Kinematic calibration method of industrial robot

Abstract

The invention relate to a kinematic calibration method of an industrial robot. An intermediate connecting rod coordinate system is established by combination of DH and MDH rules in the establishment process of a kinematic model of the industrial robot, and a minimum parameter set to be identified is obtained. The measurement process is simple and easy to operate by fixing any measuring equipment and any target point, and taking the pose of the robot relative to the measurement coordinate system and the position of the target point relative to the robot end coordinate system as parameters to beidentified. The kinematic model of the industrial robot and the measurement process model are combined, and the nonlinear identification model of the whole calibration system is obtained. The nonlinear equation solving problem is transformed into a nonlinear optimization problem to be solved. The kinematic calibration method of the industrial robot achieves complete minimum parameter set modeling, the calibration model is simpler, and the real parameters of the robot are directly solved based on the nonlinear optimization idea. The method has the advantages of simple operation, friendly userinterface and strong practicability.

Description

technical field [0001] The invention belongs to the technical field of advanced manufacturing and automation, and relates to a robot calibration method, in particular to an industrial robot kinematics calibration method. [0002] technical background [0003] In recent years, with the increasing demand for automation in the manufacturing process, offline programming has attracted more and more attention. The absolute positioning accuracy of the robot is an important constraint factor for offline programming, and correcting the parameter error of the robot through kinematics calibration is an effective method to improve the absolute positioning accuracy. Since the 1980s, people have carried out a lot of research on robot calibration, and proposed many complicated and simple calibration methods. However, due to the lack of demand for off-line programming in the past, the practical technical demand for robot kinematics parameter calibration is not very urgent. Calibration tech...

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Problems solved by technology

[0006] Aiming at the problem that the kinematic parameters of industrial robots have non-negligible errors and cannot obtain accurate kinematic models, the technical problem to be solved by the present invention is to provide a simple and practical calibration method for industrial robots that are currently widely used as objects

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