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Calibration device for robot arm and method thereof

A technology for manipulators and calibration devices, applied in manipulators, program-controlled manipulators, robots, etc., can solve problems such as precision deviations

Active Publication Date: 2019-06-11
IND TECH RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The invention discloses a calibration device of a mechanical arm and a calibration method thereof, which uses the calibrated mechanical arm to calibrate the accuracy of the mechanical arm to be calibrated to solve the problem of accuracy deviation

Method used

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  • Calibration device for robot arm and method thereof
  • Calibration device for robot arm and method thereof
  • Calibration device for robot arm and method thereof

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Embodiment Construction

[0046] The proposed embodiments are described in detail below, and the embodiments are only used as examples for illustration, and are not intended to limit the scope of protection of the present invention. In the following, the same / similar symbols are used to indicate the same / similar components.

[0047] Figure 1A A schematic block diagram of a calibration device 100 for a robotic arm according to an embodiment of the present invention is shown, Figure 1B drawn according to Figure 1A A schematic diagram of the component configuration of the calibration device 100 of the robotic arm. figure 2 A schematic flowchart of a method 101 for calibrating a robot arm according to an embodiment of the present invention is shown. Figure 3A to Figure 3C Schematic diagrams respectively showing two robot arms moving to predetermined motion postures according to an embodiment of the present invention.

[0048] Please refer to Figure 1A and Figure 1B According to an embodiment of t...

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Abstract

A robot arm calibration device is provided, which includes a light emitter, a light sensing module, a cooperative motion controller and a processing module. The light emitter is disposed on at least one robot arm to emit a light beam. The light sensing module is disposed on at least another robot arm to receive the light beam and the light beam is converted into a plurality of image data. The cooperative motion controller is configured to drive the light emitter and light sensing module on at least two robot arms to a corrected position and a position to be corrected, respectively. The processing module receives the image data and the motion parameters of the at least two robot arms to calculate an error value between the corrected position and the position to be corrected, and analyzes the image data to output a corrected motion parameter for modifying motion command.

Description

technical field [0001] The present invention relates to a mechanical arm, and in particular to a calibration device and calibration method for a mechanical arm. Background technique [0002] Generally speaking, during the manufacturing process of the robotic arm before leaving the factory, it will go through layers of checks and adjustments to achieve a high level of absolute accuracy. However, after a long period of use after the robotic arm leaves the factory, the mechanical deviation makes it difficult to maintain the accuracy. , or due to maintenance of robotic arms (such as replacement of motors or gear sets) caused by precision deviation. Therefore, how to ensure that the precision of the robotic arm is within the required range, and how to directly calibrate the precision of the robotic arm on the production line (in-line), is an urgent problem to be solved in the industry. Contents of the invention [0003] The invention discloses a correction device of a mechanic...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1692Y10S901/46Y10S901/09G05B2219/39045B25J9/1638B25J9/0087B25J9/1694
Inventor 杜彦颐赵正权黄甦游鸿修
Owner IND TECH RES INST