A robot arm calibration system, method and apparatus

Abstract

The application discloses a kind of mechanical arm calibration system, method and device, it is related to automation equipment technical field, mechanical arm calibration system includes: calibration platform, mechanical arm and processor, wherein, mechanical arm is installed in calibration platform, movement in the motion space determined by calibration platform, and every space point of motion space is provided with space coordinates.Processor is used to obtain the point information of the path to be calibrated, based on the point information corresponding to the starting point and target point in point information, path interpolation processing is carried out, the path information in the preset area range of mechanical arm from starting point to target point is obtained, and path information at least includes: the point information of at least one intermediate point;Path information is used as the path calibration information of mechanical arm from the starting point of the path to be calibrated to target point and is stored.Based on the above situation, the accuracy and calibration efficiency of mechanical arm calibration can be improved.

Description

Technical Field

[0001] This application relates to the field of automation equipment technology, and more specifically, to a robotic arm calibration system, method, and apparatus. Background Technology

[0002] A robotic arm is a mechanical device that can simulate the movements of a human arm. Due to its high reproducibility and operational precision, it has been increasingly widely used. The calibration of a robotic arm is one of the important means to improve its reproducibility and operational precision. Specifically, robotic arm calibration involves the precise measurement and adjustment of the geometric parameters and motion paths of each joint to improve the robotic arm's motion accuracy and reproducibility, ensuring that the robotic arm can more accurately perform tasks according to the calibrated motion path.

[0003] Currently, calibration methods for robotic arms include manual calibration, teach pendant calibration, and sensor calibration. For example, the operator manually moves the joints or end effector of the robotic arm, continuously adjusting the posture of the robotic arm, and after moving the robotic arm to the target position, records the position information of each point in the movement trajectory of the robotic arm; or, the operator uses a teach pendant device, moves the robotic arm through the buttons on the teach pendant, and records the position information of each point in the movement trajectory of the robotic arm to achieve calibration.

[0004] The drawbacks of the above approach are: it requires operators to possess certain knowledge of robotic arm kinematics and control principles, resulting in high labor costs; and the accuracy and efficiency of manual calibration are relatively low. Therefore, improving the accuracy and efficiency of robotic arm calibration has become an urgent technical problem to be solved. Summary of the Invention

[0005] In view of this, this application provides a robotic arm calibration system, method, and apparatus to solve the problems of low accuracy and efficiency in robotic arm calibration.

[0006] To address the above problems, the following solution is proposed:

[0007] The first aspect of this application provides a robotic arm calibration system, including: a calibration platform, a robotic arm, and a processor;

[0008] The robotic arm is mounted on the calibration platform, and the robotic arm moves within the motion space defined by the calibration platform. Each spatial point in the motion space is provided with spatial coordinates.

[0009] The processor is used to acquire the point information of the path to be calibrated. The point information includes at least the point information corresponding to the starting point and the target point, and the point information includes at least the spatial coordinates and attitude information.

[0010] Based on the point information corresponding to the starting point and the target point respectively, path interpolation processing is performed to obtain the path information of the robotic arm moving from the starting point to the target point within a preset area. The path information includes at least the point information of at least one intermediate point.

[0011] The path information is stored as path calibration information for the robotic arm to move from the starting point of the path to be calibrated to the target point.

[0012] In one possible implementation, the robotic arm calibration system further includes a robotic hand mounted on the flange end of the robotic arm, the robotic hand being used to grasp or place a target object.

[0013] In one possible implementation, the robotic arm includes: a mechanical gripper, and distance sensors mounted on the inside and bottom sides of the mechanical gripper, the distance sensors being used to measure the distance between the inside of the mechanical gripper and the target object, and the distance between the bottom side of the mechanical gripper and the calibration platform.

[0014] A second aspect of this application provides a robotic arm calibration method, applied to a processor in a robotic arm calibration system, wherein the robotic arm calibration system further includes at least a calibration platform and a robotic arm, and the robotic arm calibration method includes:

[0015] Obtain the point information of the path to be calibrated, wherein the point information includes at least: the point information corresponding to the starting point and the target point, and the point information includes at least: spatial coordinates and attitude information;

[0016] Based on the point information corresponding to the starting point and the target point respectively, path interpolation processing is performed to obtain the path information of the robotic arm moving from the starting point to the target point within a preset area. The path information includes at least the point information of at least one intermediate point.

[0017] The path information is stored as path calibration information for the robotic arm to move from the starting point of the path to be calibrated to the target point.

[0018] In one possible implementation, the robotic arm calibration system further includes a robotic arm, and the motion space of the robotic arm determined by the calibration platform is divided into four regions.

