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A method and system for calibrating the pose error of a mechanical arm

An error calibration and manipulator technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of low reliability of compensation accuracy, fitting errors of measurement points, inability to meet large workspace, multi-configuration and complex work. The law of state change and other issues

Active Publication Date: 2020-02-07
杨聚庆
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Problems solved by technology

[0004] However, in practical applications, the manipulator will be affected by various error factors. The single optimal value of the calibrated kinematic parameters cannot satisfy the law of large workspace, multi-configuration and complex working conditions. The measurement points obtained during the calibration process fit In the uncalibrated space range, the calibration error increases significantly and the reliability of the compensation accuracy is not high.

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  • A method and system for calibrating the pose error of a mechanical arm
  • A method and system for calibrating the pose error of a mechanical arm
  • A method and system for calibrating the pose error of a mechanical arm

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[0042] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0043] The present invention provides a method for calibrating the pose error of a manipulator, which includes: performing an equivalent differential transformation on the end pose error of the manipulator, and decomposing it into an equivalent differential motion vector when each joint axis of the manipulator moves independently, so that by The calibration and decoupling transformation of the pose error when each joint axis of the manipulator rotates and samples independently realizes the calibration of the pose error at the end of the manipulator.

[0044]Specifically, the main idea of ​​the calibration method for the pose error at the end of the manipulator is to decomp...

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Abstract

The invention provides a method and system for calibrating the pose error of a mechanical arm. The method includes: performing equivalent differential transformation on the pose error of the tail endof the mechanical arm to obtain an equivalent differential motion vector, decomposing the equivalent differential motion vector into the equivalent differential motion vector of each joint shaft, during independent motion, of the mechanical arm, and performing calibration and decoupling transformation on the pose error of each joint shaft, during independent rotation sampling, of the mechanical arm to calibrate the pose error of the tail end of the mechanical arm. The method and system has the advantages that equivalent different transformation description is performed on the pose error at thetail end of the mechanical arm to obtain the equivalent differential motion vector, the equivalent differential motion vector is decomposed into the equivalent differential motion vector of each connecting rod coordinate system, and decoupling calculation and transformation are performed on the connecting rod coordinate systems and joint motion coupling relations to achieve high-precision and high-reliability synchronous calibration of the absolute pose error of the mechanical arm in a full working space range.

Description

technical field [0001] The present invention relates to the technical field of robot control and application, and more specifically, to a method and system for calibrating the pose error of a mechanical arm. Background technique [0002] With the development of the robot industry and the needs of modern manufacturing processes, the requirements for the working precision of the robot are getting higher and higher. The mechanical arm of the articulated robot generally realizes various motion functions through the combination of multiple rotating joints in series. , assembly, welding, spraying and other industrial sites have a wide range of applications. Since serial articulated robots often work in applications that require high precision and safety, this requires the robot to have high absolute positioning accuracy. Among them, the error calibration of the manipulator is the premise and necessary means to improve the absolute positioning accuracy and carry out high-precision...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
Inventor 杨聚庆史亚贝户燕会蔡峰杨少蒙刘娇月王锴宁吴柏林王世明钟文奇潘志豪王光民
Owner 杨聚庆
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