Robot calibration method, system and device and storage medium
A calibration method and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of expensive high-precision equipment, time and manpower, etc., and achieve the effect of reducing manpower and expensive equipment and reducing costs
Active Publication Date: 2021-04-23
上海新时达机器人有限公司
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However, the high-precision equipment involved in this process is expensive and requires an investment of time and labor for transportation and installation
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[0025] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the following will describe each embodiment of the present invention in detail with reference to the accompanying drawings. However, those of ordinary skill in the art can understand that in each implementation manner of the present invention, many technical details are proposed in order to enable readers to better understand the present invention. However, even without these technical details and various changes and modifications based on the following implementation modes, the technical solution claimed in the present invention can also be realized. The division of the following implementations is for the convenience of description, and should not constitute any limitation to the specific implementations of the present invention, and the implementations can be combined and referenced to each other on the premise of no contradiction.
[0026] The ter...
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The embodiment of the invention relates to the field of robot control, and discloses a robot calibration method, system and device and a storage medium. The robot calibration method comprises the following steps that the tool tail end of a robot is controlled to make contact with a preset fixed point for N times, and M joint angles of the robot in each contact are obtained; the position information of the fixed point is obtained according to N groups of joint angles; according to the position information of the fixed point, the N groups of joint angles and the first position information of a preset tool center point, the joint zero deviation of the robot is obtained; and zero deviation compensation is carried out on the joint angles of the robot according to the joint zero deviation. According to the robot calibration method, system and device and the storage medium, the tail end of the robot does not need to be measured and calibrated by high-precision equipment, only the joint angles need to be obtained by referring to a certain external fixed end point, the specific calculation process of the deviation can be completed by the robot, so that the manpower and expensive equipment investment which need to be input in the robot calibration process are reduced, and the cost of robot calibration is reduced.
Description
technical field [0001] The embodiments of the present invention relate to the field of robot control, in particular to a robot calibration method, system, device and storage medium. Background technique [0002] As industrial robots are widely used in complex tasks that require precise positioning, such as arc welding and cutting, the accuracy of robots is becoming more and more important. After the robot is delivered to the customer's site, some kinematic parameters related to the mechanical structure of the robot generally do not change much. However, due to actions such as assembling or replacing the motor, the zero point of the robot is changed or even lost, which has a great impact on the positioning accuracy. [0003] Robot calibration is an effective way to improve accuracy. The usual practice is to rely on high-precision equipment to measure the attitude of the robot end effector for zero-point calibration. However, the high-precision equipment involved in this proc...
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IPC IPC(8): B25J9/16B25J13/00
Inventor 刘天华邓洪洁林俐高欢李生孙锐
Owner 上海新时达机器人有限公司