Self-adaptive alignment control method of industrial robot calibration system
A technology of industrial robot and calibration system, which is applied in the field of adaptive alignment control of industrial robot calibration system, and can solve the problems such as the decrease of repeated positioning accuracy
Inactive Publication Date: 2020-04-10
天津博诺智创机器人技术有限公司
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[0003] In view of this, the present invention aims to propose an adaptive alignment control method for an industrial robot calibration system, which can effectively solve the problem of repeated positioning caused by changes in parameters in the control system caused by long-term operation of industrial robots or replacement of motors and encoders. The problem of decreased accuracy, there is no need for manual calculations or alignment control before estimating these parameters, automatic calibration can be achieved
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[0020] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.
[0021] The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0022] Such as figure 1 As shown, it is a schematic diagram of a calibration system of an adaptive alignment control method for an industrial robot calibration system according to the implementation of the present invention. The present invention provides an adaptive alignment control method for an industrial robot calibration system, which ensures an adaptive model for position asymptotic convergence by estimating the translation amount online, including establishing a calibration system, which includes a laser pointer 1, a camera 2, Position sensitive calibration fixture 3, robot controller 4 and six degrees of freedom industrial robot 5;
[0023] Wherein, the laser pointer 1 is fixe...
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The invention relates to a self-adaptive alignment control method of an industrial robot calibration system. The industrial robot calibration system comprises a laser indicator, a camera, a position sensitive calibration clamp, a robot controller and a six-degree-of-freedom industrial robot. The laser indicator emits a laser beam to irradiate the photosensitive surface of a PSD position sensor atthe top end of the position sensitive calibration clamp and reflect the laser beam to the other PSD position sensor; a self-adaptive control algorithm is used for enabling laser beams to automaticallyapproach double PSD centers at the same time to obtain pose coordinates, and the position of an end effector of the robot and the laser positions of two PSDs in a coordinate system are estimated in an online self-adaptive mode and converted into six joint angles of the robot. According to the method, the problem that the repeated positioning precision of the industrial robot is reduced due to parameter change is effectively solved, and the automatic calibration can be realized without manual calculation.
Description
technical field [0001] The invention belongs to the field of measurement technology and laser application, in particular to an adaptive alignment control method of an industrial robot calibration system. Background technique [0002] Industrial robots are more and more widely used in industrial fields such as assembly, manufacturing, welding, and cutting. In these areas, continuous paths and precise positioning must be required, however, industrial robots have high repeatability but low precision, which hinders the further development and application of industrial robots. After the robot is assembled and installed, the parameters are accurately measured and input into the control system, but after long-term operation or replacement of motors and encoders, the parameters may change. In view of the above problems, an adaptive alignment control method of industrial robot calibration system is needed to solve such work requirements. Contents of the invention [0003] In view...
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IPC IPC(8): B25J9/16B25J13/08
CPCB25J9/1697B25J13/088
Inventor 邓三鹏苏成志邓茜王文周旺发权利红薛强王帅谢雷祁宇明
Owner 天津博诺智创机器人技术有限公司