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A robot calibration system and two-dimensional plane, three-dimensional space motion calibration method

A calibration system, two-dimensional plane technology, applied in the field of robotics, to achieve the effects of small size, strong calibration adaptability, and simple structure

Active Publication Date: 2021-09-03
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0010] The purpose of the present invention is to provide a robot calibration system and a two-dimensional plane and three-dimensional space motion calibration method in order to overcome the defect that the robot cannot be calibrated online and in real time in the prior art

Method used

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  • A robot calibration system and two-dimensional plane, three-dimensional space motion calibration method
  • A robot calibration system and two-dimensional plane, three-dimensional space motion calibration method
  • A robot calibration system and two-dimensional plane, three-dimensional space motion calibration method

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Embodiment

[0190] In this embodiment, taking the prism assembly 31 as a double prism as an example, the two-dimensional plane motion calibration method of the system is as follows:

[0191] a1. Establish the world coordinate system O w -X w Y w Z w , establish the robot coordinate system O R -X R Y R Z R , establish the measurement component coordinate system O M -X M Y M Z M , establish the coordinate system O of the prism component in the measurement component 3 r -X r Y r Z r , set up the camera coordinate system O matched with the prism assembly 31 c -X c Y c Z c , will measure the component coordinate system O M -X M Y M Z M , the world coordinate system O w -X w Y w Z w And the camera coordinate system O matched with the measurement component 3 c -X c Y c Z c ;

[0192] a2. The host computer 4 controls the prism assembly 31 of the measurement assembly 3, so that the visual axis of the camera 32 passes through the prism assembly 31 without deflection, a...

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Abstract

The invention relates to a robot calibration system and a two-dimensional plane and three-dimensional space motion calibration method. The system includes an industrial robot and a host computer, and also includes: a target fixed at the end of the industrial robot; a measuring component installed at the industrial robot The surroundings of the robot include a prism assembly and a camera, the prism assembly is arranged between the target and the camera, and the visual axis of the camera and the optical axis of the prism assembly remain coaxial; the calibration assembly is arranged in the field of view of the measurement assembly , and does not interfere with industrial robots; the host computer is connected with the camera and prism components. Compared with the prior art, the present invention can control the prism assembly by the host computer and adjust the visual axis of the matching camera to realize the real-time dynamic measurement of the center position of the target. By constructing the error response equation of the robot’s current geometric parameter nominal coordinate and measurement coordinate, The current geometric parameters of the robot corresponding to the minimum value of the error can be used to realize the online calibration of the robot.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot calibration system and a two-dimensional plane and three-dimensional space motion calibration method. Background technique [0002] With the introduction of a new round of scientific and technological revolution, the continuous development of intelligent factories, intelligent workshops and intelligent production lines, industrial robots have the characteristics of flexibility, repeatability and strong load capacity, and have been widely used in welding, automobile assembly and aerospace manufacturing. And handling and palletizing and other fields, and the working precision of industrial robots at this stage is difficult to meet the increasingly high requirements of processing and manufacturing precision. The errors of industrial robots mainly include kinematic errors such as rod error and joint angle error, as well as non-geometric errors such as environmental temperature...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1653
Inventor 李安虎
Owner TONGJI UNIV