Industrial robot zero point calibration method, calibration device and electronic equipment

Abstract

The invention provides an industrial robot zero point calibration method and calibration device and electronic equipment, and belongs to the technical field of robot zero point seting.The calibration method specifically comprises the following steps that after a zero point calibration program is entered, a mechanical zero point deviation value based on an encoder value before power failure is obtained; according to the encoder value before power failure of the robot and the current encoder value when the robot is powered on again, the zero-point deviation value of the encoder is obtained; according to the encoder value before power failure, the mechanical zero point deviation value and the encoder zero point deviation value, the pulse offset amount needing to be offset after robot zero point loss is determined; and the pulse offset is utilized to compensate an encoder value during robot motion control calculation, and zero calibration is completed. According to the method, a user does not need to manually carry out zero point calibration work, the robot zero point can be automatically recovered, operation is easy, and the efficiency of finding the robot zero point is high.

Description

technical field [0001] The invention relates to the technical field of robot zero point setting, in particular to an industrial robot zero point calibration method, a calibration device and electronic equipment. Background technique [0002] During the use of industrial robots, due to various situations such as the voltage drop of the encoder battery, the failure of the robot itself, or the disconnection of the encoder power cord, the pulse count of the robot may be lost, resulting in the loss of the zero point of the robot. The robot zero point is the initial position of the robot operation model, when the zero point is not correct, the robot cannot move correctly. And the loss of the zero point will lead to the offset of the coordinate system of the end link, which will lead to the inaccuracy of the absolute position of the robot, the calibration error of the tool coordinate system and other precision problems. At present, after the zero point of the robot is lost, it is ...

AI Technical Summary

Problems solved by technology

However, the method still requires technicians to move the axis that needs to retrieve the factory zero point to the vicinity of the mechanical zero scale. The operation is more complicated and cumbersome, and the efficiency of retrieving the robot zero point is low.

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