[0019] The step of performing path interpolation based on the point information corresponding to the starting point and the target point respectively, to obtain the path information of the robotic arm moving from the starting point to the target point within a preset area, includes:

[0020] When the robotic arm is determined to be at the starting point, the area where the robotic hand is located in the motion space is denoted as the first area;

[0021] When the robotic arm is determined to be at the target point, the area where the robotic hand is located in the motion space is denoted as the second area;

[0022] Based on the first region and the second region, determine the region variable for the robotic arm to move from the starting point to the target point;

[0023] Path interpolation is performed based on the location information corresponding to the region variable, the starting point, and the target point to obtain location information for multiple intermediate points.

[0024] The set of location information of multiple intermediate points is used as path information.

[0025] One possible implementation also includes:

[0026] Based on the path calibration information, motion commands to control the robotic arm are generated;

[0027] The motion command is sent to the robotic arm, controlling the robotic arm to move to the preset area of ​​the target point.

[0028] In one possible implementation, the method further includes: when the target point information also includes the gripping posture information of the robotic arm, the robotic arm calibration method further includes:

[0029] When the robotic arm is located within the preset area of ​​the target point, the robotic arm is controlled according to the grasping posture information to adjust the robotic arm to the target grasping posture;

[0030] The distance parameters are obtained from the distance sensor installed on the robotic arm when the robotic arm is in the target grasping posture. The distance parameters are parameters that characterize the positional relationship between the mechanical gripper of the robotic arm and the target object.

[0031] Based on the distance parameter, the mechanical gripper of the robotic arm is adjusted so that the mechanical gripper is located at a preset position on the target object;

[0032] The position information of the mechanical gripper when it is located at the preset position is determined as the gripping calibration information of the robotic arm at the target position.

[0033] In one possible implementation, adjusting the mechanical gripper of the robotic arm based on the distance parameter to position the gripper at a preset position on the target object includes:

[0034] When the distance parameters include at least a first parameter, a second parameter, and a third parameter, it is determined whether the first parameter is equal to a preset height value, wherein the first parameter is the height value of the bottom edge of the mechanical gripper from the calibration platform, the second parameter is the distance between the left edge of the mechanical gripper and the target object, and the third parameter is the distance between the right edge of the mechanical gripper and the target object;

[0035] If the first parameter is not equal to the preset height value, then adjust the coordinate parameters of the mechanical gripper in the first direction until the first parameter sent by the ranging sensor is equal to the preset height value, where the first direction is the direction perpendicular to the calibration platform;

[0036] If the first parameter is equal to the preset height value, then determine whether the second parameter is equal to the third parameter;

[0037] If the second parameter is not equal to the third parameter, adjust the coordinate parameters of the mechanical gripper in the second direction until the second parameter sent by the ranging sensor is equal to the third parameter. The second direction is a direction parallel to the calibration platform at a preset height.

[0038] When the second parameter is equal to the third parameter, the mechanical gripper is determined to be located at a preset position on the target object.

[0039] One possible implementation also includes:

[0040] In response to the target object's editing operation on the point information of any point in the path calibration information or grasping calibration information corresponding to the robotic arm or the robotic hand, the point information in the path calibration information or grasping calibration information is edited accordingly, and the editing includes at least: adding, modifying or deleting.

[0041] A third aspect of this application provides a robotic arm calibration device, applied to a processor in the robotic arm calibration system, wherein the robotic arm calibration system further includes at least: a calibration platform and a robotic arm, and the robotic arm calibration device includes:

[0042] The information acquisition unit is used to acquire the point information of the path to be calibrated. The point information includes at least the point information corresponding to the starting point and the target point, and the point information includes at least the spatial coordinates and attitude information.

[0043] The path interpolation unit is used to perform path interpolation processing based on the point information corresponding to the starting point and the target point, respectively, to obtain the path information of the robotic arm moving from the starting point to the target point within a preset area. The path information includes at least the point information of at least one intermediate point.

[0044] The path calibration unit is used to store the path information as path calibration information for the robotic arm to move from the starting point of the path to be calibrated to the target point.

[0045] In the robotic arm calibration system provided in this application embodiment, the processor can perform path interpolation processing based on the point information of the starting point and the target point of the path to be calibrated, to obtain the point information of the intermediate point of the robotic arm moving from the starting point to the target point, and use the point information of the intermediate point as the path calibration information.

