Calibration method for position and posture relationship between robot and position changing machine

Abstract

The embodiment of the invention provides a calibration method for a position and posture relationship between a robot and a position changing machine, and relates to the field of industrial manufacture. The problem that in the calibration process, the manufacture precision of the position changing machine is neglected is solved. The calibration method comprises the steps that an inclination shaftand a rotation shaft of the position changing machine are controlled to rotate to multiple to-be-tested positions separately, and the robot is operated to trace markers and record TCP coordinates of the markers at all the to-be-tested positions; position and direction vectors of the inclination shaft center line and the rotation shaft center line in a robot coordinate system are acquired separately according to the multiple TCP coordinates; a common perpendicular line segment formed between the inclination shaft center line and the rotation shaft center line located at the reference position when the inclination shaft rotates to the zero position is acquired; and direction vectors of all axes in a position changing machine coordinate system and coordinates of a position changing machine coordinate system original point in the robot coordinate system are acquired according to the inclination shaft center line, the rotation shaft center line located at the reference position and the common perpendicular line segment. The calibration method is used for achieving coordinate movement between the robot and the position changing machine.

Description

technical field [0001] The invention relates to the field of industrial manufacturing, in particular to a method for calibrating the pose relationship between a robot and a positioner. Background technique [0002] With the continuous development of the manufacturing industry in the direction of high precision and high efficiency, industrial robots are more and more widely used in the manufacturing industry. For an industrial robot, its effective working space and allowable space are limited by kinematic constraints, so it is necessary to use auxiliary equipment such as positioners to provide redundant degrees of freedom in order to achieve the purpose of expanding the working space of industrial robots. [0003] In the production process, it is necessary to determine the position of the positioner relative to the industrial robot, so as to achieve the purpose of efficient coordinated movement between the industrial robot and the positioner. However, in the prior art, the c...

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present invention provides a calibration method for the pose relationship between the robot and the positioner, which solves the problem that the manufacturing accuracy of the positioner is ignored during the calibration process

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