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Method for obtaining and verifying kinematic parameters of industrial robot based on space vector method

A robot kinematics and space vector technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as poor practicability, achieve good practicability, low hardware cost, and reduce space-time complexity

Inactive Publication Date: 2019-04-09
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0004] In order to overcome the shortcomings of the poor practicability of the existing methods for obtaining kinematic parameters of industrial robots, the present invention provides a method for obtaining and verifying kinematic parameters of industrial robots based on the space vector method

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  • Method for obtaining and verifying kinematic parameters of industrial robot based on space vector method
  • Method for obtaining and verifying kinematic parameters of industrial robot based on space vector method
  • Method for obtaining and verifying kinematic parameters of industrial robot based on space vector method

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Embodiment Construction

[0035] Reference Figure 1-5 . The object of implementation of the present invention is the IRB14000 robot produced by ABB Robotics. The specific steps of the method for obtaining and verifying the kinematic parameters of the industrial robot based on the space vector method are as follows:

[0036] 1. The coordinate system is established.

[0037] The link coordinate system is determined according to the following steps: each joint axis of the robot, and draw their extension lines, on the joint i, establish the coordinate axis z along the axis i , The positive direction is arbitrary; make the common perpendicular of the joint axis i and the joint axis i+1, the intersection of the common perpendicular and the axis is the origin of the coordinate system, and the coordinate axis x i From the origin of the coordinate system i to i+1 along the common vertical line; the coordinate axis y i Determined according to the right-hand rule. image 3 It is a schematic diagram of a single joint ...

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Abstract

The invention discloses a method for obtaining and verifying kinematic parameters of industrial robot based on a space vector method, which is used for solving the technical problem of poor practicality of the obtaining method of the kinematic parameters of the existing industrial robot. The technical scheme is as follows: key point coordinates are extracted from the 3D model of an industrial robot; DH parameters of the industrial robot are soved by the space vector method; and then the obtained DH parameters are verified. Since the robot 3D model provided by the industrial robot manufactureris used to solve the kinematic parameters of the robot, any hardware equipment and related costs are not required; meanwhile the operator is not required to master the professional kinematic parametercalibration method; the 3D modeling software can be used for solving the robot kinematic parameters, so the space-time complexity of the traditional calibration method is reduced; and the hardware has low cost and good practicability.

Description

Technical field [0001] The invention belongs to the field of robot motion control, and specifically relates to a method for acquiring and verifying kinematic parameters of an industrial robot based on a space vector method. Background technique [0002] At present, industrial robots have been widely used. In the motion control of robots, the acquisition of robot kinematics parameters is the basis for the study of robot control and motion. Generally speaking, manufacturers will not provide robot DH parameters, which makes industrial robots have some limitations in actual use. The document "Robotics (Third Edition), Tsinghua University Press, 2016.3, p35-74" gives a universal robot linkage coordinate system and parameter definition method, which is used to describe the motion relationship between the robot joints. The method was first proposed by Denavit and Hartenberg in 1955 and is called the DH parameter method. This method or its improved method has been widely used in robotic...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1653
Inventor 刘正雄赵勇黄攀峰戴卓月
Owner NORTHWESTERN POLYTECHNICAL UNIV
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