Robot tool centre point three-component calibration method based on plane measurement

Abstract

A three-component calibration method based on plate measurement for the central point of robot tool includes such steps as fixing a measuring probe to the terminal of robot, positioning a smooth plate in the moving range of robot, making the robot to move in translation mode, using probe to contact with 3 or more points which are not on a same straight line to obtain their coordinates and positions, calculating the normal components of the plane where the surface is positioned, using probe to contact with one point on the plate when the directions of the X,Y and Z axes for the coordinate system of robot terminal is same as said normal components, measuring the coordinate of the point, and calculating the position of the central point of robot tool in the coordinate system of robot terminal.

Description

technical field [0001] The invention relates to a three-component calibration method for a robot tool center point, in particular to a three-component calibration method for a robot tool center point that is independently calibrated based on the three-component robot tool center point on a geometric plane by measuring the coordinates of points on a flat plate. Background technique [0002] Robot TCP (Tool Center Point) calibration refers to the calibration of the position of the center point of the tool in the end coordinate system of the robot (for the tool held by the robot) or the robot base coordinate system (for the case where the tool is fixed), usually Next, each parameter of robot TCP can be obtained by two methods. One is to measure all the variables of TCP separately, and then use constraints to calculate all the variables of TCP at the same time. Another method is to measure all the variables of TCP separately, and then calculate them separately, and only calcula...

AI Technical Summary

Problems solved by technology

In terms of operation, this method requires the operator to control the robot to a fixed space point with several attitudes with large differences, so as to reduce the correlation of the variables to be solved, but this method is difficult to quantify in operation

And because the joints of the robot change greatly during the calibration process, more robot system errors are introduced during the calibration process, which will affect the calibration accuracy

In addition, this method usually uses the human eye to judge whether the center point of the tool coincides with the fixed point in space, which inevitably introduces human eye judgment errors during the calibration process and reduces the calibration accuracy.

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