Geometrical calibration tool and method for multi-robot base coordinate system

Abstract

The invention relates to a geometrical calibration tool and method for a multi-robot base coordinate system. The method comprises the steps that the calibration tool is adjusted to arrive at a plurality of calibration points, and a line pull measuring device is connected with the tail ends of robots to be calibrated; the robots to be calibrated are controlled by a demonstrator to move to a plurality of demonstration points in sequence, and the tail end positions of the multiple robots to be calibrated and the rope lengths between the multiple calibration points and the demonstration points areacquired; kinematical equations are simultaneously established according to the tail end positions of the multiple robots to be calibrated and the multiple rope lengths, and the positions of the multiple calibration points relative to the to-be-calibrated robot base coordinate system are calculated; and homogeneous transformation matrix equations are simultaneously established according to the positions of the multiple calibration points relative to the to-be-calibrated robot base coordinate system, and a first posture transformation matrix of the calibration tool relative to the to-be-calibrated robot base coordinate system is acquired. The portable calibration tool and the quick calibration method for the multi-robot base coordinate system are provided, and are simple in structure, lowin cost, easy to operate and high in universality.

Description

technical field [0001] The invention relates to the technical field of robot calibration, in particular to a multi-robot base coordinate system geometric calibration tooling and a calibration method. Background technique [0002] With the improvement of the degree of automation, especially the rapid rise of the robot industry, the entire manufacturing industry has moved from human-involved collaborative processing to unmanned fully automatic production. The technological innovations have stimulated the application of new robot technology in industrial scientific research and other industries. Widely used, and robot calibration, as an important technology related to the accuracy of robots, has received great attention from the majority of scientific research institutions. An important problem in the research of the robot industry in the new era. [0003] For the calibration of robot base coordinates, the most commonly used method is to use external equipment such as laser tr...

AI Technical Summary

Problems solved by technology

[0003] For the calibration of robot base coordinates, the most commonly used method is to use external equipment such as laser trackers or dual cameras to obtain the pose transformation relationship between the ends of the two robots by illuminating and tracking the identification points of the other robot. The instrument used in this method Generally, they are imported products, the price is very expensive, and the technical requirements for operators are too high, requiring long-term pre-training, not only that, but also has certain limitations in application occasions.

In addition, although the "three-point two-step method based on public targets" proposed by Hou Yiqiang and Wang Tianqi is easy to operate and meets the calibration accuracy requirements of the dual-robot base coordinates, it is only applicable to dual-robot collaboration occasions, and the dual-robots must There are situations where workspaces have intersections

The patent application number is CN201710704692.1 "Robot Geometry Calibration Method Based on Wire-Guard Encoder", which uses a wire-guy encoder to perform geometric calibration of a single robot. This patent proposes a method for identifying the geometric structure parameters of the robot body, which is simple and easy to implement. However, it is only suitable for single-robot body calibration and cannot be used for dual-robot or even multi-robot base coordinate calibration.

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