Robot motion calibration method and device, computer equipment and storage medium
A technology of robot movement and calibration method, which is applied in the field of medical equipment, and can solve problems such as time-consuming, labor-intensive, complicated process, and large human resources occupation
Pending Publication Date: 2022-04-29
SUZHOU MICROPORT ORTHOBOT CO LTD
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[0004] However, the current calibration method for robot pose transformation parameters requires technicians to operate and calibrate the process is complicated and requires a lot of human resources, which is time-consuming and labor-intensive.
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[0083] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.
[0084] The embodiment of the present application provides a robot motion calibration method, which collects the positioning data of the marking member in different poses through the coordinate system of the navigation and positioning device itself, so as to determine the distance between several paired pose groups. Refer to relative motion data. Wherein, the marking member may be located at the end of the robot. Furthermore, the computer equipment uses the reference relative motion data as the calibration basis, and screens the simulated relative motion data between sever...
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The invention relates to a robot motion calibration method, system and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring motion data of the robot; wherein the motion data comprises pose motion parameters of the robot under a plurality of pose groups. And determining reference relative motion data of the first marking component under the plurality of pose groups of the robot through the navigation positioning equipment. Then, candidate pose transformation parameters are obtained, and according to the candidate pose transformation parameters and the motion data, simulated relative motion data of the first marking component under a plurality of pose groups of the robot are calculated; and calculating the deviation between the reference relative motion data and the simulated relative motion data, and determining the candidate pose transformation parameters of which the deviation meets a preset requirement as calibrated pose transformation parameters. By adopting the method, the automatic calibration of the pose transformation parameters is realized.
Description
technical field [0001] The present application relates to the technical field of medical devices, in particular to a robot motion calibration method, device, computer equipment, storage medium and computer program product. Background technique [0002] In the industrial field or the medical field, more and more scenarios require the use of robots to complete automated operations in order to standardize operating procedures and save human resources. However, in the process of using robots to automate tasks, the robot is often required to meet high precision requirements, that is, the robot needs to complete the task based on the control of high-precision kinematic parameters, so the kinematic parameters of the robot need to be periodically controlled. calibration. Wherein, the kinematic parameters of the robot may be pose transformation parameters of the robot. [0003] The current calibration method of robot pose transformation parameters relies on high-precision measuring...
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IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1602
Inventor 李涛何超于海英其他发明人请求不公开姓名
Owner SUZHOU MICROPORT ORTHOBOT CO LTD