Precision compensation method for three-freedom-degree target device used for laser tracker
A laser tracker and precision compensation technology, applied in the field of precision compensation, can solve problems such as errors, achieve the effects of low cost, simple operation, and guaranteed measurement accuracy
Active Publication Date: 2019-05-28
NANJING INST OF TECH
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[0005] The invention provides an accuracy compensation method aiming at the problem that errors occur when the laser tracker measures the space coordinates of the target ball when the axis of the motor does not intersect with the center of the target ball.
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[0041] The present invention will be further explained in detail below in conjunction with the accompanying drawings and specific embodiments, but it should be understood that the protection scope of the present invention is not limited by the specific embodiments.
[0042] see figure 1 , figure 2 As shown, the present invention is a three-degree-of-freedom target device 14, which is applied to the end position measurement of an industrial robot 13. The three-degree-of-freedom target device 14 mainly includes an X-axis motor 1, a Y-axis motor 3, a Z-axis motor 6, and an inertial measurement unit 5 , target ball 7; the motor shafts of X-axis motor 1, Y-axis motor 3 and Z-axis motor 6 are set along the X-axis, Y-axis and Z-axis respectively, and the extension lines of the three motor shafts intersect at the center of the target ball during setting , the inertial measurement unit 5 is used to measure the pose of the robot tool coordinate system.
[0043] The X-axis motor is co...
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The invention discloses a precision compensation method for a three-freedom-degree target device used for a laser tracker. The three-freedom-degree target device is composed of an X-axis servo motor,a Y-axis servo motor, a Z-axis servo motor, an inertial measurement unit and a target ball. The servo motors of three axis directions can separately control the target ball to rotate around the respective rotating axes so as to adjust the space posture of the target ball, so that the target ball always faces the laser tracker, and it is ensured that the position of the tail end of any industrial robot can be measured by the laser tracker. Component machining can cause larger measurement errors, by adopting the method, the errors are compensated, highly accurate measurement for position data ofthe industrial robot in a wide movement range can be achieved, and the three-freedom-degree target device has the advantages that the measurement process is continuous, the operation is simple, and the cost is low.
Description
technical field [0001] The invention relates to an accuracy compensation method, in particular to an accuracy compensation method for a three-degree-of-freedom target of a laser tracker. Background technique [0002] The continuous development of high-end manufacturing industry has increased the absolute positioning accuracy requirements of industrial robots, especially in the application fields of laser welding, laser cutting and aerospace. Research has found that the absolute positioning accuracy of industrial robots can be improved through robot calibration technology. [0003] The position measurement of the end of the industrial robot is one of the basic steps in the robot calibration process. At present, the position of the end of the industrial robot is mainly measured by external measuring equipment. As a high-precision and large-scale measuring instrument in the industrial measuring system, the laser tracker is one of the main external measuring devices for the cali...
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IPC IPC(8): G01B11/00G01C25/00
Inventor 乔贵方温秀兰孙大林宋光明王东霞张颖芮平
Owner NANJING INST OF TECH