[0046] For users, calibrating the robotic arm only requires inputting the starting and target point information into the processor. The calibration process is automatically completed by the server, reducing the impact of subjective factors. Furthermore, the calibration platform calibrates the spatial coordinates of each point in the robotic arm's motion space, enabling the robotic arm to accurately locate each intermediate point during calibration or movement, further improving the accuracy and efficiency of path calibration information. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0048] Figure 1 A system architecture diagram of the robotic arm calibration system provided in this application embodiment;

[0049] Figure 2 A top view of a calibration platform provided in an embodiment of this application;

[0050] Figure 3 This is a schematic flowchart illustrating a method for implementing robotic arm calibration provided in an embodiment of this application.

[0051] Figure 4 A top view of a robotic arm horizontally grasping an object, as provided in an embodiment of this application.

[0052] Figure 5 A side view of a robotic arm horizontally grasping an object, as provided in an embodiment of this application.

[0053] Figure 6 A side view of a robotic arm vertically grasping an object, as provided in an embodiment of this application.

[0054] Figure 7 A schematic diagram of the process for adjusting the mechanical gripper of the robotic arm provided in an embodiment of this application;

[0055] Figure 8 A system architecture diagram of another robotic arm calibration system provided in this application embodiment;

[0056] Figure 9 This is a schematic diagram of a robotic arm calibration device provided in an embodiment of this application. Detailed Implementation

[0057] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0058] Commonly used robotic arm calibration methods include manual calibration, teach pendant calibration, and sensor calibration. Manual and teach pendant calibration methods require operators to have a certain level of knowledge of robotic arm kinematics and understand the principles of robotic arm motion control, placing high demands on users. Sensor calibration technology currently commonly includes vision calibration, but in addition to the expensive hardware costs, the installation and debugging of sensors also require professional operation. Furthermore, it is difficult to ensure good environmental adaptability of the sensor application, as it is affected by factors such as ambient temperature and light. Therefore, regardless of whether it is manual calibration, teach pendant calibration, or sensor calibration, the operator needs to calibrate each calibration point individually and record the spatial position parameters of each point. When the robotic arm performs complex motion tasks, the calibration process is cumbersome and inefficient, and all require human operation for robotic arm calibration, which is susceptible to operator subjectivity, resulting in low standardization and accuracy.

[0059] To address the aforementioned problems, this application proposes a robotic arm calibration system, which comprises both hardware and software resources, wherein, with reference to... Figure 1 The present application provides a system architecture diagram of a robotic arm calibration system, wherein the hardware resources of the robotic arm calibration system 001 include: a calibration platform 30, a robotic arm 20, and a processor 10.

[0060] The robotic arm 20 is mounted on the calibration platform 30 and moves within the motion space defined by the calibration platform 30. Each point in the motion space is provided with spatial coordinates.

[0061] The robotic arm 20 can be a multi-joint robotic arm, a spherical coordinate robotic arm, a Cartesian coordinate system robotic arm, etc. The robotic arm 20 can be freely selected based on the application field, control method, structural requirements, etc. of the robotic arm calibration system. In this embodiment, the type of robotic arm 20 is not particularly limited.

[0062] The calibration platform 30 serves as the carrier for the movement of the robotic arm 20, and is suitable for the robotic arm's range of motion. (Refer to...) Figure 2 This application provides a top view of a calibration platform, in which a spatial coordinate system, or Cartesian coordinate system, is marked. The origin O of the spatial coordinate system is the fixed point of the robotic arm 20 on the calibration platform 30. The plane on which the calibration platform is located is the XY plane, and the direction perpendicular to the calibration platform 30 is the Z direction. Based on Figure 2 The spatial coordinate system allows for the definition of the position of any spatial point within the calibration platform. Optionally, when the robotic arm 20 can rotate at multiple angles, the spatial coordinate system can also be used to define the position and orientation of any spatial point within the motion space defined by the calibration platform.

[0063] The robotic arm 20 in this embodiment uses a six-degree-of-freedom robotic arm to define the position and orientation of any spatial point within the motion space defined by the calibration platform, obtaining point information such as {'position':[x,y,z],'orientation':[roll,pitch,yaw]}. Here, 'position':[x,y,z] represents the spatial coordinates of the spatial point, defining its specific location within the motion range defined by the calibration platform. 'orientation':[pitch,yaw,roll] defines the orientation of the robotic arm at that spatial point: pitch is the pitch angle (rotation angle around the X-axis); yaw is the heading angle (rotation angle around the Y-axis); and roll is the roll angle (rotation angle around the Z-axis). Based on this, each spatial point within the motion space defined by the calibration platform corresponds to point information, providing a unique positioning basis for the calibration and movement of the robotic arm, thus improving the standardization of robotic arm calibration.

