Robot movement plane calibration system and method

Abstract

The invention discloses a robot movement plane calibration system. The system comprises a detection structure, a camera device and a processor; the detection structure is arranged on an end effector of a robot and comprises three detection pieces which are not located on the same straight line; the lower end surfaces of the three detection pieces are located on the same plane; the camera device isused for collecting the image information of the detection structure when the detection structure is located in a calibration area; and the processor is used for controlling the robot to drive the detection structure to move to the calibration area, acquiring the image information acquired by the camera device when the detection structure is located in the calibration area, obtaining height difference values of the three detection pieces according to the image information, comparing the height difference values with a difference value threshold value, and controlling the robot to adjust the posture to carry out difference value compensation if the height difference values exceed the difference value threshold value, and repeatedly executing the operation until the height difference valuesmeet the difference value threshold value. In addition, the invention further discloses a plane calibration system for robot movement. With the robot movement plane calibration system of the invention adopted, a horizontal plane can be accurately and rapidly calibrated.

Description

technical field [0001] The invention relates to the technical field of robot motion calibration, in particular to a robot motion plane calibration system and method. Background technique [0002] Robot technology is widely used in industrial fields, such as automatic assembly, automatic tracking and grasping, automatic welding, etc. By installing different actuators at the end of the robot, such as grippers, welding torches, etc., to complete different tasks, the accuracy of the angle of the actuator’s working surface during the operation will directly affect the operating accuracy of the entire robot. [0003] Especially in the process of automatically tracking and grabbing objects through the gripper, whether the gripper is level will affect whether it can accurately and stably grab the object. Therefore, in order to ensure the working accuracy and efficiency of the robot, it is necessary to calibrate the jaws of the robot before using the robot to perform operations. In...

AI Technical Summary

Problems solved by technology

In the prior art, it is usually time-consuming, laborious and inaccurate for the operator to observe whether the jaws are level with the naked eye

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