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Calibration method for joint transmission ratio error of industrial tandem robot

A technology of error calibration and robotics, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of cumbersome identification operations and poor accuracy, achieve high calibration accuracy, fast speed, and improve the effect of absolute positioning accuracy

Active Publication Date: 2020-09-25
杭州亿恒科技有限公司
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AI Technical Summary

Problems solved by technology

[0006] The purpose of the invention is to overcome the cumbersome operation and poor accuracy of transmission ratio error identification in the prior art, and to provide a high-precision measurement based on a laser tracker and a global Cartesian space measurement for the transmission ratio error of an industrial robot. Error-optimized joint transmission ratio error calibration method for serial industrial robots

Method used

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  • Calibration method for joint transmission ratio error of industrial tandem robot
  • Calibration method for joint transmission ratio error of industrial tandem robot
  • Calibration method for joint transmission ratio error of industrial tandem robot

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Embodiment Construction

[0047] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0048] Such as figure 1 , figure 2 The illustrated embodiment is a joint transmission ratio error calibration method of an industrial tandem robot, including an industrial tandem robot 1, a robot controller, a computer, a laser tracker 3 and a tooling for installing a laser target 2; an industrial tandem robot and a robot controller Data connection, the computer is respectively connected to the robot controller and the laser tracker data; the tooling for installing the laser target is fixedly connected to the end of the robot; including the following steps:

[0049] Step 100, the robot runs to m positions in the flexible workspace

[0050] According to GB / T12642, select any m position points in the cube in the flexible working space of the industrial robot, and the robot controller controls the end of the robot to reach the selected m position...

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Abstract

The invention discloses an error calibration method for a joint transmission ratio of an industrial series robot. The error calibration method for the joint transmission ratio of the industrial seriesrobot comprises the industrial series robot, a robot controller, a computer, a laser tracker and a fixture for installing a laser target, wherein the industrial series robot is in data connection with the robot controller, and the computer is in data connection with the robot controller and the laser tracker separately; and the fixture for installing the laser target is fixedly connected with thetail end of the robot. The error calibration method for the joint transmission ratio of the industrial series robot has the characteristics of being high in calibration accuracy and speed, and capable of realizing identification and calibration for reduction ratio and coupling ratio parameters.

Description

technical field [0001] The invention relates to the technical field of serial industrial robots, in particular to a method for calibrating joint transmission ratio errors of serial industrial robots based on laser tracker for high-precision measurement and global Cartesian space error optimization for transmission ratio errors of industrial robots. Background technique [0002] Due to the characteristics of high speed and low torque of servo motors, motors used at the joints of robot arms usually require reducers to reduce the speed and increase torque to match the output. Each joint of the robot is generally driven by a motor-reducer-rod, and the reducer usually uses an RV reducer, a harmonic reducer and a pulley reducer. [0003] For the joint angle control process of the robot, the controller directly reads the code disc data of the encoder installed at the end of the motor. If there is an error in the reduction ratio of the reducer, it will lead to an error in the angle ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1607B25J9/1653B25J9/1692
Inventor 陈章位贺惠农张翔
Owner 杭州亿恒科技有限公司
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