Mechanical arm tool coordinate system original point calibration method and device and electronic equipment

Abstract

The invention provides a mechanical arm tool coordinate system original point calibration method and device and electronic equipment. The method comprises the steps that the tail end of a mechanical arm is made to move to at least four non-coplanar position points in sequence; at each position point, a first coordinate of a TCP mark point collected by a visual sensor in a visual sensor coordinate system is obtained, and a first pose of a mechanical arm tail end flange coordinate system relative to a mechanical arm base coordinate system is obtained; according to the first pose, a second pose of the mechanical arm tail end flange coordinate system relative to the mechanical arm base coordinate system after the first coordinate is translated to a preset fixed point is calculated; and a second coordinate of the TCP mark point in the mechanical arm tail end flange coordinate system is calculated according to the second pose. Therefore, the automation of the calibration process can be realized, the working efficiency is improved, the manpower consumption is reduced, and the collision danger in the manual teaching calibration process is avoided.

Description

technical field [0001] The invention relates to the technical field of calibration of industrial manipulators, in particular to a method, device and electronic equipment for calibration of the origin of a tool coordinate system of a manipulator. Background technique [0002] At present, before the manipulator is put into operation, it needs to manually teach and calibrate the origin of the end tool coordinate system (TCP point). Generally, the four-point method is used for calibration, that is, the worker marks the preset TCP point on the end tool of the manipulator, and then passes The robotic arm teach pendant controls the movement of the robotic arm four times to ensure that the robotic arm moves to the same fixed point with different postures each time. The robotic arm controller collects the pose data of the robotic arm four times to calculate the TCP of the end tool of the robotic arm. The coordinates of the point. [0003] The above-mentioned calibration process need...

AI Technical Summary

Problems solved by technology

[0003] The above calibration process needs to be completed by skilled workers. In order to ensure high precision, the time required to calibrate a TCP point is generally more than five minutes, which is time-consuming and laborious, and the consistency of accuracy cannot be guaranteed.

In large-scale industrial applications, there are many types of tools at the end of the manipulator, frequent update iterations, and a large amount of TCP point calibration work is required, which consumes more time and manpower

At the same time, the TCP point calibration process requires the operator to manually control and closely observe the movement of the robotic arm to ensure that the robotic arm moves to the same fixed point. There is a potential collision between the robotic arm and the operator, which is very dangerous

Images