Method and device for calibrating mechanical parameters of SCARA robot and SCARA robot

A technology of mechanical parameters and calibration methods, applied in the field of robots, can solve the problem of low calibration accuracy, and achieve the effect of improving absolute positioning accuracy
CN111113419AActive Publication Date: 2020-05-08SHENZHEN YUEJIANG TECH CO LTD
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
SHENZHEN YUEJIANG TECH CO LTD
Publication Date
2020-05-08

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Abstract

The invention is suitable for the technical field of robots, and provides a method and device for calibrating mechanical parameters of an SCARA robot and the SCARA robot. By acquiring a plurality of first measurement data and second measurement data, the angle corresponding to each joint when a first group of joints and a second group of joints move, a first zero point deviation angle and a secondzero point are respectively calculated by adopting a multi-point method, so that the calibration precision of the arm length and the zero point is improved, and the calibration precision of the arm length and the zero point affects the absolute positioning precision of the SCARA robot, so that the absolute positioning precision of the SCARA robot is also improved.
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Description

technical field

[0001] The invention belongs to the technical field of robots, and in particular relates to a method and device for calibrating mechanical parameters of a SCARA robot and the SCARA robot. Background technique

[0002] The SCARA (Selective Compliance Assembly Robot Arm) robot was invented by Makino Hiroshi, Yamanashi University, Japan in 1978. The robot has four axes and four degrees of freedom of motion (including along X, Y, Z direction of translation and rotation about the Z-axis degrees of freedom), such as figure 1 shown. The SCARA robot has compliance in the X and Y directions, and has good rigidity in the Z-axis direction, which is especially suitable for assembly work; its two-bar structure connected in series, similar to a human arm, can reach into a limited space to work Then retract, suitable for moving and accessing items. SCARA robots are compact in structure, flexible in action, fast in speed and high in position accuracy, and are widely used ...

Claims

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