A method, system and device for calibrating a coordinate system
A calibration method and coordinate system technology, applied in the field of robotics, can solve problems such as the inability to calculate the coordinate system to be measured, and the lack of a clear X-axis or Y-axis.
Active Publication Date: 2021-02-26
SHENZHEN A&E INTELLIGENT TECH INST CO LTD
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[0004] However, using the three-point method for calibration requires that the origin, X-axis and Y-axis of the coordinates to be measured are very clear. In practical applications, the coordinate system to be measured does not have a clear X-axis or Y-axis (for example: grinding wheel). At this time, use three The point method to calibrate the coordinates to be measured cannot touch a point on the X-axis, and the coordinate system to be measured cannot be calculated
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[0075] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of this application.
[0076] The terms "first" and "second" in the specification and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, ...
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A method, system, and device for calibrating a coordinate system, used to simplify a calibration process of a coordinate system under test. The method comprises: enabling a contact of a tool center point of a standard tool with an origin of a coordinate system under test (202); recording a first pose parameter of a robot when the tool center point contacts the origin (203); moving a robot flange, such that a first axis direction of a flange coordinate system of the robot flange is parallel to a first axis direction of the coordinate system under test (204); and recording a second pose parameter of the robot when the first axis direction of the flange coordinate system is parallel to the first axis direction of the coordinate system under test (205); and calculating, according to the first pose parameter and second pose parameter, a target calibration parameter of the coordinate system under test in a target coordinate system (206).
Description
technical field [0001] The present application relates to the field of robot technology, in particular to a method, system and device for calibrating a coordinate system. Background technique [0002] At present, robot technology is widely used in the industrial field. In robot operation work, there are two kinds of tool installation for robot operation, one is installed at the end of the robot; the other is fixedly installed outside the robot. The accuracy of the robot tool coordinate system directly affects the robot's working precision. [0003] In the prior art, for tools installed outside the robot, the method of calibrating the coordinate system to be measured is to calibrate by the three-point method: through the standard tool installed on the flange of the robot, touch the origin of the coordinate system to be measured, the X axis One point in the positive direction and one point on the XY plane, the positions of the three sets of robot axes are obtained, and the us...
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IPC IPC(8): B25J9/16
CPCB25J9/1653B25J9/16G01B21/00
Inventor 叶根
Owner SHENZHEN A&E INTELLIGENT TECH INST CO LTD