Calibration device and calibration method for robot joint rigidity
A robot joint and calibration device technology, applied in the field of robots, can solve the problems of high calibration cost and complex joint stiffness calibration process, and achieve the effect of simplifying the calibration process, reducing the calibration cost, and reducing the equipment cost.
Active Publication Date: 2021-07-09
SHANGHAI UNIV
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Problems solved by technology
[0005] The purpose of the present invention is to provide a calibration device and calibration method for robot joint stiffness to solve the problems of complicated calibration process and high calibration cost
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[0072] As an optional implementation of the present invention, a calibration method of robot joint stiffness, such as Figure 7 As shown, the specific steps are as follows:
[0073] Step 100: After the experimental equipment is installed, the relevant coordinate system is established, and the initial calibration device is used for initial calibration of the closed-loop measurement device. The reading of each displacement sensor in the closed-loop measurement device is set to zero under the initial calibration condition.
[0074] Specifically, the schematic diagram of the initial calibration structure is as follows Figure 4-Figure 5As shown, it includes a closed-loop measurement device 4 , a splint bracket 5 , a calibration block 6 , a displacement sensor 9 , an initial calibration connector 13 , a hexagon socket head cap screw 11 and a positioning pin 12 . The basic process is: the initial calibration device is composed of the closed-loop measurement device 4 and the initia...
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The invention relates to a calibration device and a calibration method for robot joint rigidity. The method comprises the following steps that initial calibration is carried out on a closed-loop measuring device by utilizing a calibration block, and joint angles corresponding to a plurality of calibration points and a calibration displacement variation measured by a displacement sensor in the closed-loop measuring device are recorded; different mass blocks are replaced at the tail end of the series robot, different loads are applied to the tail end of the robot, the tail end of the robot is driven to reach the standard fixed point through the joint angle, and the current displacement variable quantity is obtained; based on the measurement coordinate system and the calibration block coordinate system, the offset generated by the tail end of the robot is determined according to the calibration displacement variation and the current displacement variation; and based on the multiple different coordinate systems, the actual joint rigidity of the series robot is calibrated according to the joint angle, the offset generated by the tail end of the robot and the force or torque borne by the tail end of the robot under different loads. The calibration process can be simplified, and the calibration cost can be reduced.
Description
technical field [0001] The invention relates to the field of robots, in particular to a calibration device and a calibration method for robot joint stiffness. Background technique [0002] In the context of the rapid development of high-end manufacturing, industrial robots can be embedded in automated production lines as a flexible unit, and their cost is often lower than the price of a set of professional fixtures and a CNC machine tool. In addition, most machine tools have limited movement space and low flexibility, usually with 3 to 5 degrees of freedom, unable to process some more complex curved surface workpieces, while robots have a larger work space, generally have 6 degrees of freedom, and can drive the tool to reach Arbitrary posture in space. However, industrial robots are affected by the inherent characteristics of their series structure, and their rigidity is usually only 1 / 50 to 1 / 20 of that of CNC machine tools. The weak rigid structural characteristics lead t...
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IPC IPC(8): G01B21/00
CPCG01B21/00
Inventor 李育文庄正浩刘颖
Owner SHANGHAI UNIV