Robot geometric calibration method based on single drawing wire encoder

Abstract

The invention discloses a robot geometric calibration method based on a single drawing wire encoder. Errors of geometrical parameters of robot joints are identified by establishing a position solution model, in a base coordinate system of a measurement system, of a robot terminal in combination of a joint kinematics model of a robot, and furthermore, error compensation is conducted on the geometrical parameters of the robot; and absolute location precision of the robot is improved. The robot terminal is made to move to a designated position in a space according to a demonstration procedure of the robot; the length data of a drawing wire which connects the robot terminal with the drawing wire encoder are obtained; the transformation relation between the base coordinate system of the robot and a measurement coordinate system where the single drawing wire encoder is located is obtained through identification conducted through a least square method; geometrical structure parameters of the robot are obtained through geometric construction identification of the position solution model established under the base coordinate system of the measurement system and the robot kinematics model; the geometrical structure errors of the robot are compensated; and the absolute location precision of the robot is improved. The robot geometric calibration method is high in calibration result precision, convenient to operate and easy to implement.

Description

technical field [0001] The invention relates to a robot technology, in particular to a robot error elimination method, in particular to a robot geometry calibration method based on a single wire encoder. Background technique [0002] With the rapid development of the aviation industry level, industrial robot technology is also constantly making breakthroughs and innovations, and has developed into an increasingly mature advanced technology, making robots shine in many fields such as aircraft automatic assembly, especially with relatively High-precision industrial robots. [0003] Generally speaking, the repeated positioning accuracy of industrial robots is very high, which can reach 0.1mm or even lower. However, due to factors such as the size of the joint gap of the robot and the flexibility of the arm, errors will inevitably occur when it leaves the factory, making it difficult to guarantee the absolute positioning accuracy of the industrial robot, and the error will reac...

AI Technical Summary

Problems solved by technology

[0009] The purpose of the present invention is to solve the problem of low absolute positioning accuracy of industrial robots, invent a robot geometric calibration method based on a single cable encoder, and provide a geometric parameter calibration algorithm for industrial robots, which has higher efficiency and lower cost. Low, high precision, easy to operate

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