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Geometric parameter and joint zero self-calibration method, device, electronic equipment and medium

A technology of geometric parameters and joint positions, which is applied in the direction of program-controlled manipulators, manufacturing tools, manipulators, etc., can solve the problems of incomplete consideration of calibration parameters and poor versatility of calibration methods, and achieve the effect of improving control effects and positioning accuracy

Active Publication Date: 2021-03-30
ZHEJIANG LAB
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the embodiments of the present invention is to provide a self-calibration method, device, electronic equipment, and medium for geometric parameters and joint zero positions, so as to at least solve the problems of incomplete consideration of calibration parameters and poor versatility of calibration methods in related technologies

Method used

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  • Geometric parameter and joint zero self-calibration method, device, electronic equipment and medium
  • Geometric parameter and joint zero self-calibration method, device, electronic equipment and medium
  • Geometric parameter and joint zero self-calibration method, device, electronic equipment and medium

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Embodiment 1

[0020] figure 1 It is a flow chart of a geometric parameter and joint zero self-calibration method according to an exemplary embodiment. figure 1 This embodiment provides a geometric parameter and a zero range self-calibration method for the geometric parameters of the foot robot and the joint zero self-calibration, which includes the following steps:

[0021] Step S101, the posture of the foot-based robot, and the joint position data, wherein the foot-based robot is mounted on the calibration plate 2;

[0022] specifically, figure 2 It is a schematic structural diagram of a double-foot robot according to an exemplary embodiment, image 3 It is a schematic diagram of the calibration board according to an exemplary embodiment. Figure 4 It is an intent for the structure of the double-foot robot according to an exemplary embodiment. The calibration plate is processed with the same positioning portion as the number of footsteps of the foot, for connecting the footer and the posit...

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Abstract

The invention discloses a method, device, electronic equipment and medium for self-calibration of geometric parameters and joint zero positions, which can be specifically used to calibrate the size parameters of each component of a legged robot and the zero position of driving joints, and improve the positioning and control of the robot precision. The method fixes the foot of the robot on a calibration plate with clear size parameters, adjusts the joint position of the robot, uses the inertial measurement unit placed on the robot body and the joint readings, and establishes the robot calibration model. , the calibration of the robot’s structural size parameters and joint zero positions can be realized. The invention has the advantages of low cost, easy operation and the like, and is suitable for parameter calibration of robots with different configurations and different numbers of legs and feet.

Description

Technical field [0001] The present invention relates to the field of robots and parameters, in particular, to a geometric parameter and joint zero self-standard method, apparatus, electronic device, and medium. Background technique [0002] In the mobile robot, the foot-style robot has a significant advantage in terms of terrain adaptation, with complex ground walking, avoiding obstacles, but there is a problem such as high control difficulty, and poor exercise stability. High-precision control of the foot-style robot is a key issue for achieving its stable motion. However, there is a deviation between mechanical processing, assembly, etc., geometric parameters of foot-style robots, between motion joints and their design values, and their design values, based on this, the robot is exercised, and it will inevitably lead to the foot. Positional deviation. Therefore, it is necessary to calibrate the geometric parameters of the foot-style robot to the joint zero, improve the position...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/1602B25J9/161B25J9/1653B25J9/1664B25J13/00
Inventor 孔令雨黄冠宇高成志谢也谢安桓张丹
Owner ZHEJIANG LAB
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