An 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, comprising a laser tracker and a terminal pose measurement target device, the terminal pose measurement target device is arranged at the end of the industrial robot, and the The laser tracker is arranged on one side of the industrial robot, and the laser tracker is used to measure the spatial position of the target ball in the terminal pose measurement target device. The present invention only needs to measure three points during the measurement process, introduces less calculation error, has higher pose measurement accuracy, and can realize automatic pose measurement, and is cheaper than special-purpose targets. The method of the invention fully considers the characteristics of the error source of the industrial robot, improves the regional problems of the traditional calibration method based on the error model, and effectively improves the global accuracy of the robot.

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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