SCARA robot body calibration and parameter identification method

Abstract

The invention discloses an SCARA robot body calibration and parameter identification method, and relates to the technical field of robot calibration. The method comprises the following steps: 1, moving the tail end of a robot to a camera view center, establishing a center circle template, and calculating the center coordinate of the center circle template; 2, moving a certain fixed distance along the X and Y directions, and calculating an average pixel equivalent; 3, moving the tail end of the robot to the P1 point under the left hand system; 4, moving the tail end of the mobile robot to the P1 point under the right hand system; 5, repeating photographing, obtaining the current pixel coordinate, calculating the distance error, and correcting the current position; and 6, moving to the P2 point, recording the joint coordinates, and repeating the steps 4 and 5 to obtain the joint coordinates of the P2 point of the other hand system. According to the method, robot calibration, parameter calculation and the like are carried out, the tail end of a screw rod of the robot is photographed by adopting the principle that machine vision is combined with computer artificial intelligence calculation, relevant parameters of the robot are obtained through kinematics calculation, and the purpose of robot calibration is achieved.

Description

technical field [0001] The invention relates to the technical field of robot calibration, in particular to a SCARA robot body calibration and parameter identification method. Background technique [0002] SCARA is the abbreviation of (Selective Compliance Assembly Robot Arm), which means a robot arm used in assembly operations. The SCARA robot has three rotating joints whose axes are parallel to each other for positioning and orientation in the plane, and the other joint is to move Joint, used to complete the movement of the end piece in a plane perpendicular to the plane, the position of the wrist reference point is determined by the angular displacement of the two rotating joints and and the displacement z of the moving joint, that is, This type of robot has a light structure and fast response. For example, the Adept1 SCARA robot can move at a speed of 10m / s, which is several times faster than ordinary articulated robots. It is most suitable for plane positioning and ...

AI Technical Summary

Problems solved by technology

[0003] The traditional robot body calibration includes obtaining the precise arm length and zero point of the SCARA robot, so as to achieve the purpose of accurately aligning the left and right hand systems at the same position; traditional robot calibration is generally done mechanically, such as using the 4-point method : The coordinates of the robot are collected at two points of the left and right hand systems of the robot, and combined with kinematic calculations to achieve this. However, manual operation and teaching are easy to introduce artificial deviations to the two points of the robot, making the calculation of the robot inaccurate; Therefore, we propose a SCARA robot body calibration and parameter identification method

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