[0064] Figure 2 In the calibration platform 30, the circular range marked on it represents the actual range of motion of the robotic arm 20. This circular range is centered on the fixed point of the robotic arm 20 on the calibration platform 30 and has a radius equal to the arm length of the robotic arm 20. Since the robotic arm 20 consists of a series of links and joints, enabling multi-dimensional movement and positioning rather than planar movement, its range of motion appears circular from a top-down view and hemispherical from a three-dimensional view.

[0065] Reference Figure 3 This application provides a flowchart illustrating a robotic arm calibration method. Applied to a processor 10, it calibrates the path of the robotic arm. During calibration, the processor 10 communicates directly with the robotic arm 20 via Ethernet TCP / IP communication, exchanging data and instructions over the network. Based on this, the specific process for implementing the robotic arm calibration method may include:

[0066] Step S110: Obtain the point information of the path to be calibrated. The point information includes at least the point information corresponding to the starting point and the target point.

[0067] The processor can obtain the starting and target points of the path to be calibrated, as input by the user, through a communication connection with the user terminal or display device. Alternatively, if the processor already has multiple calibrated paths, it can periodically recalibrate the calibrated path information to improve the accuracy of the robotic arm's task execution.

[0068] As mentioned above, the point information corresponding to the starting point and the target point can at least include spatial coordinates and attitude information. The starting point is the current position of the robotic arm, and its position information can be denoted as: {'position':[X0,Y0,Z0],'orientation':[RX0,RY0,RZ0]}. The target point is the target of the robotic arm's movement from the starting point, and its position information can be denoted as: {'position':[X1,Y1,Z1],'orientation':[RX1,RY1,RZ1]}.

[0069] Step S120: Based on the point information corresponding to the starting point and the target point, perform path interpolation to obtain the path information of the robotic arm moving from the starting point to the target point within a preset area.

[0070] Step S130: Store the path information as path calibration information for the robotic arm to move from the starting point of the path to be calibrated to the target point.

[0071] If the spatial position and orientation difference between the starting point and the target point is small, path planning can be achieved through path interpolation based on the spatial coordinates and orientation information of the starting point and the target point, thereby obtaining the position and orientation change information of the robotic arm during the movement.

[0072] When the starting point and target point have significant differences in spatial position and orientation, at least one intermediate point can be added during path interpolation based on their spatial coordinates and orientation information. For example, through path interpolation, the robotic arm can be planned from the starting point to intermediate point A. After the robotic arm reaches intermediate point A, the next intermediate point B can be planned until the next intermediate point is the target point, at which point the path interpolation ends. From a kinematic perspective, when the spatial pose of the starting point and target point differs significantly, multiple motion solutions can be obtained when performing inverse kinematics on the robotic arm. This results in a non-unique path information, making it impossible to achieve unique calibration of the robotic arm's path and compromising its accuracy.

[0073] Therefore, in this embodiment of the application, intermediate points during the movement process are introduced in a timely manner when performing path interpolation. It can be understood that the more intermediate points included in the path information obtained through path interpolation within the preset area range of the robotic arm's movement from the starting point to the target point, the more accurate the path planning for the robotic arm's movement from the starting point to the target point will be. Using this path information as the path calibration information for the robotic arm's path to be calibrated can avoid situations where the task execution fails due to movement deviation when the robotic arm moves according to the calibrated path information.

[0074] In this embodiment, when performing path interpolation, the endpoint of the robotic arm's path is not directly determined as the target point, but rather as a preset area range of the target point. It is understood that the flange end of the robotic arm is typically equipped with detectors, sensors, robotic arms, and other execution devices, while the target point is usually the location of the target object or the target detection point. Therefore, to avoid collisions between the robotic arm and the target object or target detection point after the robotic arm moves to the target point, a preset area range of the target point can be determined, reserving adjustment space for the execution devices installed at the end of the robotic arm.

[0075] Optionally, if the calibration requirement of the robotic arm is that the endpoint of the robotic arm's path is the target point, then the preset area range can be set to 0 by the processor, thus reducing the adjustment space reserved for the execution device to 0.

[0076] In summary, in the robotic arm calibration system provided in this application embodiment, the processor can perform path interpolation processing based on the position information of the starting point and the target point of the path to be calibrated, to obtain the position information of the intermediate points of the robotic arm moving from the starting point to the target point, and use the position information of the intermediate points as the path calibration information. For the user, calibrating the robotic arm only requires inputting the position information of the starting point and the target point to the processor; the calibration process is automatically completed by the server, reducing the influence of subjective factors in the calibration process. Furthermore, the calibration platform calibrates the spatial coordinates of each spatial point in the motion space for the robotic arm, enabling the robotic arm to accurately find the position of each intermediate point during calibration or movement; in addition, by planning the intermediate points in the motion path, the accuracy and efficiency of the path calibration information are further improved.

