A method and device for correcting the pose of a robot end tool

A terminal tool and robot technology, applied in the field of robotics, can solve the problems of consuming a lot of manpower and time resources, running trajectory errors, consistency deterioration, etc., and achieve the effect of saving manpower and time resources

Active Publication Date: 2021-11-26
深圳市智流形机器人技术有限公司
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  • Claims
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Problems solved by technology

[0002] In the process of the robot using the end tool to do the work, the end tool will inevitably be deformed or shifted in position, that is, the pose will be deviated, which will lead to an error in the running track of the product processed by the end tool, and eventually lead to the production of the product. Loss of quality or consistency
[0003] At present, when the pose of the end tool of the robot deviates, the worker usually detects and adjusts the pose of the end tool manually, which consumes a lot of manpower and time resources

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  • A method and device for correcting the pose of a robot end tool
  • A method and device for correcting the pose of a robot end tool
  • A method and device for correcting the pose of a robot end tool

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[0054] In the following description, for the purpose of illustration rather than limitation, specific details such as specific device structures and techniques are presented so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0055] The terms used in the following examples are for the purpose of describing particular examples only, and are not intended to limit the application. As used in the specification and appended claims of this application, the singular expressions "a", "an", "said", "above", "the" and "this" are intended to also Expressions such as "one or more" are included unless the context clearly dictat...

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Abstract

The present application relates to the field of robot technology, and provides a method, device, terminal device and storage medium for correcting the pose of a robot end tool. The method includes: obtaining motion trajectory data corresponding to a motion trajectory generated by the end tool of the robot performing circular motion within the detection area of ​​the detection device; constructing a current pose matrix of the end tool according to the motion trajectory data; calculating the current pose matrix and the pre-built reference pose matrix to obtain a pose compensation matrix; using the pose compensation matrix to correct the pose of the end tool. By adopting the method of the present application, the pose of the end tool can be automatically corrected to a normal pose, saving manpower and time resources.

Description

technical field [0001] The present application relates to the field of robot technology, and in particular to a method, device, terminal device and storage medium for correcting the pose of a robot end tool. Background technique [0002] In the process of the robot using the end tool to do the work, the end tool will inevitably be deformed or shifted in position, that is, the pose will be deviated, which will lead to an error in the running track of the product processed by the end tool, and eventually lead to the production of the product. Loss of quality or loss of consistency. [0003] At present, when the pose of the end tool of the robot deviates, workers usually manually detect and adjust the pose of the end tool, which consumes a lot of manpower and time resources. Contents of the invention [0004] In view of this, the embodiments of the present application provide a method, device, terminal device, and storage medium for correcting the pose of the end tool of the...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00B25J9/16
CPCB25J9/1605B25J9/1679B25J19/0095
Inventor 刘越刘慧泉戴丹商大伟陈伯鑫
Owner 深圳市智流形机器人技术有限公司
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