Constructing method and device for space coordinate system based on mechanical arm

Abstract

The invention discloses a constructing method for a space coordinate system based on a mechanical arm. Firstly, after the mechanical arm is controlled to move to one corner of a tray, the position ofthe mechanical arm is recorded as the original point; then the mechanical arm is controlled to start from the original point and move along one edge of the tray, and the moving direction, along one edge, of the mechanical arm is recorded as the Y-axis forward direction; then the mechanical arm is controlled to start from the original point and move along the adjacent edge of the edge, and the moving direction, along the adjacent edge, of the mechanical arm is recorded as the X-axis forward direction; and finally, the Y-axis forward direction vector and the X-axis forward direction vector are read, and the Z-axis forward direction vector is obtained according to a right-handed helix method. The invention further provides a device for constructing the space coordinate system based on the mechanical arm, the deflection between the location conducted according to the space coordinate system and the actual space position can be effectively reduced, and the displacement precision and the work precision of the mechanical arm are improved.

Description

technical field [0001] The invention relates to the field of manipulator control, in particular to a method and device for constructing a space coordinate system based on a manipulator. Background technique [0002] Handling and palletizing operations play an important role in the logistics management of modern enterprises. In palletizing work, the accuracy of palletizing is particularly important. At present, palletizing robotic arms generally use the world coordinate system to assist in confirming the working position. In the actual palletizing work, due to the large error between the data space formed by the world coordinate system and the actual work space, the accuracy of the palletizing work based on the world coordinate system is low, and it is easy to cause the actual stacking position and the data space position Inconsistent situations lead to palletizing accidents. Contents of the invention [0003] The purpose of the embodiments of the present invention is to ...

AI Technical Summary

Problems solved by technology

In the actual palletizing work, due to the large error between the data space formed by the world coordinate system and the actual work space, the accuracy of the palletizing work based on the world coordinate system is low, and it is easy to cause the actual stacking position and the data space position Inconsistent situations lead to palletizing accidents

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