Six-degree-of-freedom series robot tool and zero error rapid calibration method based on a genetic algorithm

A genetic algorithm and error calibration technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of no way to eliminate, influence on point calibration results, etc., to avoid unstable calibration results, fast and simple cost, robustness strong effect

Active Publication Date: 2021-08-06
NANJING ESTUN ROBOTICS CO LTD
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Problems solved by technology

However, when there are some data with relatively large measurement errors in the point-to-point process with the naked eye, there is no way to eliminate them. Instead, they will participate in iterations, making the error data always exist in the measurement data, and the obtained error parameters have certain limitations, resulting in The number of pairs of points has a great influence on the calibration results

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  • Six-degree-of-freedom series robot tool and zero error rapid calibration method based on a genetic algorithm
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  • Six-degree-of-freedom series robot tool and zero error rapid calibration method based on a genetic algorithm

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specific Embodiment approach

[0036] Specific implementation method: combined Figure 1 to Figure 4 , this embodiment is based on a genetic algorithm-based six-degree-of-freedom serial robot tool and a rapid calibration method for zero error, specifically in accordance with the following steps:

[0037] Step 1: Establish the actual model of the robot through the DH parameter modeling method of the robot;

[0038] Step 11: If figure 1 As shown, the D-H error model of the robot is established, and the two connected connecting rod axes are specified as i and i-1 respectively, and the common normal line of the connecting rod axes i and i-1 is set as the connecting rod length a i-1, the angle formed by the two connecting rods is set as the torsion angle α i-1 , and the distance between the two public normals is the connecting rod offset d i , a i-1 and a i The angle between them is θ i , called the joint angle. The D-H error model of the robot is composed of the above four parameters (the length of the c...

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Abstract

The invention discloses a six-degree-of-freedom series robot tool and zero error rapid calibration method based on a genetic algorithm, and relates to a universal six-axis industrial robot zero error calibration and TCP tool calculation method. The six-degree-of-freedom series robot tool and zero error rapid calibration method mainly solves the two problems existing in the existing calibration technology: 1, the price of a calibration instrument in a commercial calibration method is high; and 2, if the simple calibration method introduces sample data with large errors, the accuracy and the test difficulty are greatly increased. The method comprises the following steps: 1) establishing an actual robot model through a DH parameter modeling method; 2) aligning the tail end of a robot to the same point for N times (N is greater than or equal to 4) by adopting a space point alignment mode, and recording joint axis data of N points; 3) establishing an error model based on the genetic algorithm to find an optimal error parameter of the zero error of the robot; 4) optimizing a zero error parameter through an exhaustion method; and 5) calculating a TCP tool value after compensating the zero error parameter. The method is applied to the field of robot error calibration methods.

Description

technical field [0001] The invention relates to an error calibration method for a six-degree-of-freedom serial robot, in particular to a calibration method for tools and zero position errors of a six-freedom serial robot based on a genetic algorithm. Background technique [0002] The accuracy guarantee of the robot after leaving the factory mainly comes from the calibration technology. There must be some reasonable errors in the machining and assembly of castings, and the robot calibration ensures the accuracy of the robot. Robot calibration technology mainly establishes error models and proposes feasible error compensation strategies to improve robot accuracy. [0003] Robot calibration is to calculate the accurate parameters of the robot model through measurement and parameter identification, and compensate the robot error through the robot control algorithm or modify the theoretical kinematic model, thereby improving the absolute accuracy of the robot. At present, there...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1653B25J9/163
Inventor 高杰张扬耿羚彪吕健
Owner NANJING ESTUN ROBOTICS CO LTD
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