Industrial robot kinematics parameter calibration system and method with robust capacity

Abstract

The invention discloses an industrial robot kinematics parameter calibration system and method with robust capacity. The industrial robot kinematics parameter calibration system comprises an industrial robot, measuring equipment and an interconnected identification system; a measuring assembly is installed on the industrial robot; a robot input connector is connected to the industrial robot, the industrial robot is connected with a robot output connector, a robust parameter identification module is connected to the robot input connector through a compensation control module, and a motion control module is further connected to the robot input connector; and the measuring equipment is connected to a measuring output connector, the robot output connector and the measuring output connector areconnected to an error data processing module, the error data processing module is connected to the robust parameter identification module, and a measuring control module is connected to the measuringequipment through a measuring input connector. According to the industrial robot kinematics parameter calibration system, the kinematic accuracy of the industrial robot can be effectively improved, automatic calibration can further be realized by combining the motion control of the robot, and the calibration efficiency is improved.

Description

technical field [0001] The invention relates to a motion calibration system and method in the technical field of robots, in particular to a kinematics parameter calibration system and method of an industrial robot with tolerance. Background technique [0002] The calibration of industrial robots is an important link to ensure that the robot has high working accuracy. The calibration of industrial robots roughly includes four steps: establishment of kinematic model, pose measurement, model parameter identification, and model parameter error compensation, among which model parameter identification is a key step in the calibration process. In order to improve the accuracy of parameter identification of industrial robot kinematics model, scholars at home and abroad have carried out a lot of research on robot calibration methods, which can be roughly divided into calibration methods based on position error model and distance error model. Calibration based on the position error m...

AI Technical Summary

Problems solved by technology

Calibration based on the position error model is a commonly used method at present, but most of the robot calibration methods based on the position error model have the problem that the coordinate system transformation error between the robot and the measuring equipment affects the calibration accuracy during the calibration process, while the calibration method based on the distance error Can effectively avoid the problem of the influence of coordinate system conversion error

Although the robot calibration method based on the distance error model can avoid the influence of the coordinate system conversion error, it cannot avoid the influence of gross error data in the position data measured by the measuring equipment used in robot calibration on the accuracy of model parameter error identification.

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