Plane constraint error model and robot self-calibration method

An error model and plane constraint technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as increasing the difficulty of calibration experiments, harsh conditions, and affecting calibration accuracy
CN108406771AActive Publication Date: 2018-08-17JIANGNAN UNIV
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
JIANGNAN UNIV
Publication Date
2018-08-17

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Abstract

The invention discloses a plane constraint error model and a robot self-calibration method. The method comprises the following steps of 1, establishing a robot kinematics model; 2, establishing a robot tail end position error model; 3, establishing the plane constraint error model; 4, driving a robot to measure the constraint plane; 5, identifying kinematics parameters of the robot; and 6, verifying the calibration result. The plane constraint error model and the self-calibration method have the beneficial effects that firstly, cost is low, wherein one calibration block with relatively high precision is needed, and cost not exceeds one thousand while the advanced measuring equipment tends to be tens of thousands or more millions in cost; secondly, a plane accurate spatial equation can be obtained, compared with a traditional plane constraint calibration method, the calibration precision is improved; thirdly, compared with a traditional plane constraint error model, the error model is greatly simplified; and fourthly, the calibration block can be placed in the working space of the robot in any posture, and the difficulty of calibration experiments is reduced.
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Description

technical field

[0001] The invention relates to the technical field of calibration of industrial robots, in particular to a plane constraint error model and a robot self-calibration method based on the plane constraint error model. Background technique

[0002] Although industrial robots have high repeatability in recent years, their precision has been poor. For robots without calibration, the accuracy error can reach several millimeters. Therefore, precise calibration of the robot is necessary in many applications. The so-called calibration is the process of using advanced measurement methods and appropriate parameter identification methods to identify the exact parameters of the robot model, thereby improving the accuracy of the robot. Robot calibration technology can be divided into three different levels: the first level is the joint level, the purpose is to correctly determine the relationship between the joint sensor value and the actual joint value; the second level...

Claims

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