[0077] The above-described robotic arm calibration system and other possible implementations of the robotic arm calibration method applied to a processor will be described in conjunction with the embodiments proposed in this application below.

[0078] In one possible implementation, refer to Figure 1 The robotic arm calibration system 001 also includes a robotic arm 40 mounted on the flange end of the robotic arm 20. The robotic arm 40 is used to grasp or place target objects. It is understood that in application scenarios where the robotic arm 20 does not need to grasp or place objects, other end effectors, such as detectors, cameras, or welding guns, can also be mounted on the flange end of the robotic arm 20. As long as precise positioning or movement of the robotic arm is achieved, the end effector can be used to achieve the corresponding purpose.

[0079] In the case where the robotic arm calibration system 001 includes a robotic arm 40, and the motion space of the robotic arm 20 determined by the calibration platform is divided into four regions, step S120 includes: determining the region where the robotic arm is located in the motion space when the robotic arm is at the starting point, denoted as the first region; determining the region where the robotic arm is located in the motion space when the robotic arm is at the target point, denoted as the second region; determining the region variable for the robotic arm to move from the starting point to the target point based on the first region and the second region; performing path interpolation processing according to the region variable, the point information corresponding to the starting point and the target point respectively, to obtain the point information of multiple intermediate points; and using the set of point information of multiple intermediate points as path information.

[0080] Reference Figure 1 When the robotic arm performs a grasping task or calibration, the robotic hand always faces outward relative to the robotic arm body. Within the motion space defined by the calibration platform, based on the robotic arm's base coordinate system as a reference point, the motion space is divided into the following four regions: Region 1: X>0, Y>0; Region 2: X>0, Y<0; Region 3: X<0, Y<0; Region 4: X<0, Y>0. Figure 2 Taking the robotic arm as an example, the current position of the robotic arm makes the robotic hand place in region 1.

[0081] Optionally, given the known position information of the starting point of the robotic arm and the size of the robotic hand, the region where the robotic hand is located is predetermined, and the region is written into the position information of the starting point in coordinate form: {'region':[re1],'position':[X0,Y0,Z0],'orientation':[RX0,RY0,RZ0]}, where region represents the region, re1 is region 1, and similarly, region 2, region 3, and region 4 are represented by re2, re3, and re4, respectively.

[0082] From the point information corresponding to the starting point and the target point, obtain the corresponding region parameters. For example, if the region parameter of the target point is re3, then the transformation relationship of the robotic arm from the current region to the target region can be determined according to the divided regions and the spatial coordinate system. The region variable of the robotic arm is determined as: region: region 1 moves to region: region 3.

[0083] Furthermore, the processor combines the region variables with the point information corresponding to the starting point and the target point to perform path interpolation planning for the entire movement process of the robotic arm, and obtains the point information of multiple intermediate points in the movement process as path information.

[0084] Specifically, a path search can be performed based on the region where the target point is located, searching for suitable points for interpolation within that region. These interpolation points are necessary for planning the robotic arm's adjustment process between regions and can be pre-planned or stored in the processor's program. After determining the starting and target points, if significant posture differences require motion interpolation, the processor automatically performs a path search among the pre-planned interpolation points to obtain information on multiple intermediate points. For example, if the robotic arm's region variable is: region: region 1 moves to region: region 3, and the differences in the robotic arm's position and posture are significant, during path interpolation, the search first examines the pre-planned or stored interpolation points corresponding to region 1 to determine at least one intermediate point. Further searches are then performed among the pre-planned or stored interpolation points corresponding to regions 2 and 3 until the interpolation point is within the preset region of the target point. This confirms that the robotic arm's path has been planned to the preset region of the target point.

[0085] In one possible implementation, the robotic arm calibration method executed by the processor further includes: generating motion commands to control the robotic arm based on path calibration information; sending the motion commands to the robotic arm to control the robotic arm to move to a preset area of ​​the target point.

[0086] The purpose of calibrating the robotic arm is to enable it to move according to the calibrated path information when performing tasks, ensuring the reproducibility of the robotic arm's movements. Therefore, after storing the path calibration information, if the processor receives a task to be performed by the robotic arm, such as the task of moving the robotic arm from the current point to the target point, it will determine the corresponding path calibration information from the stored path calibration information, generate a motion command to control the robotic arm to move according to the path calibration information, and send it to the robotic arm so that the robotic arm can reproduce the calibrated path from the starting point to the target point.

