Multi-task mechanical arm posture detecting and error compensating method

An error compensation and robotic arm technology, applied in the field of industrial robots, can solve the problems of not proposing a pose error compensation algorithm, not getting accurate enough poses, and not considering differences, etc., to achieve convenient design, small amount of data, and accurate measurement Effect

CN110253574AActive Publication Date: 2019-09-20ZHEJIANG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2019-09-20

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Abstract

The invention discloses a multi-task mechanical arm posture detecting and error compensating method, and belongs to the technical field of industrial robots. A device used in the method comprises double cameras, a six-joint mechanical arm, an upper computer and a mechanical arm control cabinet. The two cameras are arranged on the two sides of the mechanical arm correspondingly and used for collecting and transmitting image information of the mechanical arm to the upper computer so that posture information of the mechanical arm can be obtained. The six-joint mechanical arm is used for finishing welding, component assembling and goods carrying work. The upper computer is used for conducting image calibrating and processing, task mode selecting and data calculating. The mechanical arm control cabinet is used for receiving instructions of the upper computer and achieving control over the mechanical arm. According to the optimization function minimum principle, the each-step newly-added error compensation amount is calculated, accordingly, the new error compensation amount is obtained, and next movement of the mechanical arm is controlled.
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Description

technical field

[0001] The invention relates to the technical field of industrial robots, in particular to a multi-task manipulator pose detection and error compensation method. Background technique

[0002] In recent years, robotic arms have been widely used in tasks such as welding, parts assembly, and cargo handling due to their flexible operation and convenient control. Since the connecting rods of the manipulator inevitably introduce parameter errors in the process of manufacturing and assembling, there is a difference between the actual value and the nominal value of the parameters of each link of the manipulator, which leads to the actual arrival of the end of the manipulator. There is a certain deviation between the pose and the desired pose.

[0003] In order to realize the precise motion control of the manipulator, it is necessary to compensate the pose error. The current motion control scheme mainly has the following problems:

[0004] (1) The Chinese patent do...

Examples

Embodiment

[0045] see figure 1 , the device used in the multi-task manipulator pose detection and error compensation method of this embodiment includes dual cameras (camera 4 and camera 5), ​​six-joint manipulator 1, host computer 2 and manipulator control cabinet 3.

[0046] Two cameras are respectively installed on both sides of the six-joint robotic arm 1 to collect the image information of the robotic arm and transmit it to the host computer 2 to obtain the pose information of the robotic arm. The six-joint mechanical arm 1 is used to complete welding, parts assembly and cargo handling. The host computer 2 is used for image calibration and processing, task mode selection and data calculation. The manipulator control cabinet 3 is used to receive instructions from the upper computer to realize the control of the manipulator.

[0047] see figure 2 , the multi-task manipulator pose detection and error compensation method of the present embodiment includes the following steps:

[004...