Calibration method and calibration system of robot tool

Abstract

A calibration method and calibration system for a robot tool, the calibration system includes a robot arm using a first coordinate system, a tool arranged on a flange surface of the robot arm, and an imaging device using a second coordinate system, wherein the imaging device creates an image sense survey area. The calibration method includes the following steps: controlling the movement of the robotic arm so that the working point of the tool enters the image sensing area; recording the current posture of the robotic arm and the specific coordinates of the working point on the second coordinate system; obtaining and recording the first coordinate system and the The transformation matrix of the correspondence between the second coordinate systems; and, inserting the specific coordinates and the current posture into the transformation matrix to obtain the absolute position of the working point on the first coordinate system.

Description

technical field [0001] The present invention relates to a calibration method and a calibration system for a robot, in particular to a calibration method and a calibration system for calibrating tools configured on the robot. Background technique [0002] At present, robotic arms have been widely used in automated production procedures. Specifically, production line personnel usually install various types of tools (such as fixtures, connecting tools, welding tools, etc.) on the flange surface (Flange) of the robot arm, so that the robot arm can use these tools to achieve production. Line automation process. [0003] Since the robot arm itself only knows the position of the flange surface, but does not know the actual position of the Tool Working Point (TWP) on the tool, after installing or replacing the tool, it must be calibrated first to make the robot arm The controller obtains the position information of the tool working point. [0004] The position accuracy of the too...

AI Technical Summary

Problems solved by technology

[0010] However, the above-mentioned artificial teaching method relies entirely on human eyes to teach in an unquantifiable way (that is, based on human eyes and human experience to judge whether the robot arm has reached the desired position), and its accuracy is completely affected by the operator's experience and technology. thus quite inaccurate

The above-mentioned contact correction method requires the working point of the tool to touch each square, so it may cause tool wear during the correction process, and the higher the precision of the tool, the greater the impact

[0011] Although the above non-contact correction method does not have the problem of tool wear, this method can only obtain the deviation between the tool working point and the flange surface of the robot arm, but cannot obtain the absolute value of the tool working point on the robot arm coordinate system. Location

Moreover, when the tool is changed, it is necessary to re-establish the sample and obtain the deviation again, which is quite troublesome for the production line personnel

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