Industrial robot self-calibration device and method based on principle of perigon error close

Abstract

The invention discloses an industrial robot self-calibration device and method based on a principle of perigon error close. The device comprises a circumference sealing self-calibration device, wherein the perigon error close self-calibration device comprises a laser fixing device, a semiconductor laser, two PSDs (Position Sensitive Detector) and a motor; the central point of the light-sensitive surface of one PSD is located at the center of the circle of a perigon error close carrier disc, and the other PSD is located on a circle which is away from the radius R of the perigon error close carrier disc; and theoretical position coordinates of the central points of the light-sensitive surfaces of the PSDs are obtained according to kinematics parameter detection, four times of detection is conducted through 90-degree rotation each time in the same direction, a kinematics self-calibration equation set is established, parameter errors are solved, kinematics parameters are updated, and final parameter error compensation is obtained through iteration step processing. A robot is calibrated on the basis of the principle of perigon error close, the influence of calibration equipment errors on calibration precision can be reduced, and the device and the method are suitable for the fields of precision compensation of robots and the like, low in cost and easy to implement.

Description

technical field [0001] The invention relates to a method for calibrating kinematic parameters in the technical field of industrial robots, in particular to a self-calibrating device and method for industrial robots based on the principle of circular closure. Background technique [0002] Due to the manufacturing errors in the manufacturing process of industrial robots and the long-term wear and tear during use, there are certain differences between the theoretical model of industrial robots and the actual motion model, resulting in low positioning accuracy of industrial robots. At present, the method of improving positioning accuracy is mainly considered from the following two aspects: one is the error prevention method, that is, the accuracy of robot processing and assembly is improved by using advanced processing and manufacturing methods, but this method is easily limited by processing technology and the cost is high The second is the error compensation method, which uses...

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Problems solved by technology

Constraints can include: point constraints, surface constraints, etc. The calibration method based on single-point constraints has the disadvantage of low global space accuracy; the method based on spherical constraints needs to install high-precision probes and standard parts, and the constraints imposed are relatively small. High, not conducive to fast online calibration in industrial sites

[0004]Due to the problem of high cost caused by the use of high-precision measuring equipment, and the problem that the calibration equipment error of the existing self-calibration method reduces the calibration accuracy, the cost is low and the calibration equipment error is It has important research significance and practical value to calibrate the measurement scheme with little influence on the accuracy to ensure the positioning accuracy of the industrial robot.

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