Obstacle calibration method based on robot end pointing and teaching
A calibration method and obstacle technology, applied in the field of robot obstacle calibration, can solve the problems of complicated calibration process and low calibration efficiency, and achieve the effect of improving calibration efficiency and simplifying the calibration process
Active Publication Date: 2021-03-30
SIASUN CO LTD
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Under such working conditions, using existing technology to calibrate obstacles will obviously make the calibration process more complicated, and the calibration efficiency will be lower
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[0030] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly illustrate the spirit of the content disclosed in the application with the accompanying drawings and detailed descriptions. After any person skilled in the art understands the embodiments of the content of the application , when it can be changed and modified by the technology taught in the content of the application, it does not depart from the spirit and scope of the content of the application.
[0031] The exemplary embodiments and descriptions of the present application are used to explain the present application, but not to limit the present application. In addition, elements / members with the same or similar numbers used in the drawings and embodiments are used to represent the same or similar parts.
[0032] The terms "first", "second", ... etc. used herein do not specifically refer to a sequence or order, nor are they...
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The invention provides an obstacle calibration method based on robot tail end pointing jog. The method comprises the following steps that an obstacle is simplified to be a cube; any one face of the cube is selected, and three corner points are selected within the face; a calibration tool at the tail end of a robot is sequentially jog to the selected three corner points, and the coordinate values of the three corner points of the tail end of the calibration tool based on the robot base coordinate system are correspondingly acquired; a plane is determined by utilizing three corner points, a rectangle is fitted in the plane, the rectangle is used as the top surface of the cube, the to-be-fit rectangle comprises a coordinate system of the rectangular center and the length and width of the rectangle; the height of the cube is determined; and according to the top surface of the cube and the height of the cube, the cube is calibrated to complete calibration of an obstacle. According to the method, the calibration process of the obstacle can be simplified, and the calibration efficiency is improved.
Description
technical field [0001] The present application belongs to the technical field of robot obstacle calibration, and in particular relates to an obstacle calibration method based on pointing and teaching at the end of a robot. Background technique [0002] With the continuous improvement of industrial automation, robots have been widely used in the fields of automobile and auto parts manufacturing, heavy machinery, aerospace, shipbuilding, chemical industry, and electronics industry. For robots, autonomous navigation is a crucial link, and whether they can accurately avoid obstacles is a very important indicator to measure navigation performance. [0003] In the prior art, the general procedure for the robot to calibrate the obstacle is as follows: build the obstacle model, import the obstacle model file, the model file includes the obstacle coordinate system; use the end of the robot to align the positioning pin on the obstacle or use the The conversion relationship between th...
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IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0081B25J9/1653B25J9/1664
Inventor 杨跞左方睿刘一帆许楠宗成星
Owner SIASUN CO LTD