Industrial robot kinematic calibration method based on coordinate measuring instrument

Abstract

The invention provides an industrial robot kinematic calibration method based on a coordinate measuring instrument. The method comprises a main control module, a power supply module, a display module,a storage module, a bluetooth module and a positioning module. One end of the bluetooth module is connected to the main control module, and the other end of the bluetooth module is wirelessly connected with a bluetooth tag arranged on the body of a worker; the positioning module is connected with the main control module; and the main control module is connected with the display module and the storage module. Through the design of the bluetooth tag, the device is simple in structure, cheap in price, easy to integrate and can be widely used.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an industrial robot kinematics calibration method based on a coordinate measuring instrument. Background technique [0002] Robot kinematics calibration does not change the structural design of the robot, but reduces the geometric parameter errors generated during the production, assembly and use of the robot by modifying the robot controller software, thereby improving the absolute positioning accuracy of the robot. Robot kinematics calibration is usually divided into four steps: 1) Modeling: establish a mathematical model describing the geometric characteristics and motion performance of the robot; 2) Measurement: measure the pose of the robot end effector in the world coordinate system; 3) Identification: based on The kinematics error model identifies the kinematics parameters of the robot through a reasonable algorithm; 4) Compensation: modify the controller parameters to mini...

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Problems solved by technology

However, the above scheme does not consider the singularity of the model caused by the redundant parameters in the identification model, which makes the model not satisfy the continuity and minimization

At this time, the parameter identification matrix is ​​not full of rank, and the disturbance factors when measuring the position of the robot end and the angle values ​​of each joint will seriously affect the accuracy of kinematic parameter identification, resulting in a large deviation in the identification results, thus affecting the optimization effect of the robot end accuracy.

[0005] The Chinese patent publication number is CN 102294695A, which provides a robot calibration method. The calibration method of this invention has the advantage of being simple and fast. However, the optimization effect of the robot end accuracy of the calibration method of this invention is not good.

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