Serial robot kinematic calibration method and system

A robot kinematics and calibration method technology, which is applied in the field of six-degree-of-freedom serial industrial robot kinematics calibration, can solve the problems of difficulty, the influence of the deployment environment of the robot base on the calibration result, and the non-universal calibration tooling, etc., to improve absolute positioning The effect of precision

Inactive Publication Date: 2019-01-11
BEIJING INST OF RADIO MEASUREMENT
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Problems solved by technology

The calibration methods and calibration tools used by industrial robots from different manufacturers may not be universal, and the calibration results may also be affected by the deploy

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  • Serial robot kinematic calibration method and system
  • Serial robot kinematic calibration method and system
  • Serial robot kinematic calibration method and system

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Embodiment Construction

[0022] In order to make the technical solutions and advantages in the embodiments of the present application clearer, the exemplary embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings. Apparently, the described embodiments are only part of the embodiments of the present application, and Not an exhaustive list of all embodiments. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0023] The core idea of ​​this scheme is to use the universal calibration tooling and laser tracker to accurately measure the end position of the robot, complete the accurate parameter identification of the kinematics of the six-degree-of-freedom serial industrial robot, and realize the motion compensation algorithm in the control of the industrial robot, effectively improving the industrial The absolute precision ...

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Abstract

The embodiment of the invention provides a serial robot kinematic calibration method and system. The method comprises the steps of S1, establishing a geometrical parameter error model based on the relationship of two adjacent connecting rods of a serial robot; S2, establishing a parameter identification model according to the difference of the nominal value and the actual value of relative displacement between measuring points of tail end positions of the robot under two different postures; S3, measuring relative displacement between a plurality of sets of measuring points and conducting identification on the geometrical parameter error of the robot to obtain a corrected geometrical parameter; and S4, compensating for the errors of the tail end positions of the robot according to the corrected geometrical parameter and on the basis of an absolute increment control method to improve the absolute positioning accuracy. Through the technical scheme, the calibration time can be saved, and the calibration process is more flexible. The kinematic parameters are accurately identified by establishing the parameter identification model, and through cooperation with the error compensation algorithm, the trajectory planning accuracy is improved.

Description

technical field [0001] The present application relates to the field of robot kinematics calibration, in particular to a six-degree-of-freedom serial industrial robot kinematics calibration method and system. Background technique [0002] Due to the advantages of flexible operation and strong mobility, the six-degree-of-freedom serial industrial robot has gradually increased its application in industrial sites in recent years and has attracted attention. Ordinary industrial robots can meet high repeat positioning accuracy requirements, but due to the inevitable errors brought about by their special structural forms, their absolute positioning accuracy is generally poor and varies considerably. For the products of most industrial robot manufacturers, there are only technical indicators of repeatability. Therefore, in practical applications, the robot can only be programmed online by teaching to complete simple tasks, such as palletizing and handling. With the further increas...

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Application Information

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IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1692B25J19/0095
Inventor 高景一韩华涛耿金鹏李竹奇李冬伍魏彦彪
Owner BEIJING INST OF RADIO MEASUREMENT
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