Machine arm correction method and apparatus, controller of machine arm, and storage medium

A calibration method and technology of a robotic arm, which is applied in the field of robotics and can solve problems such as large errors in the calibration method of robotic arms

Inactive Publication Date: 2020-01-14
GUANGDONG TOPSTAR TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Based on this, it is necessary to provide a method for correcting a robotic arm, a correcting device for a robotic arm, a controller for a robotic arm, and a computer-readable storage medium for the technical problem of large errors in the traditional robotic arm calibration method.

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  • Machine arm correction method and apparatus, controller of machine arm, and storage medium
  • Machine arm correction method and apparatus, controller of machine arm, and storage medium
  • Machine arm correction method and apparatus, controller of machine arm, and storage medium

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[0026] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0027] It should be noted that the terms "first\second\third\fourth" involved in this embodiment of the present application are only used to distinguish similar objects, and do not represent a specific ordering of objects. Understandably, "first\second Two\third\fourth" can be interchanged in specific order or sequence where allowed. It should be understood that the "first\second\third\fourth" distinctions are interchangeable under appropriate circumstances, so that the embodiments of the present application described herein can operate in an order other than those illustr...

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Abstract

The invention relates to a machine arm correction method and device, a controller of a machine arm and a computer readable storage medium. The method comprises the following steps of acquiring a firstcalibration coordinate, a second calibration coordinate, a third calibration coordinate and a fourth calibration coordinate, located on a first calibration point, a second calibration point, a thirdcalibration point and a fourth calibration point respectively, of the machine arm, wherein the first calibration point, the second calibration point, the third calibration point and the fourth calibration point are located on corners of a square calibration plate; obtaining a first calibration distance between the first calibration point and the second calibration point and a second calibration distance between the first calibration point and the fourth calibration point; and taking the first calibration distance, the second calibration distance, the first calibration coordinate, the second calibration coordinate, the third calibration coordinate and the fourth calibration coordinate as measurement parameters for correcting the machine arm. According to the scheme, the machine arm is corrected through the calibration plate, and the correction accuracy of the machine arm is improved.

Description

technical field [0001] The present application relates to the technical field of robots, in particular to a method for calibrating a robotic arm, a calibrating device for a robotic arm, a controller for a robotic arm, and a computer-readable storage medium. Background technique [0002] With the development of robot technology, due to the influence of machining errors, assembly errors and gaps, friction and wear and other factors, there is a certain deviation between the actual arm length of the robot and the theoretical arm length; offset. The deviation between the actual zero point and the arm length and the theoretical value affects the absolute positioning accuracy of the robot. Therefore, it is necessary to calibrate the robot arm to calculate the actual arm length and zero point of the robot. [0003] The calibration method of the robotic arm provided by the traditional technology uses positioning pins to align the card slot with the naked eye and perform manual calib...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1692
Inventor 王晓波赵磊闫会敏罗小军张培明吴丰礼
Owner GUANGDONG TOPSTAR TECH
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