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A method to improve the calibration accuracy of industrial robot tool coordinate system

A tool coordinate system and industrial robot technology, which is applied in the field of improving the calibration accuracy of industrial robot tool coordinate system, can solve the problem of low trajectory tracking accuracy, and achieve the effect of eliminating operation errors, ensuring trajectory accuracy, and ensuring accuracy

Active Publication Date: 2021-06-01
NANJING ESTUN ROBOTICS CO LTD
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The purpose of the method of the present invention is to obtain a high-precision tool coordinate system calibration result, thereby eliminating the problem of low trajectory tracking accuracy caused by inaccurate tool coordinate system calibration

Method used

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  • A method to improve the calibration accuracy of industrial robot tool coordinate system
  • A method to improve the calibration accuracy of industrial robot tool coordinate system
  • A method to improve the calibration accuracy of industrial robot tool coordinate system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0046] Taking a general-purpose six-joint as the experimental object, the specific accuracy evaluation criteria are selected as follows, as attached figure 2 shown.

[0047]

[0048] 1. The first calibration point of the teaching record is: (655.95, -302.35, 394.36, 100.29, 19.93, 160.18);

[0049] 2. According to the real-time evaluation scores obtained by the above accuracy evaluation criteria, the final selection of 234 calibration points is: (600.91, -302.35, 305.42, 94.02, 21.98, 142.77), (633.46, -391.49, 305.42, 109.86, 21.98, 142.77 ), (655.95, -188.78, 401.75, 104, 46.05, 166.82), the evaluation scores are 82 points, 80 points, 100 points respectively.

[0050]3. Calculate four sets of calibration results according to the four calibration points:

[0051] ①: (99.9873, 200.007, 300.0368);

[0052] ②: (99.95417, 200.0286, 300.0437);

[0053] ③: (99.98198, 200.040798, 300.042966);

[0054] ④: (99.95656, 200.0258699, 300.0429449).

[0055] 4. Calculate the stand...

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Abstract

The invention discloses a method for improving the calibration accuracy of an industrial robot tool coordinate system, which belongs to the field of industrial robot application control. In the common "four-point method" tool coordinate system calibration process, this method gives an accuracy evaluation for each point to be calibrated. When the accuracy meets the requirements, the next calibration point can be calibrated, and all calibration points are recorded. Finally, an overall accuracy evaluation is given to the final calibration results. This method is convenient for the user to teach a reasonable calibration point, eliminates the human error caused by the user during the calibration process, and obtains a high-precision tool coordinate system calibration result, thereby eliminating the trajectory tracking caused by the inaccurate tool coordinate system calibration Motion problems such as low precision. The tool coordinate system calibration lifting algorithm proposed by the invention does not need to add any calibration device, and the operation is simple and convenient.

Description

technical field [0001] The invention relates to a method for calibrating a tool coordinate system of an industrial robot, in particular to a method for improving the calibration accuracy of the tool coordinate system of an industrial robot. Background technique [0002] In the application of industrial robots, in order to complete specific tasks, the robot needs to install corresponding tools at the end, such as welding torches, grippers, suction cups, etc. In order to facilitate teaching and programming, it is often necessary to calibrate the tool coordinate system, and move the end point of the robot from the center of the flange to the end point of the tool. [0003] In the industrial robot industry, the common tool coordinate system calibration method is the "four-point method". The mobile robot aligns the end point of the tool with the tip of a fixed needle-shaped object (calibration device), and records the robot's position when the end point of the tool is aligned wit...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1692
Inventor 潘婷婷夏正仙冯日月王杰高
Owner NANJING ESTUN ROBOTICS CO LTD
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