Calibration method and device for arm length and zero point of SCARA (Selective compliance assembly robot arm) robot, medium and computer device

A zero-point calibration and robot technology, applied in the field of robotics, can solve the problems of convenient and accurate calibration of SCARA robot arm length and zero-point calibration.

Active Publication Date: 2018-02-23
ADTECH SHENZHEN TECH
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  • Application Information

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Problems solved by technology

[0005] Based on this, it is necessary to provide a convenient and accurate SCARA robot arm length and zero point calibration method, device, storage medium and computer equipment for the problem that it is generally impossible to calibrate the arm length and zero point of the SCARA robot conveniently and accurately

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  • Calibration method and device for arm length and zero point of SCARA (Selective compliance assembly robot arm) robot, medium and computer device
  • Calibration method and device for arm length and zero point of SCARA (Selective compliance assembly robot arm) robot, medium and computer device
  • Calibration method and device for arm length and zero point of SCARA (Selective compliance assembly robot arm) robot, medium and computer device

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Embodiment Construction

[0049] In order to further explain in detail the technical solution of the method and device for calibrating the arm length and zero point of the SCARA robot of the present invention and the effect achieved, the following will first introduce the content related to the SCARA robot.

[0050] The SCARA robot has four joints (including three rotation joints around the Z axis and one translation joint along the Z axis), such as figure 1 As shown, since the calibration of the zero point and arm length of the SCARA robot has nothing to do with the three or four joints, it is regarded as a planar two-degree-of-freedom robot here. like figure 2 , OA is the rotary joint, B is the end of the robot, xoy is the base frame of the robot, and the length of the arm is L 1 , forearm length L 2 , joint 1 angle θ 1 , joint 2 angle θ 2 , zero offset value Δθ 2, the positive kinematic solution of the robot is obtained as follows:

[0051]

[0052] For any point P(x,y) in the robot worksp...

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Abstract

The invention provides a calibration method and device for an arm length and a zero point of an SCARA (Selective compliance assembly robot arm) robot, a memory medium and a computer device. The methodcomprises the steps of acquiring measurement parameters when an end calibration needle of the SCARA robot is aligned to a preset first hole and a preset second hole at different arm series; establishing a kinematic equation set of the SCARA robot; carrying out transformation and variable substitution on the kinematic equation set of the robot through a trigonometric identity, so as to acquire statically indeterminate homogeneous linear equations; solving the statically indeterminate homogeneous linear equations; and calculating the arm length and the zero point of the SCARA robot based on a solution result, the kinematic equation set and the known distance between the preset first hole and the preset second hole. According to the method, transformation and variable substitution are carried out on the kinematic positive solution equation of the robot through the trigonometric identity during the entire process, the kinematic positive solution equation is transformed from a nonlinear equation to a linear equation, the linear equation is solved, the entire processing and calculation process is simple, and the arm length and the zero point of the SCARA robot can be accurately calculated at the same time.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a calibration method, device, medium and computer equipment for the arm length and zero point of a SCARA robot. Background technique [0002] The SCARA robot (Selective Compliance Assembly Robot Arm) has four axes and four degrees of freedom of motion (including translation along the X, Y, and Z directions and rotation around the Z axis). The SCARA robot has compliance in the X and Y directions, and has good stiffness in the Z-axis direction, which is especially suitable for assembly work; its two-bar structure connected in series, similar to a human arm, can reach into a limited space to work Then retract, suitable for moving and accessing items. SCARA robots are compact in structure, flexible in action, fast in speed and high in position accuracy, and are widely used in the fields of plastics industry, automobile industry, electronic product industry, pharmaceutical industry an...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00B25J9/16
CPCB25J9/1607B25J19/0095
Inventor 郭晓彬杨基鹏黄国辉曾逸
Owner ADTECH SHENZHEN TECH
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