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Robot arm displacement error correction method and correction device

A robot arm, displacement error technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of harmfulness and poor repeatability of the hood stiffness test, and achieve the effect of simple method, improved repeatability, and simple method

Active Publication Date: 2022-07-12
DONGFENG PEUGEOT CITROEN AUTOMOBILE
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This variation is detrimental to the stiffness test of the cowl, and the most immediate result is that the repeatability of the stiffness test of the cowl is extremely poor

Method used

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  • Robot arm displacement error correction method and correction device

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Embodiment Construction

[0051] Embodiments of the present invention are described in detail below, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.

[0052] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", " The orientation or positional relationship indicated by "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or positional relationship shown in the drawings, only It is to facilitate the description of the present invention and to simplify the description, rather than indicating or implying that the device or e...

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Abstract

The invention relates to the technical field of industrial robot parameter correction methods, in particular to a robot arm displacement error correction method and device. Comprising the following steps: S1, arranging a rigid finger-pressing surface within a pressing range of a robot arm; s2, the robot arm applies pressing force to the finger pressing face, an external displacement sensor records external displacement, robot displacement is recorded, displacement errors are obtained, and the position radius and the angle offset are recorded; s3, adjusting the height of the finger-pressing surface, the included angle between the finger-pressing surface and the vertical direction and the distance between the finger-pressing surface and the robot within the pressing range of the robot arm, and testing according to the step S2; s4, constructing a linear relation between the displacement error and the position radius, the angle offset and the pressing force; and S5, the linear relation is stored in a control module of the robot arm, and the displacement error of the robot arm is corrected. According to the invention, the displacement error of the robot arm in the hood rigidity test can be eliminated, and the accuracy of the rigidity test is improved.

Description

technical field [0001] The invention relates to the technical field of industrial robot parameter correction methods, in particular to a robot arm displacement error correction method and correction device. Background technique [0002] In the test of the rigidity of the hood, the robot arm is used to press the hood, and then the yield of the surface of the hood is measured, that is, the displacement value of the pressing point. This displacement value is measured by the displacement sensor on the robot arm. That is, the displacement value of the fingertip of the robot arm from contacting the pressing point of the hood to the completion of pressing the pressing point after applying force, and then the stiffness of the hood is obtained based on this displacement value and the pressing force of the robot arm. However, there is a problem in the actual measurement. It is found that in the test of using the robot arm to simulate the human finger to press the hood, when the same m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1653B25J9/1692B25J19/0095Y02P90/02
Inventor 肖亮王贵新程勇毛胜男黄双虎
Owner DONGFENG PEUGEOT CITROEN AUTOMOBILE
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