Method and device for determining spatial positions, robot, storage medium and processor

Abstract

The invention discloses a method and device for determining spatial positions of the tail end of a robot arm of a robot, the robot, a storage medium and a processor. The method comprises the steps: determining the first spatial position of the tail end of the robot arm of the robot through a motor encoder of each axis of the robot arm of the robot; determining the second spatial position of the tail end of the robot arm of the robot through an acceleration sensor at the tail end of the robot arm of the robot; determining a spatial position difference value between the first spatial position and the second spatial position as a spatial position error of the tail end of the robot arm of the robot; determining whether the absolute value of the spatial position error exceeds a set error rangeor not; and if the absolute value of the spatial position error exceeds the set error range, calibrating the first spatial position according to the absolute value of the spatial position error. According to the scheme, by calibrating the spatial positions of the tail end of the robot arm of the robot, the positioning accuracy of the spatial positions of the tail end of the robot arm of the robotcan be improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a method, a device, a robot, a storage medium and a processor for determining a spatial position, and in particular to a method, a device, a robot, a storage medium and a processor for determining the spatial position of the end of a robotic arm of a robot. In particular, the invention relates to a method, a device, a robot, a storage medium and a processor for real-time measuring the spatial position of the end of a six-axis robot robot arm. Background technique [0002] With the rapid development of industrial robots, the application of industrial robots is becoming more and more extensive, and the performance requirements of industrial robots are also getting higher and higher. For serial industrial robots such as six-axis robots, the actual and nominal structure of the robot arm axis may The deviation of the parameters (such as the nominal length of the robot arm shaft is 50cm, ...

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Problems solved by technology

[0004] The object of the present invention is to provide a method, device, robot, storage medium and processor for determining the spatial position of the end of a robot's robot arm, so as to solve the problem that there is a deviation between the actual and nominal structural parameters of the robot, and the load usage in different working conditions. The deviation of the joint angle will affect the accuracy of the spatial position positioning of the end of the robotic arm of the robot. By calibrating the spatial position of the end of the robotic arm of the robot, the accuracy of the spatial position positioning of the end of the robotic arm of the robot can be improved. Effect

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