TCP error calibration method of industrial robot

Abstract

The invention discloses a TCP error calibration method of an industrial robot, and relates to the field of TCP error calibration. Two laser sensors are installed on one side of a robot tail end tool,and the plane where a first laser line and a second laser line are located is a base coordinate system XOY plane. A primarily-calibrated coordination value in the Y direction, a calibrated coordinatevalue in the X direction, a calibrated coordinate value in the Z direction and a secondarily-calibrated coordination value in the Y direction are calculated respectively according to motion interaction parameters of motion of the robot tail end tool in a base coordinate system, the motion of the robot tail end tool is detected by the laser sensors, and a TCP error is calculated and calibrated. When the robot carries out industrial production, when a production period reaches a set value, a TCP detection program is automatically executed, by means of the method, the defective rate caused by theTCP error is effectively avoided, the equipment debugging time is shortened, and the overall production efficiency of equipment is improved.

Description

technical field [0001] The invention relates to the field of robot TCP error calibration, in particular to a TCP error calibration method for industrial robots. Background technique [0002] With the continuous development of science and technology, the degree of automation of industrial manufacturing is getting higher and higher. Industrial robots are an important symbol of industrial production automation. At the same time, the robot may collide during misoperation, which will cause the coordinate error of the tool center point (ToolCenterPoint, TCP) of the industrial robot, and the positioning accuracy of the TCP directly affects the working ability of the industrial robot. The current TCP error calibration The multi-point method of off-line manual teaching is mainly used. This method is greatly affected by human factors and is prone to large errors, resulting in calibration failure. At the same time, the degree of automation is low and the calibration efficiency is low. ...

AI Technical Summary

Problems solved by technology

[0002] With the continuous development of science and technology, the degree of automation of industrial manufacturing is getting higher and higher. Industrial robots are an important symbol of industrial production automation. At the same time, the robot may collide during misoperation, which will cause the coordinate error of the tool center point (ToolCenterPoint, TCP) of the industrial robot, and the positioning accuracy of the TCP directly affects the working ability of the industrial robot. The current TCP error calibration The multi-point method of off-line manual teaching is mainly used. This method is greatly affected by human factors and is prone to large errors, resulting in calibration failure. At the same time, the degree of automation is low and the calibration efficiency is low.

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