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A self-calibration method for the coordinate system of the robot arm tool

A technology of tool coordinate system and robotic arm, which is applied in the direction of manipulators, manufacturing tools, program control manipulators, etc. It can solve the problems of difficult parameters, determination, and restrictions on the application of robots, and achieves the effect of simple methods

Active Publication Date: 2022-01-14
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

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  • A self-calibration method for the coordinate system of the robot arm tool
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  • A self-calibration method for the coordinate system of the robot arm tool

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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 method for self-calibrating tool coordinates of a manipulator, which belongs to the related technical field of robot calibration. The method is suitable for an XYZR rectangular coordinate robot. The center point of the tool is calibrated by using the point of the robot itself, and the rotation at the end of the manipulator is adjusted. Fixedly install multiple points of the tool and the tip on the shaft and the corresponding multiple position data until the required point recording is completed, and the recorded point data is used for circle fitting to obtain the coordinates of the center of the circle, and the tool coordinates are obtained according to the geometric relationship of the coordinates. The present invention uses its own conditions to identify the pose of the tool coordinate system relative to the end coordinate system without the need of external measuring tools. The method is simple and convenient for on-site application by the equipment side.

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 Patents(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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