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Dead weight and load deformation compensation based robot calibration method and system

A technology of load deformation and calibration method, which is applied in the field of robotics, can solve problems such as joint angle deformation without consideration, and achieve the effect of improving absolute positioning accuracy

Active Publication Date: 2018-08-17
汇川技术(东莞)有限公司
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a robot calibration method and system based on self-weight and load deformation compensation for the defect that the above-mentioned robot calibration technology in the prior art does not consider the joint angle deformation caused by the self-weight and load of the robot body

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  • Dead weight and load deformation compensation based robot calibration method and system
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Embodiment Construction

[0042] In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the related drawings. Typical embodiments of the invention are shown in the drawings. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention.

[0044] The general idea of ​​the present invention is: in the calibration process, consider the joint angle deformation caused by the robot's own weight ...

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Abstract

The invention discloses a dead weight and load deformation compensation based robot calibration method and a system. The method comprises the following steps that original nominal joint angles corresponding to each calibration point position are compensated to obtain compensation joint angles on the basis of joint angle deformation caused by the dead weight and load of the robot; according to theactual measured position obtained when a tool installed the tail end of the robot reaches each calibration point position at the tail end and compensation joint angles, to-be-identified parameters arecorrected. According to the method and the system, the original nominal joint angles corresponding to each calibration point position are compensated based on the joint angle deformation caused by the dead weight and load of the robot, the compensation joint angles are adopted instead of the non-original nominal joint angles in the calibration process, so that the calibration process reduces theinfluence on absolute positioning precision caused by the dead weight and load of the robot; and compared with a kinematic calibration algorithm, the absolute positioning precision of the robot can begreatly improved, and the absolute positioning precision of an industrial robot can be greatly improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a robot calibration method and system based on self-weight and load deformation compensation. Background technique [0002] With the increasing application of industrial robots in 3C and other fields, the requirements for the speed and positioning accuracy of robots are getting higher and higher, especially the positioning accuracy of robots. The factors affecting the absolute positioning accuracy of the robot can be roughly divided into two categories: geometric parameter error and non-geometric parameter error. For typical 6-DOF serial robots in industrial robots, the errors of geometric parameters are mainly caused by manufacturing and assembly errors, such as link length, link angle and so on. Non-geometric parameter errors are mainly caused by the robot's own weight and load. [0003] At present, most industrial robot calibrations are based on kinematics. For a typical 6-DOF serial r...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1638
Inventor 杨磊郑超超屈云飞
Owner 汇川技术(东莞)有限公司
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