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A robot calibration method and system based on self-weight and load deformation compensation

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: 2021-11-19
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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  • A robot calibration method and system based on self-weight and load deformation compensation
  • A robot calibration method and system based on self-weight and load deformation compensation
  • A robot calibration method and system based on self-weight and load deformation compensation

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[0042] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Typical embodiments of the invention are shown in the drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of the present invention 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 technical field of the invention. 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 process of calibration, consider the joint angle deformation caused b...

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Abstract

The invention discloses a robot calibration method and system based on self-weight and load deformation compensation. The method includes: based on the joint angle deformation caused by the robot's self-weight and load, the original nominal joint angle corresponding to each calibration point is compensated to obtain the compensated joint angle. , according to the measured position of the tool installed at the end of the robot when the end reaches each calibration point and the compensation joint angle, the parameters to be identified are corrected. The present invention compensates the original nominal joint angle corresponding to each calibration point based on the joint angle deformation caused by the robot's own weight and load. In the calibration process, the compensation joint angle is used instead of the original nominal joint angle. Therefore, the calibration process of the present invention The influence of the robot's own weight and load on the absolute positioning accuracy is reduced. Compared with the calibration algorithm based on kinematics, the absolute positioning accuracy of the robot is greatly improved, and the absolute positioning accuracy of industrial robots 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 errors and non-geometric parameter errors. For a typical six-degree-of-freedom serial robot in industrial robots, the error of geometric parameters is mainly caused by manufacturing and assembly errors, such as the length of the connecting rod, the rotation angle of the connecting rod, etc. Non-geometric parameter errors are mainly caused by the robot's own weight and load. [0003] At present, most industrial robot cal...

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Application Information

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Patent Type & Authority Patents(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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