Robot tail end blade coordinate system calibration method and system based on axis measurement

By fixing the front four-axis and line laser measurement calibration of the six-axis industrial robot, the standard ball center trajectory fits the axis around the axis, the problem of low calibration accuracy of the robot's end workpiece coordinate system is solved, and a higher precision blade grinding and polishing processing is achieved.

CN120274634APending Publication Date: 2025-07-08HUAZHONG UNIV OF SCI & TECH
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Patent Information

Application Number
CN202510411488.5
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-04-02
Publication Date
2025-07-08

AI Technical Summary

Technical Problem

In the prior art, the calibration accuracy of the robot end workpiece coordinate system is low and cannot meet the high-precision processing requirements for blade grinding and polishing.

Method used

By fixing the first four axes of the six-axis industrial robot, the calibration of the end workpiece of the six-axis industrial robot is converted into calibration of the end workpiece of the two-degree-of-freedom robot. Combined with the characteristics of linear laser measurement and calibration, the standard ball center trajectory rotates around the axis to fit the robot's fifth and six-axis axis and the computer robot coordinate system.

Benefits of technology

The accuracy of the robot's end posture data is improved, and the end workpiece calibration with higher accuracy is achieved, which simplifies the measurement process and ensures the reusability and reliability of the calibration results.

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Abstract

The invention belongs to the technical field of robot calibration, and particularly discloses a robot tail end blade coordinate system calibration method and system based on axis measurement. Comprising the steps that a robot clamps a calibration tool to move into a line laser measurement view; recording joint angles of a fifth axis and a sixth axis of the robot, and calculating a tail end coordinate system of the robot according to MDH parameters of the robot; the pose of a standard ball on the calibration tool is measured through line laser, and a calibration tool coordinate system is calculated; respectively rotating a fifth shaft and a sixth shaft of the robot, measuring the standard ball by linear laser, and establishing a joint coordinate system of the fifth shaft of the robot according to the motion trail of the standard ball; and calculating a robot tail end blade coordinate system according to the coordinate conversion relation. Calibration of the tail end workpiece of the six-axis industrial robot is converted into calibration of the tail end workpiece of the two-degree-of-freedom robot, the robot kinematic chain is greatly shortened, the precision of the tail end pose data of the robot is improved, and therefore calibration of the tail end workpiece can reach higher precision.
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