[0087] Understandably, path interpolation planning is the process of planning an optimal or near-optimal path for a robotic arm from a starting point to a target point within a given environment. During this process, the robotic arm needs to move in real-time according to the intermediate points obtained through path interpolation, so that the position information of the next intermediate point can be planned based on the current intermediate point information. Therefore, during calibration, the processor can also generate motion commands to move the robotic arm from its current position to the intermediate point based on the intermediate points obtained through path interpolation, and send these commands to the robotic arm, improving the accuracy of path interpolation.

[0088] In one possible implementation, refer to Figure 1 The robotic arm 40 includes a mechanical gripper 50 and a distance sensor 60 installed on the inside and bottom of the mechanical gripper 50. The distance sensor 60 is used to measure the distance between the inside of the mechanical gripper 50 and the target object, and the distance between the bottom of the mechanical gripper 50 and the calibration platform 30.

[0089] Understandably, the angle between the two finger-like grippers included in the mechanical gripper 50 can be flexibly adjusted to flexibly grasp target objects of different sizes and shapes. The connection between the mechanical gripper 50 and the robotic arm 20 is not fixed; the mechanical gripper 50 can rotate at multiple angles at the flange end of the robotic arm 20.

[0090] The distance sensor 60 measures the distance between the two sides of the mechanical gripper and the object, and sends the measured distance parameters to the processor 10 based on the distance between the bottom side of the mechanical gripper 60 and the calibration platform or the plane on which the target object is placed. The distance sensor can communicate directly with the processor 10 using the RS232 communication protocol, sending the collected distance data to the processor for processing. This allows the processor 10 to adjust the position and orientation of the mechanical gripper 60 according to the distance relationship between the mechanical gripper 60 and the target object, enabling the adjusted mechanical gripper 60 to accurately and stably grasp the target object.

[0091] Reference Figure 4The top view of the robotic arm horizontally grasping an object provided in this embodiment shows that distance sensors 60 are installed on both sides of the mechanical gripper 50 to measure the distances d1 and d2 between the two side grippers and the target object 70 in the middle. (Refer to...) Figure 5 The side view of the robotic arm horizontally grasping an object provided in this embodiment shows a distance sensor 60 installed on the bottom side of any of the grippers of the mechanical gripper 50, which can measure the distance d3 between the bottom side of the gripper and the horizontal plane where the object is placed. Figure 5 In this context, the plane on which the object is placed serves as the calibration platform. (Refer to...) Figure 6 This is a side view of the robotic arm vertically grasping an object according to an embodiment of this application. The posture of the mechanical gripper grasping the target object has changed, and the positional relationship between the gripper and the horizontal plane where the object is placed has changed. However, the three parameters d1, d2, and d3 are still needed to locate the gripper's position. The gripping posture of the mechanical gripper can be selected by the processor based on the positional relationship between the gripper and the horizontal plane where the object is placed during the calibration process, or it can be preset by the operator in the point information of the path to be calibrated.

[0092] Therefore, when a robotic arm includes a robotic hand, it is necessary not only to calibrate the motion path of the robotic arm, but also to calibrate the posture of the robotic hand, or the grasping posture and grasping position, so that it can accurately complete the grasping task.

[0093] In one possible implementation, when the target point information also includes the gripping posture information of the robotic arm, the robotic arm calibration method further includes: when the robotic arm is located within the preset area of ​​the target point, controlling the robotic arm according to the gripping posture information to adjust the robotic arm to the target gripping posture; acquiring the distance parameter sent by the ranging sensor installed on the robotic arm under the target gripping posture, the distance parameter being a parameter characterizing the positional relationship between the mechanical gripper and the target object; adjusting the mechanical gripper of the robotic arm based on the distance parameter so that the mechanical gripper is located at a preset position of the target object; and determining the point information when the mechanical gripper is located at the preset position as the gripping calibration information of the robotic arm at the target point.

[0094] In this embodiment, the operator can pre-set the gripping posture of the mechanical gripper in the position information of the target point, such as the position information of the target point being: {'ges':[ges_l / ges_p],'position':[X1,Y1,Z1],'orientation':[RX1,RY1,RZ1]}. Here, ges represents the gripping parameters of the mechanical gripper, and ges_l and ges_p are the values ​​of the gripping parameter ges. A value of 1 for ges_l indicates vertical gripping, and a value of 0 for ges_p indicates horizontal gripping. After the robotic arm moves to the preset area of ​​the target point, the target gripping posture of the robotic arm is determined based on the gripping parameters in the position information of the target point, and the robotic arm is adjusted to the target gripping posture.

