Robot positioning calibration method and device, electronic equipment

A calibration method and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of wasting time and finding a lot, and achieve the effect of reducing accumulated errors, fast calibration, and shortening calibration time.

Active Publication Date: 2022-01-07
ZHUHAI GREE INTELLIGENT EQUIP CO LTD +1
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0004] Embodiments of the present invention provide a robot positioning and calibration method, device, and electronic equipment to at least solve the technical problem in the related art that it is necessary to find a large number of points and waste time when positioning and calibrating a robot.

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  • Robot positioning calibration method and device, electronic equipment
  • Robot positioning calibration method and device, electronic equipment

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Embodiment Construction

[0025] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0026] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circ...

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Abstract

The invention discloses a robot positioning and calibration method, device and electronic equipment. Wherein, the method includes: determining the reference point of the robot when calibrating the target joint; based on the reference point, tracking the calibration points at multiple angles when the robot rotates the target joint to obtain the calibration parameters; comparing the calibration parameters with the DH parameters of the robot, The comparison results are obtained, in which the DH parameters of the robot refer to the parameters between the end of the manipulator of the robot and the base coordinate system; based on the comparison results, the link parameters of the target joints are compensated to realize the positioning calibration of the robot. The invention solves the technical problem in the related art that it is necessary to search for a large number of points and waste time when the robot is positioned and calibrated.

Description

technical field [0001] The present invention relates to the technical field of robot control, in particular to a robot positioning calibration method and device, and electronic equipment. Background technique [0002] In the related art, most industrial robots place the tracking device on the end flange of the robot for multi-point calibration when positioning and calibrating, until finally compensating the connecting rod parameters of the robot. This solution needs to find a large number of points for calibration. Finding the correct position and posture is a waste of time. When mass production is required, it is difficult to complete the calibration within the specified time. Especially when there is a large machining error or the arm of the robot is very long, the preset theoretical DH parameters cannot be automatically compensated by the system. In many cases, we do not know which joint the problem occurs on, so we must Improving the tolerance requirements of the design...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1653B25J9/1664
Inventor 田世权谢黎李明钟文涛齐建伟马俊杰
Owner ZHUHAI GREE INTELLIGENT EQUIP CO LTD
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