Hypersphere-based encoder calibration method, device and system

Abstract

The invention provides an encoder calibration method, device and system based on a hypersphere. The method comprises the steps that S1, the initial joint angle and the initial posture of a robot after being powered on are obtained; s2, according to the initial posture of the robot, the robot posture meeting the preset search range and the preset search condition is searched based on a hyperspherical surface, and the robot posture with the minimum joint angle variation serves as a target posture; and S3, a speed curve of the robot moving from the initial posture to the target posture is planned, the posture of the robot in each interpolation period is obtained according to spherical linear interpolation, the joint interpolation amount of each period is obtained accordingly, the robot moves to the target posture according to the joint interpolation amount of each period, and the zero position of the encoder is calibrated in the moving process. The beneficial effects of the embodiment of the invention are that the zero calibration of the encoder is automatically realized after the robot is powered on, and the motion range of the tail end of the robot is controllable.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to an encoder calibration method, device and system based on a hypersphere. Background technique [0002] Industrial robots include traditional industrial robots and new types of collaborative robots. The robot includes multiple joints as its power source, and the movement of the robot is controlled by controlling the movement of the joints. The robot joints are provided with encoders, and the encoders can detect joint angle information. [0003] Generally speaking, the robot automatically stores the zero position information of the encoder. However, the zero position information stored by the robot itself is not accurate and needs to be calibrated. In the prior art, the zero-position calibration of the robot encoder can be achieved by the user using a calibration tool, etc., but the operation is relatively complicated, especially for the scenario of using rob...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a hypersphere-based encoder calibration method, device and system to solve the problem of inaccurate zero information stored in the encoder of the robot in the prior art, and to realize automatic calibration of the encoder zero , while ensuring that the attitude change range of the robot end during the calibration process is controllable

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