Industrial robot pose measurement target device and joint position sensitive error calibration method

Abstract

The invention discloses an industrial robot pose measurement target device and a joint position sensitive error calibration method. The system comprises a laser tracker and a tail end pose measurementtarget device, the tail end pose measurement target device is arranged at a tail end of an industrial robot, the laser tracker is arranged on one side of the industrial robot, and the laser tracker is used for measuring the spatial position of a target ball in the tail end pose measurement target device. Only three points need to be measured in the measurement process, the introduced calculationerror is small, the pose measurement precision is high, the automatic pose measurement can be achieved, and compared with a special target, the cost is low. According to the method, the characteristics of the error source of the industrial robot are fully considered, the regional problem of a traditional calibration method based on an error model is solved, and the global precision of the robot iseffectively improved.

Description

technical field [0001] The invention belongs to the technical field of industrial robot parameter calibration, in particular to an industrial robot pose measurement target device and a joint position sensitive error calibration method. Background technique [0002] As a symbol of the rise of industry and a measure of a country's international competitiveness, high-end manufacturing equipment reflects the core competitiveness of a country. With the development of robot technology, industrial robots are more and more widely used in high-end manufacturing fields, such as hole making / riveting in the aerospace industry, wind power blade grinding, etc. These application fields require high absolute positioning accuracy of industrial robots. Studies have shown that the positioning error of industrial robots is mainly caused by geometric parameter errors and non-geometric parameter errors. Among them, the geometric parameter error accounts for about 90% of the total error. It is ge...

AI Technical Summary

Problems solved by technology

To realize the measurement of the end pose of the robot, a special target is required, but the price of the special target is higher

In addition, three target balls can be used to construct a coordinate system, but because the laser tracker cannot automatically identify the target ball, manual intervention is required in the measurement process, which will greatly reduce the efficiency of industrial robot pose measurement, and also introduce certain measurement uncertainty

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