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Robot kinematics parameter calibration method and device, facility and storage medium

A technology of robot kinematics and kinematic parameters, applied in the field of robot calibration, can solve the problem of low accuracy of kinematic parameters

Active Publication Date: 2020-10-20
SHENZHEN ZOWEE TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] Based on this, it is necessary to provide a robot kinematic parameter calibration method, device, computer equipment and storage medium for the problem of low accuracy of kinematic parameters in the above method

Method used

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  • Robot kinematics parameter calibration method and device, facility and storage medium
  • Robot kinematics parameter calibration method and device, facility and storage medium
  • Robot kinematics parameter calibration method and device, facility and storage medium

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Embodiment Construction

[0058] In order to make the purpose, technical solution and advantages of the present application clearer, the implementation manners of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0059] Industrial robots have the advantages of simple structure, reliable movement, fast movement speed and high positioning accuracy, and are widely used in the fields of plastics industry, automobile industry, electronic product industry, pharmaceutical industry and food industry.

[0060] Among them, SCARA (English: Selective Compliance Assembly Robot Arm; Chinese: Selective Compliance Assembly Robot Arm) robot is a robot often used in industry. The SCARA robot includes 3 rotation axes and 1 movement axis. The axes of the 3 rotation axes are parallel to each other, and they are positioned and oriented in the plane. The movement axis is used to complete the movement of the end piece in the direction perpendicular to the plane. ...

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Abstract

The invention discloses a robot kinematics parameter calibration method and device, a computer facility and a storage medium, and relates to the technical field of robot calibration. The robot kinematics parameter calibration method comprises the steps that a server acquires a measurement data set of each shaft of a target robot to be calibrated, coordinate vectors of each shaft in a base coordinate system of the target robot are determined according to the measurement data set of each shaft, the geometric mapping relationship between every two adjacent shafts is determined, and kinematics parameters of each shaft are determined according to the coordinate vectors of each shaft and the geometric mapping relationship of the shafts. According to the robot kinematics parameter calibration method, the kinematics parameters of a connecting rod between every two adjacent shafts are determined according to the geometric mapping relationship between every two adjacent shafts of the robot, andare not affected by the machining precision and the assembly precision of each shaft of the robot, and therefore the precision of the kinematics parameters can be improved.

Description

technical field [0001] The present application relates to the technical field of robot calibration, in particular to a robot kinematics parameter calibration method, device, computer equipment and storage medium. Background technique [0002] In order to improve industrial production efficiency, more and more manufacturing enterprises use industrial robots to replace workers. Among them, SCARA (English: Selective Compliance Assembly Robot Arm; Chinese: Selective Compliance Assembly Robot Arm) robots are commonly used in industry. The SCARA robot includes 3 rotation axes and 1 movement axis. The axes of the 3 rotation axes are parallel to each other, and they are positioned and oriented in the plane. The movement axis is used to complete the movement of the end piece in the direction perpendicular to the plane. During calibration, the third rotation axis and the movement axis can be regarded as a rotation axis for calibration. [0003] In the prior art, the method for calibr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1653B25J9/161
Inventor 余天奇
Owner SHENZHEN ZOWEE TECH
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