Robot arm length correction method and system

Abstract

The invention provides a robot arm length correction method and system. The method comprises the following steps: acquiring relative position data of a plurality of calibration points on a calibrationplate relative to the same datum point; enabling the robot to drive a camera to move, and recording the feedback rotation angle of a first motor and the feedback rotation angle of a second motor whenthe center point of the camera coincides with each calibration point; establishing an equation among the coordinates of each calibration point under a robot coordinate system and the length of the second arm, the length of the third arm, the feedback rotation angle of the first motor, the feedback rotation angle of the second motor, the length of the second arm, the length of the third arm, the deviation angle of the first motor and the deviation angle of the second motor; and solving the established equation according to the relative position data of each calibration point relative to the same datum point to obtain the length of the second arm, the length of the third arm, the deviation angle of the first motor and the deviation angle of the second motor. According to the robot arm length correction method, the correction process is unmanned and automatic, the manufacturing cost is reduced, and the correction success rate is increased.

Description

Technical field [0001] The present invention relates to the field of robot correction, and in particular, to a robot arm long correction method and system. Background technique [0002] With the rapid development of industrial automation, more and more robots are developed toward high-precision (High Stability), high stability, high stability, and low cost. In order to reduce parts processing error, assembly error on the quality of robots, improve work accuracy, and the leader before the factory is extensively used in the field of robot manufacturing. [0003] The industry's existing arm long corrections generally have the following two types: First, depend on the high-precision optical instrument, measure the size of the parts, assembly linearity, and repeatedly adjust the processing parts, assemble the linearity until it is controlled to a certain range. However, this method greatly increases manufacturing costs. The second is to identify the errors of the robot and identify th...

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Problems solved by technology

[0003] The existing arm length calibration methods in the industry generally have the following two types: one is to rely on high-precision optical instruments to measure the size of parts and assembly linearity, and then repeatedly adjust the processed parts and assembly linearity until the error is controlled within a certain range , but this method greatly increases the manufacturing cost

The second is to correct the kinematics of the robot, identify the error of its structural parameters and perform algorithmic compensation to improve its accuracy. Compared with the first method, this method is more economical and practical, but this method is harmful to Human requirements are high, calibration is done manually, it is difficult to obtain a high success rate and consistency

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