Mechanical arm tool coordinate system self-calibration method

A tool coordinate system, robotic arm technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as difficult parameters, determination, and limitation of robot applications.

Active Publication Date: 2018-11-06
WUXI XINJIE ELECTRICAL
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Problems solved by technology

Moreover, the manufacturer will also provide a standard reference point to calibrate the tool, so that the user can easily adjust the tool, but this limits the application of the robot, that is to say, if the tool is replaced, its TCF parameters will be difficult to pass through this. way to determine

Method used

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  • Mechanical arm tool coordinate system self-calibration method
  • Mechanical arm tool coordinate system self-calibration method

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[0029] It should be pointed out that the following is a further detailed description of the present invention in conjunction with the accompanying drawings and embodiments. The specific embodiments described here are only used to explain the present invention and should not be regarded as having any limiting effect on the protection scope of the present invention. In addition, the embodiments in this section and the features in the embodiments can be combined with each other under the condition of no conflict.

[0030] see Figure 1 to Figure 2 , a self-calibration method for a tool coordinate system of a manipulator provided in a preferred embodiment of the present invention, comprising the following steps:

[0031] (1) Fix and install the tool 2 on the rotating shaft 1 at the end of the mechanical arm, and return the rotating shaft 1 equipped with the tool 2 to zero, at this time, bring the top 3 close to the center point of the end of the tool 2 until it coincides , fix th...

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Abstract

The invention discloses a mechanical arm tool coordinate system self-calibration method, and belongs to the field of correlation technique of robot calibration. The method is applicable to an XYZR cartesian coordinate robot, and comprising the steps of utilizing a self point position of the robot for calibrating a tool center point; and through adjusting multiple points and corresponding multipleposition data of a tool fixedly arranged on a rotary shaft at the tail end of a mechanical arm and a top until the required points are recorded, circle fitting the recorded point position data to obtain a center coordinate, and obtaining a tool coordinate according to a coordinate geometry relationship. According to the mechanical arm tool coordinate system self-calibration method provided by theinvention, no external measurement tool is required, the tool coordinate system can be identified relative to a pose of a terminal coordinate system by utilizing self conditions, so that the method issimple and convenient for field application of the equipment party.

Description

technical field [0001] The invention is suitable for the calibration field of an XYZR rectangular coordinate robot tool coordinate system, and in particular relates to a self-calibration method for a mechanical arm tool coordinate system. Background technique [0002] Flexible processing and production units based on industrial robots have become the main development direction of the future manufacturing industry, and offline programming technology will replace the currently widely used online teaching programming and become the main programming technology for industrial robot task planning. Offline programming needs to establish an accurate model of the actual robot and other equipment and tools in its working environment in the computer, so the calibration of the geometric mechanism parameters and tool parameters of the actual robot is very important. Tools such as fixtures, welding guns, or sensors such as cameras and probes fixed at the end of the robot must fix a coordi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/02
CPCB25J9/023B25J9/1692
Inventor 李新吉峰王延玉苏芳茵
Owner WUXI XINJIE ELECTRICAL
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