Robot tool coordinate system calibration method based on planar constraints

Abstract

The invention discloses a robot tool coordinate system calibration method based on planar constraints. The robot tool coordinate system calibration method comprises the steps of: setting a motion modeof a robot; establishing a base coordinate system B, an end coordinate system E and a tool coordinate system T; establishing a planar constraint condition; ensuring that an irradiation point is always on a marble platform, keeping the attitude of the end coordinate system E unchanged, and controlling the position of the end coordinate system E to change for six times; ensuring that the irradiation point is always on a marble platform, keeping the position of the end coordinate system E unchanged, and controlling the attitude of the end coordinate system E to change for three times; and solving an irradiation point coordinate equation. During the tool coordinate system calibration process, the calibration of the tool coordinate system can be completed by solving the irradiation point coordinate equation of a laser displacement sensor, the solving of the irradiation point coordinate equation only needs to complete the measurement of 9 sets of data, the calibration efficiency is high, and the laser displacement sensor is utilized for distance detection to ensure sufficient calibration precision of the tool coordinate system.

Description

technical field [0001] The invention belongs to the field of tool coordinate system calibration of industrial robots, and aims at the tool coordinate system calibration of an industrial 6-axis robot with a laser displacement sensor clamped at the end, and more specifically relates to a tool coordinate system calibration method of an industrial robot based on plane constraints. Background technique [0002] The calibration system of the tool coordinate system is generally divided into two parts of calibration, that is, the position calibration of the tool center point and the attitude calibration of the tool coordinate system. In industrial production lines, special parts are usually fixed on the end effector of industrial robots as tools, such as fixtures, welding guns and other devices. A coordinate system is usually established at a fixed position on these tools, the so-called tool coordinate system . The trajectory planning of the robot is usually planned for a certain p...

AI Technical Summary

Problems solved by technology

Since this method depends entirely on the operator's visual operation when calibrating TCP, the calibration accuracy is very limited, resulting in large errors in calibrating TCF, so it is not suitable for applications with high precision requirements such as laser processing.

[0004] The paper "Robot TCF Calibration Based on Planar Template" discloses a robot tool coordinate system calibration method based on a planar template. This method needs to measure nearly 100 sets of data, and then use the nonlinear least squares method to fit and solve the calibration tool coordinate system parameters. The calibration efficiency is low, and the nonlinear model itself has ill-conditioned problems, which is not suitable for large-scale promotion in industry

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