Industrial robot calibration method based on laser tracker through point-line-plane system establishment

A technology of laser tracker and industrial robot, which is applied in the direction of manipulators, manufacturing tools, program control manipulators, etc., can solve the problem of insufficient positioning accuracy and achieve the effect of improving absolute positioning accuracy

Pending Publication Date: 2022-07-29
SHANGHAI UNIV
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Problems solved by technology

The positioning accuracy of industrial robots calibrated with repeated positioning accuracy is often not high enough at points that have not been taught, and cannot meet actual needs

Method used

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  • Industrial robot calibration method based on laser tracker through point-line-plane system establishment
  • Industrial robot calibration method based on laser tracker through point-line-plane system establishment
  • Industrial robot calibration method based on laser tracker through point-line-plane system establishment

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Embodiment Construction

[0051] Attached to the following Figure 1-15 This application will be described in further detail.

[0052] The embodiment of the invention discloses an industrial robot calibration method based on a laser tracker to establish a system through a point, line, and a plane. refer to Figures 1 to 15 , the first step of robot calibration is kinematic modeling, the purpose of which is to establish the coordinate system transformation relationship between adjacent joints. Currently, DH modeling methods are widely used in industrial robots.

[0053] According to the DH modeling rule, a 4x4 homogeneous transformation matrix is ​​used to describe the translation and rotation of adjacent joint coordinate systems. The homogeneous matrix transformation of the adjacent joints of the robot is shown in formula (1):

[0054]

[0055] (1);

[0056] Between adjacent links, the first joint is the driving joint, and the latter joint is the passive joint. In formula (1), is around ...

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Abstract

The invention relates to the technical field of industrial robots, in particular to an industrial robot calibration method based on a laser tracker through point-line-plane system establishment, which comprises the following steps of: establishing a robot error model, deducing an error transfer formula by utilizing a mathematical theory, giving preparation work before data acquisition, and establishing a calibration model; on the basis of a point-line-surface coordinate system establishment method of the laser tracker and related matters needing attention, in the parameter identification process, a derivation process of a singular value decomposition least square method is given, an execution process of a program algorithm is given, meanwhile, DH compensation parameters are obtained through a forward test set, the effectiveness of the DH compensation parameters is verified through a reverse verification set, and the accuracy of the DH compensation parameters is improved. The purpose of robot calibration is achieved, and the effect of improving the absolute positioning precision of the industrial robot is achieved.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to an industrial robot calibration method based on a laser tracker that establishes a system through points, lines and planes. Background technique [0002] Since the invention of industrial robots, after years of development, many major achievements have been made in their technology. Industrial robots are widely used in cutting and welding scenes because of their flexible performance with multiple degrees of freedom, and can be used in environments where workers cannot operate. [0003] At present, although many robots have high repeated positioning accuracy, due to errors in processing, assembly, debugging and other aspects, the absolute positioning accuracy of the robot is relatively low relative to the repeated positioning accuracy, which makes it a bottleneck restricting the development of the robot industry. one. Specifically, the repetitive positioning accuracy of...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1692B25J19/0095
Inventor 解海军
Owner SHANGHAI UNIV
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