Device and calibration method for calibrating multi-robot cooperative work coordinate system

Abstract

The invention discloses a device and a calibration method for calibrating a multi-robot cooperative work coordinate system. A deformation sensor and an active capacitive calibration ball are used to collect data entirely by the calibration device. Compared with the calibration by naked eyes, the accuracy is greatly improved; The sensor is a conventional sensor, which is easy to replace. According to the use scene to distinguish the accuracy requirements, select the appropriate sensor to assemble the optimal cost-effective calibration device; this method has simple steps, can automatically complete the calibration operation, and can achieve rapid calibration for multi-robot collaboration; this device Small and portable, suitable for different production occasions; this method will not cause fatigue to personnel, suitable for repeated calibration, no operation errors, and high stability; this calibration ball can be assembled to the end of the robot by custom means, and can be calibrated with the help of suction calibration target The tool coordinate system is calibrated, thereby obtaining higher accuracy of the tool coordinate system; the customized calibration ball can be used as a standard workpiece to assist the robot to perform various precision tests with the touch pad.

Description

technical field [0001] The invention relates to the technical field of calibration, in particular to a device and a calibration method for calibrating a multi-robot cooperative work coordinate system. Background technique [0002] With the continuous development of modern industrial manufacturing technology, multi-robot collaboration has become a research hotspot in the field of robotics. As one of the key technologies, the calibration of multi-robot systems has also received great attention. The cost performance of its calibration tools and the ease of use of calibration methods have become an important problem in the current robotics industry research. [0003] The current robot system calibration methods are generally divided into two categories: one is to calibrate with the help of external advanced equipment such as laser trackers or dual cameras. This type of equipment has high precision and high reliability, but the calibration process is complicated and the price is...

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