Coordinate system calibration and positioning method, system and equipment of robot and medium
A calibration method and positioning method technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of insufficient absolute positioning calibration accuracy and complicated calibration process
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Example Embodiment
[0065] Example 1
[0066] A method of robot coordinate system calibration, such as figure 1 As shown, the end flange of the robot arm end of the robot is provided with an end tool, and a first target ball and a second target ball are respectively provided on the end tool and the base of the robot. The coordinate system calibration method include:
[0067] Step 11. Obtain the first conversion matrix of the flange coordinate system of the flange and the base coordinate system of the base in multiple poses respectively; it should be noted that the first conversion matrix can be directly read from the robot system , And it changes with the different poses of the robot arm.
[0068] Step 12: Obtain a second conversion matrix between the first target ball coordinate system of the first target ball and the second target ball coordinate system of the second target ball;
[0069] Step 13. Obtain the first position data of the end point of the end tool in the flange coordinate system and the s...
Example Embodiment
[0078] Example 2
[0079] A positioning method for robots, such as image 3 As shown, the positioning method is implemented using the robot coordinate system calibration method described in Embodiment 1, and specifically includes:
[0080] Step 21: Obtain a third conversion matrix between the base coordinate system and the second target ball coordinate system according to the coordinate system calibration method;
[0081] Step 22: Obtain the current first conversion matrix of the flange coordinate system of the flange and the base coordinate system of the base in the current pose;
[0082] Step 23: Obtain a fourth conversion matrix between the second target ball coordinate system and the positioning coordinate system;
[0083] Step 24: Obtain the current position data of the end point of the end tool in the flange coordinate system; it should be noted that once the end tool is set, the current position data is a fixed value, which can be achieved by the robot itself in the prior art Th...
Example Embodiment
[0093] Example 3
[0094] A robot coordinate system calibration system, such as Figure 5 As shown, the end flange of the robot arm end of the robot is provided with an end tool, a first target ball and a second target ball are respectively provided on the end tool and the base of the robot, and the coordinate system calibration system Including a first conversion matrix obtaining module 1, a second conversion matrix obtaining module 2, a position data obtaining module 3, and a third conversion matrix calculating module 4;
[0095] The first conversion matrix obtaining module 1 is used to obtain the first conversion matrix of the flange coordinate system of the flange and the base coordinate system of the base in a plurality of poses; it should be noted that the first The conversion matrix can be directly read from the robot system, and it changes with the different poses of the robot arm.
[0096] The second conversion matrix obtaining module 2 is used to obtain a second conversion...
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