarcating method and device, storage medium and computer equipment

Abstract

The invention relates to a robot original point demarcating method and device, a storage medium and computer equipment. The method comprises the following steps that initial joint coordinates corresponding to each joint axis initial state of a robot are obtained, according to the initial joint coordinates, preset reference points at the terminal of the robot in various different attitude trends and current initial joint coordinates corresponding to the joint axis initial states when the preset reference points are coincide are obtained, according to the current joint coordinates, position coordinates corresponding to each attitude are obtained, distance deviation of the every two position coordinates are calculated, when any distance deviation is higher than a preset value, the initial joint coordinates are updated by using a search algorithm, according to the updated initial joint coordinates, the current joint coordinates are updated, the step that according to the current joint coordinates, position coordinates corresponding to each attitude are obtained is entered, and until each distance deviation is less than the preset value, the corresponding target initial joint coordinates are obtained to be used as an original point of the robot. By means of the robot original point demarcating method, the cost can be reduced, and the efficiency can be improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot origin calibration method, device, storage medium and computer equipment. Background technique [0002] A robot is a multi-joint manipulator or multi-degree-of-freedom machine device for the industrial field, which can perform work according to a pre-programmed control program. [0003] During the production of the robot, an initial position is generally set for each joint axis according to its working range. The initial position is the mechanical origin of the robot, and the actual movement of the mechanical body is based on the mechanical origin. Developers need to have a control origin when controlling the movement of the mechanical body, and control the movement of the mechanical body based on the control origin. The origin calibration is to adjust the control origin to the mechanical origin with maximum precision. Only when the control origin is very close to the ac...

AI Technical Summary

Problems solved by technology

Only when the control origin is very close to the actual mechanical origin, the control mechanical movement will be consistent with the actual mechanical movement; otherwise, when you want to control the robot to move to point B, the actual mechanical origin is different from the coordinate origin of the controller. Larger, the robot may not reach point B or stop beyond point B, resulting in low motion accuracy of the robot

[0004] In traditional technology, the robot origin calibration method mainly relies on tools (such as electronic controller EMD, micrometer). Using this method is not only costly, but also wastes time due to cumbersome steps.

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