[0095] Furthermore, based on the preset position of the target object, the specific position of the mechanical gripper is adjusted to ensure it is in the preset position. For example, if the target object is a component with fixed mechanical grippers on both sides, the location of this component is determined as the preset position. When the mechanical gripper is in the preset position, the distances between the sides and bottom of the mechanical gripper and the target object and the placement plane, respectively, are used as the basis for adjusting the mechanical gripper. When the adjusted distance parameters are equal to these distances, it proves that the adjusted position of the mechanical gripper is in the preset position of the target object, and the component can fix the mechanical gripper, making it less likely for the target object to fall during the gripping process.

[0096] In one possible implementation, refer to Figure 7 The flowchart of adjusting the mechanical gripper of the robotic arm provided in this application embodiment, wherein adjusting the mechanical gripper of the robotic arm based on distance parameters so that the mechanical gripper is located at a preset position of the target object, may include the following steps:

[0097] Step S210: Obtain the distance parameters sent by the ranging sensor installed on the robot arm when the robot arm is in the target grasping posture. The distance parameters include at least: a first parameter, a second parameter, and a third parameter.

[0098] Reference Figure 4 and Figure 5 The first parameter is the height of the bottom edge of the mechanical gripper from the calibration platform, i.e., d3; the second parameter is the distance between the left edge of the mechanical gripper and the target object, i.e., d1; and the third parameter is the distance between the right edge of the mechanical gripper and the target object, i.e., d2.

[0099] Step S220: Determine whether the first parameter is equal to the preset height value. If the determination result is no, proceed to step S230; if the determination result is yes, proceed to step S240.

[0100] Step S230: Adjust the coordinate parameters of the mechanical gripper in the first direction until the first parameter sent by the ranging sensor is equal to the preset height value, where the first direction is perpendicular to the calibration platform.

[0101] Step S240: Determine whether the second parameter and the third parameter are equal. If the result is yes, proceed to step S260; if the result is no, proceed to step S250.

[0102] Step S250: Adjust the coordinate parameters of the mechanical gripper in the second direction until the second parameter sent by the ranging sensor is equal to the third parameter. The second direction is the direction parallel to the calibration platform at a preset height.

[0103] Step S260: Determine that the mechanical gripper is located at a preset position on the target object.

[0104] In this embodiment, the target object grasped by the mechanical gripper is an object that should be avoided from colliding or shaking during movement, such as fragile objects, liquid containers, precision instruments, works of art and antiques, etc., to avoid problems such as liquid leakage and decreased instrument precision. Therefore, during the grasping process, the target object is required to be in the exact center of the mechanical gripper so that the target object will not shake when the mechanical gripper grasps it, and the object is grasped and moved in a translational state.

[0105] A distance sensor mounted on the bottom of the mechanical gripper detects the height d3 of the robotic arm from the platform and sends this height data d3 back to the processor. The processor compares d3 with a preset height value, where the preset height is the distance from the bottom of the gripper to the platform when the target object is in the center of the gripper. If d3 does not match the preset height value, the robotic arm or gripper is dynamically adjusted in the Z direction, such as... Figure 5 If d is greater than the preset height value, decrease the parameter of the mechanical gripper on the Z-axis; if d is less than the preset height value, increase the parameter of the mechanical gripper on the Z-axis until the d3 returned by the distance sensor is equal to the preset height value, then stop adjusting.

[0106] Once the height of the mechanical gripper is equal to the preset height value, the robotic arm calibration system enters the calibration process for the gripping position. At this time, the target object is located between the two grippers of the mechanical gripper. By judging whether d1 and d2 are equal, it is determined whether the target object is located in the exact center of the mechanical gripper. If d1 is not equal to d2, the gripping position of the mechanical gripper is dynamically adjusted along the left or right side of the target object on a plane parallel to the placement plane or calibration plane, without changing the posture of the robotic arm.

[0107] Reference Figure 4If the distance d1 measured by the left ranging sensor is smaller than d2, the robot arm's trans.y parameter is dynamically adjusted along the Y direction, increasing d1 and decreasing d2 in the positive direction, causing the gripper to move closer to the right ranging sensor. Conversely, if the distance d1 measured by the left ranging sensor is larger than d2, the robot arm's trans.y parameter is dynamically adjusted in the opposite Y direction, decreasing d1 and increasing d2 in the positive direction, causing the gripper to move closer to the left ranging sensor. This adjustment continues until the distance d1 returned by the left ranging sensor equals the distance d2 returned by the right ranging sensor, at which point the adjustment of the gripper's position stops.

[0108] When d3 equals the preset height value and d1=d2, the mechanical gripper is determined to be located at the preset position of the target object, the gripping calibration of the robot ends, and the current spatial coordinates, attitude information, axis joints and other information of the robot are determined as the gripping calibration information of the robot at the target point.

