Robot encoder calibration method and device and robot

Abstract

The invention provides an encoder calibration method and device for a robot and the robot, and the method comprises the steps: S1, obtaining the state information of the robot after the robot is powered on; s2, setting an initial value of a weight matrix, and according to the state information of the robot and a predetermined expected joint motion amount, determining a mapping relation between the joint motion amount of the robot and the TCP pose variation based on the initial value of the weight matrix; s3, searching a weight matrix according to a preset search algorithm, and when the TCP pose variation of the robot meets a preset TCP pose variation threshold, determining a target weight matrix; and S4, based on the TCP pose variable quantity of the robot, planning the joint interpolation quantity of the robot in each interpolation period, executing motion interpolation, detecting the calibration state of the encoder in the interpolation process, and adjusting the motion according to the calibration state of the encoder. According to the scheme, the robot can automatically calibrate the zero position of the encoder in the interpolation motion process, and the motion range of the tail end of the robot is small in the calibration process.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a method, device and robot for calibrating an encoder of a robot. Background technique [0002] When the robot is powered on, the joint zero position value is stored inside, but the stored joint zero position value deviates from the real zero point position. If the encoder is not zeroed, the motor position will be inaccurate and the robot's running accuracy will be insufficient. The problem. Therefore, before the robot starts to perform work, the initial zero position of the robot needs to be calibrated to ensure the accuracy of the robot's work. In the prior art, the initial zero position of the robot is usually calibrated based on external instruments, or by installing calibration tooling, etc., but the operation of the above method is relatively complicated, especially for scenarios such as manufacturing that require large-scale use of robots, manual labor is requir...

AI Technical Summary

Problems solved by technology

In the existing technology, the calibration of the initial zero position of the robot is usually based on external instruments, or by installing calibration tooling, etc., but the above methods are relatively complicated to operate, especially for scenarios that require large-scale use of robots such as manufacturing, requiring manual labor. Calibration one by one, time-consuming and labor-intensive

Images