Method for identifying kinematic parameters of SCARA robot

Abstract

The invention discloses a method for identifying kinematic parameters of a SCARA robot, and belongs to the technical field of the SCARA robot. The method aims to solve the problem. The method for identifying the kinematic parameters of the SCARA robot comprises the following steps that a corresponding large arm angle and a corresponding small arm angle are obtained when a tail end calibration needle is aligned with each calibration plate; relational expressions of a coordinate origin to various calibration hole coordinate vectors are established; the relationship expressions of the coordinateorigin to various calibration hole coordinate vectors are converted into expressions of a first calibration hole coordinate to other calibration hole coordinate vectors; coordinate conversion is carried out on the expressions of the first calibration hole coordinate to other calibration hole coordinate vectors to obtain vector expressions after coordinate conversion, and the vector expressions after all coordinate conversion are formed into an equation set; and a coefficient matrix is acquired through the equation set, and SVD decomposition is carried out on the coefficient matrix to obtain alarge arm length, a small arm length and a small arm zero position. The method identifies the kinematic parameters of the SCARA robot, and has the advantages of simple and low-operating environment requirements, and low cost.

Description

technical field [0001] The invention relates to the technical field of SCARA robots, in particular to a method for identifying kinematic parameters of a SCARA robot. Background technique [0002] The SCARA robot is an industrial robot. Compared with the six-axis robot arm and the DELTA robot arm, it has the advantages of simple structure, reliable movement, fast movement speed, and high positioning accuracy. It is widely used in the plastics industry, automobile industry, electronics, etc. Product industry, pharmaceutical industry and food industry and other fields. The SCARA robot has four joints, of which the first three are revolving joints, and the latter is a moving joint. The axes of the first three joints are parallel to each other and perpendicular to the mounting surface of the base. The moving joint is coupled to the last revolving joint. direction to move. [0003] There is a nonlinear functional relationship between the joint angle and the end position of the S...

AI Technical Summary

Problems solved by technology

[0004] At present, the commonly used SCARA robot kinematic parameter identification methods are mainly divided into two categories; one is to use professional measuring equipment such as laser measuring instruments. This method has high requirements on the operating environment, and the measuring equipment is expensive and the operation is complicated. The user is not friendly. The other is to use vision matching to measure the coordinates of the end of the robot, but this type of method requires the use of machine vision. For companies that are not equipped with this technology, this method is not feasible, and there are also problems Disadvantages of user openness

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