Calibration method, apparatus, equipment

Abstract

The present disclosure provides a calibration method, device, equipment, and storage medium. The calibration method includes: separately obtaining the coordinates of a preset number of position points in the first coordinate system and the distance from the origin of the first coordinate system; obtaining a second coordinate system; according to the position points in the first coordinate system The coordinates in the coordinate system and the distance are used to obtain calibration parameters for the second coordinate system; and the second coordinate system is calibrated according to the calibration parameters. The present disclosure can realize accurate measurement and calibration, is convenient to operate, and improves user experience.

Description

technical field [0001] The present disclosure relates to the measurement field, and in particular to a calibration method, device, equipment, and storage medium. Background technique [0002] In the manufacturing and assembly process of multi-joint robots, parts often have errors. Traditional robots use tolerances to control the overall deviation of the robot within a certain range. However, because the robot moves strictly according to the kinematics of the robot, there must be deviations between its motion model and the actual situation, which is the main reason for the limited range of robot accuracy. And with the use of the robot, the wear of the parts will aggravate this deviation, making the robot unable to complete the function more accurately. [0003] In order to solve this problem, one of the existing solutions is to use an expensive laser tracker to track the end of the assembled robot, combined with complex algorithms, to obtain the real size of the robot after...

AI Technical Summary

Problems solved by technology

But laser trackers are complex to deploy, difficult to use, and expensive

Although other measuring devices can measure the trajectory changes during the robot's movement, their accuracy is limited and cannot achieve the same effect as the laser tracker.

[0004] At present, the problems of complex use of laser tracker, high price and insufficient accuracy of other measuring devices need to be solved

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