Method for correcting end effector of robotic arm
A technology of end effector and calibration method, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficulty in ensuring coaxial concentricity, time-consuming and laborious, and low precision, and achieve easy operation, simple implementation process, and low noise. great effect
Inactive Publication Date: 2020-02-21
广东若铂智能机器人有限公司
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Problems solved by technology
However, in actual work, it is difficult to ensure that the installation of the end effector and the end shaft of the industrial robot are coaxial and concentric, and there will be large errors even through calibration. Traditionally, the measurement and correction is performed by manual measurement, which is time-consuming and laborious, and the accuracy is not high.
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[0044] The present invention will be further described below in conjunction with accompanying drawing:
[0045] Calibration Target is used in machine vision, image measurement, photogrammetry, 3D reconstruction and other applications to correct lens distortion; determine the conversion relationship between physical size and pixel; and determine the three-dimensional geometric position of a point on the surface of a space object and its position The relationship between corresponding points in the image requires the establishment of a geometric model of camera imaging.
[0046] The geometric model of the camera can be obtained through the calculation of the camera with a fixed-pitch pattern array plate and the calculation of the calibration algorithm, so as to obtain high-precision measurement and reconstruction results. A flat plate with a fixed-pitch pattern array is the calibration plate.
[0047] A method for calibrating the end effector of a robot arm according to an embo...
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The invention relates to a method for correcting an end effector of a robotic arm. The method can solve the problems that end effectors of robotic arms are mainly corrected through manual measurementtraditionally, time and labor are wasted, and the accuracy is low. By using a fixed-value circular calibration plate, and a relationship between ideal physical coordinates of the end effector of the robotic arm and actual physical coordinates of the end effector of the robotic arm is established according to a target; then by mapping and converting, the relationship is converted and mapped to a robotic arm end positioning correction relationship; a robotic end effector self-correcting relationship is established based on the robotic arm end positioning correction relationship; and the roboticend effector self-correcting relationship is combined with the actual physical location of positioning of target requirements, the location of an end shaft of the robotic arm is adjusted to correct the end effector of the robotic arm. According to the method, the implementation process is simple, operation is easy, meanwhile the computational complexity is greatly lowered, the positioning accuracyof the end effector of the robotic arm is improved, and more robustness to noise is achieved.
Description
technical field [0001] The invention relates to the technical field of industrial robots, in particular to a calibration method for an end effector of a robot arm. Background technique [0002] At present, industrial robots, especially arm-type industrial robots, usually install actuators at the end of industrial robots, and work through the actuators. However, in actual work, it is difficult to ensure that the installation of the end effector and the end shaft of the industrial robot are coaxial and concentric, and there will be large errors even through calibration. Traditionally, the measurement and correction is performed by manual measurement, which is time-consuming and laborious, and the accuracy is not high. Contents of the invention [0003] A method for calibrating the end effector of the robotic arm proposed by the present invention can solve the problem that the traditional calibration of the end effector of the robotic arm is mainly through manual measuremen...
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IPC IPC(8): B25J9/16
CPCB25J9/1697B25J9/1664
Inventor 张胜
Owner 广东若铂智能机器人有限公司