Robot position calibrating method, device and system and robot system

A calibration method and a calibration system technology, applied in the field of industrial control, can solve the problems of poor convenience and achieve the effect of strong calibration convenience

Inactive Publication Date: 2020-05-12
ZHUHAI GREE INTELLIGENT EQUIP CO LTD +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Based on this, it is necessary to provide a robot position calibration method, device, system and robot system for the poor convenience of traditional industrial robot position calibration.

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  • Robot position calibrating method, device and system and robot system
  • Robot position calibrating method, device and system and robot system
  • Robot position calibrating method, device and system and robot system

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Embodiment Construction

[0026] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Preferred embodiments of the application are shown in the accompanying drawings. However, the present application can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the application more thorough and comprehensive.

[0027] see figure 1 , a robot position calibration method, including step S100, step S200 and step S300.

[0028] In step S100, the position information of the feature points of the laser device in the PSD plane coordinate system is acquired.

[0029] Specifically, the laser device is a device capable of emitting laser light. After the laser light emitted by the laser device is irradiated to the PSD position sensor, a light spot can be f...

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Abstract

The invention relates to a robot position calibrating method, device and system and a robot system. Information of an actual spot position of a laser device on a PSD position sensor can be obtained byestablishing a virtual constraint kinematic chain between the laser device and the PSD position sensor, selecting feature points in the laser device and analyzing by combining the virtual constraintkinematic chain, so that the position and posture and the zero-position deviation of a robot can be self-calibrated according to the actual spot position and a corresponding ideal spot position. Through the scheme, the calibration operation of the position of the robot can be realized by only observing and analyzing the movement of the feature points without the end of the robot or projecting light spots to the centre of the PSD position sensor by the laser device from at least seven directions; and compared with the conventional industrial robot position calibrating method, the robot positioncalibrating method has the advantages of strong calibrating convenience.

Description

technical field [0001] The invention relates to the technical field of industrial control, in particular to a robot position calibration method, device, system and robot system. Background technique [0002] With the development and maturity of automation technology, various industrial robots are widely used, which brings great convenience to people's daily production and life. The positioning accuracy of industrial robots is the main index to evaluate the quality of industrial robots. Therefore, it is particularly important to calibrate the position of the robot to ensure the positioning accuracy of the robot. [0003] In traditional industrial robots, zero position deviation is used for position calibration. Although only one PSD position sensor is required for zero position deviation calibration, the end of the industrial robot or the laser needs to project light spots to the center of the PSD position sensor from at least seven directions in order to Efficiently realize...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1664B25J9/1694
Inventor 万文洁郭东生张雷
Owner ZHUHAI GREE INTELLIGENT EQUIP CO LTD
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