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Industrial robot kinematics calibration system and calibration method

A technology of robot kinematics and calibration system, which is applied in industrial robot kinematics calibration system and calibration field, and can solve problems such as calibration, unusable work site, and high price

Inactive Publication Date: 2019-04-26
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0004] The main purpose of the present invention is to provide an industrial robot kinematics calibration system and method based on a displacement sensor, which not only reduces the cost, but also can be used portable Convenient, can be applied to the online rapid calibration of robots in industrial sites

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  • Industrial robot kinematics calibration system and calibration method
  • Industrial robot kinematics calibration system and calibration method
  • Industrial robot kinematics calibration system and calibration method

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Embodiment Construction

[0052] The present invention will be further explained in detail below in conjunction with the drawings and specific embodiments, but it should be understood that the protection scope of the present invention is not limited by the specific embodiments.

[0053] Such as figure 1 As shown, the present invention provides an industrial robot kinematics calibration system based on a displacement sensor 22, which includes a measuring device 2, a calibration device 3, and a data processing device 4. Such as figure 1 As shown, the measuring device 2 is installed on the flange at the end of the robot 1, and the calibration device 3 is placed in the working space of the robot 1.

[0054] Such as figure 2 As shown, the measuring device 2 includes a high-precision processing plane 21, a number of displacement sensors 22 fixed at an angle with the high-precision processing plane 21, a mounting mechanism 24 for connecting the end flange of the robot 1, and a displacement sensor 22 and processi...

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Abstract

The invention relates to an industrial robot kinematics calibration system. The industrial robot kinematics calibration system comprises a measuring device arranged at the tail end of a robot and further comprises a calibration device and a data processing device which are arranged in the robot work space. According to the device, cost is reduced, carrying and using are convenient, and the devicecan be applied to online rapid calibration of a robot on the work site. A measuring coordinate system is established on the measuring device, and the robot is calibrated; and through a method, calibration of robot body geometric parameter errors, and the conversion relation among a robot coordinate system, the measuring coordinate system and a calibration coordinate system can be achieved at the same time.

Description

Technical field [0001] The invention relates to a calibration system and a calibration method, in particular to an industrial robot kinematics calibration system and a calibration method. Background technique [0002] With the expansion of the application field of industrial robots and the promotion of offline programming technology, the requirements for the absolute positioning accuracy of robots are getting higher and higher. The industrial robot calibration technology can correct robot parameter errors at a lower cost without replacing parts. It is an efficient and practical method to improve the absolute positioning accuracy of the robot. Industrial robot calibration technology is not only an effective way to improve the absolute positioning accuracy of the robot, but also plays a very important role in the computer integrated manufacturing system. It is the basis and means to achieve offline programming and simulation tasks, evaluate the quality of robot manufacturing, and m...

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Application Information

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IPC IPC(8): B25J13/08B25J9/16
CPCB25J9/1605B25J9/1607B25J13/088
Inventor 徐贵力程月华王正盛郭瑞鹏董文德张文静闫富菊
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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