Industrial robot kinematic calibration method based on coordinate measuring instrument

A robot kinematics and coordinate measuring instrument technology, applied in the field of robotics, can solve problems such as parameter identification matrix not satisfying rank, model not satisfying continuity and minimization, identification result deviation, etc.

Active Publication Date: 2019-05-10
珞石(北京)科技有限公司
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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 ide

Method used

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  • Industrial robot kinematic calibration method based on coordinate measuring instrument
  • Industrial robot kinematic calibration method based on coordinate measuring instrument
  • Industrial robot kinematic calibration method based on coordinate measuring instrument

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Embodiment Construction

[0062] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0063] The present invention provides an industrial robot kinematics calibration method based on a coordinate measuring instrument, refer to the attached Figure 1-3 , step S1, installing and measuring the tool ball device, establishing a tool ball coordinate system and calculating the pose of the tool ball coordinate system.

[0064] In step S1, the tool ball device comprises two parallel aluminum discs, four aluminum rods are arranged in the middle of the two aluminum discs, one of the aluminum discs is attached to the rear end...

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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...

Claims

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Application Information

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IPC IPC(8): G01B21/00
Inventor 张博韩建欢庹华
Owner 珞石(北京)科技有限公司
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