Laser-tracker-based calibration method for six-degree-of-freedom robot tool coordinate system

Abstract

The invention relates to a laser-tracker-based calibration method for a six-degree-of-freedom robot tool coordinate system. The method comprises: a laser tracker is arranged in front of a robot body at a distance of three meters; a pedestal and a target ball are fixedly installed on a flange plate; SA software is operated and a laser tracker is connected; the robot body is adjusted to be at a non-singular point position and a spatial position of the target ball at an attitude is recorded; the center of the flange plate is kept to be unchanged, the attitude of the flange plate is changed step by step and all attitude positions are recorded, the operation is repeated by 19 times to obtain spatial positions with serial numbers P1 to P20 at 20 attitudes; ball fitting is carried out on the twenty spatial position points by the SA software to obtain a sphere with the center of the flange plate as a centre of sphere; at an attitude Pi, a flange coordinate system {Tool000} is established; andunder the {Tool000} coordinate system, the Pi coordinate expresses a positional relationship between a tool and the flange coordinate system, and a tool coordinate system is determined based on the coordinate system positional relationship. According to the invention, the operation is simple and the calibration accuracy is high.

Description

technical field [0001] The invention relates to the technical field of six-degree-of-freedom industrial robots, in particular to a method for calibrating a six-degree-of-freedom robot tool coordinate system based on a laser tracker. Background technique [0002] With the development of industry, industrial robots are used more and more widely. In practical applications, most robots complete various tasks by installing different operating tools at the end. In order to achieve the high-precision requirements of the robot, before using it, it is necessary to establish the positional relationship of the tip of the robot tool relative to the flange at the end of the robot, that is, to calibrate the tool coordinate system of the robot. [0003] At present, there are many methods to calibrate the tool coordinate system of industrial robots, such as using triggers to calibrate, using four points to calculate the center of the sphere, etc., but these methods are more complicated to o...

AI Technical Summary

Problems solved by technology

[0003] At present, there are many ways to calibrate the tool coordinate system of industrial robots, such as using triggers to calibrate, using four points to calculate the center of the sphere, etc., but these methods are relatively complicated to operate, and the accuracy after calibration is not high

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