[0109] When a user inputs a grasping task at a target location into the processor, it is necessary not only to generate motion instructions for the robotic arm based on the stored path calibration information to control the robotic arm to move to the preset area of ​​the target location, but also to generate posture adjustment instructions for the robotic hand based on the grasping calibration information of the target location to control the robotic hand to be in the preset position of the target object and execute the grasping task.

[0110] In one possible implementation, the robotic arm calibration method executed by the processing arm may further include: in response to the target object's editing operation on the point information of any point in the path calibration information or grasping calibration information corresponding to the robotic arm or manipulator, editing the point information in the path calibration information or grasping calibration information accordingly, wherein the editing includes at least: adding, modifying or deleting.

[0111] It is understandable that the processor may have errors or be suboptimal in the path calibration and grasping calibration information of the robotic arm or hand due to errors or calculation methods. In this case, the target object can send editing instructions to the processor. Optionally, the processor can communicate with a display or computer and send the path calibration or grasping calibration information to the display for the target object to view. If the target object finds no errors or finds information that can be optimized, it can directly modify the grasping calibration or path calibration information on the display and upload the modifications to the processor, which can then add, modify, or delete the stored path calibration and grasping calibration information accordingly.

[0112] In summary, in this embodiment, the gripping position and height of the robotic arm are detected using a ranging sensor, replacing the operator's visual judgment and improving the accuracy of the robotic arm's gripping calibration. Furthermore, while achieving automatic calibration, the user can also intervene in the calibration process, enhancing the flexibility of the robotic arm's calibration.

[0113] Reference Figure 8 The present application provides another system architecture diagram of a robotic arm calibration system, which is used to... Figure 8 The examples provided illustrate the feasible implementation of the robotic arm calibration system and method described above.

[0114] Figure 8 In this system, the overall architecture of the robotic arm calibration system consists of six layers: the application layer, the planning and decision-making layer, the algorithm layer, the communication layer, the driver layer, and the physical layer. Each part performs specific tasks and works together to achieve the full functionality of the robotic arm calibration system.

[0115] The physical layer defines the hardware components of the entire robotic arm calibration system, including: a computer, robotic arm, controller, robotic hand, distance sensor, and other actual equipment. The distance sensor is a ranging sensor. The computer replaces the processor described above; its execution steps and role in the robotic arm calibration process are detailed above and will not be repeated here. Furthermore, the hardware components of the physical layer can complete tasks independently or collaboratively with the components described below to achieve robotic arm calibration or control tasks.

[0116] The application layer of the automatic calibration system is the interface through which users interact with the robotic arm calibration system, providing the following key functions: calibration function, equipment configuration, status query, calibration data query, robotic arm motion control, and log query.

[0117] The system includes the following functions: Calibration: Allows users to perform point calibration tasks on the robotic arm, ensuring it can accurately move to the designated position before performing pick-up and place-down actions. Users can also verify the calibration points after calibration is completed on the interface. Equipment Configuration: Users can configure the parameters of the robotic arm, manipulator, distance sensors, and other related equipment according to actual needs to adapt to the work scenario. Status Inquiry: Users can check the real-time operating status of the robotic arm and related equipment at any time to monitor the working process. Calibration Data Inquiry: Provides data from executed calibration tasks for user analysis and reference. Robotic Arm Motion Control: Allows users to manually or automatically control the movement of the robotic arm to meet specific needs. Log Inquiry: Records system operation logs, which users can query and analyze the system's operation history.

[0118] The planning and decision-making layer is responsible for executing user-issued instructions from the application layer of the automatic calibration system, ensuring the efficient and stable operation of the robotic arm calibration system. Its main functions include: instruction execution, parsing user instructions from the application layer, making decisions and planning, and generating corresponding task flows; and task scheduling, rationally scheduling and allocating generated tasks to ensure the coordinated work of all modules.

[0119] The algorithm layer encompasses various algorithms to improve the system's performance and adaptability. These include: robotic arm motion planners, robotic arm motion algorithms, system anomaly handling algorithms, collision detection algorithms, and robotic arm adaptive adjustment algorithms.

[0120] Among them, the robotic arm motion planner generates the motion trajectory of the robotic arm, ensuring smooth and efficient movement.

[0121] Robotic arm motion algorithm: Enables motion control of the robotic arm to ensure precise arrival at the designated position.

[0122] System anomaly handling algorithm: Intelligent handling of possible anomalies to improve system robustness.

[0123] Collision detection algorithm: Prevents the robotic arm from colliding during movement, ensuring the safety of the working environment.

[0124] Robotic arm adaptive adjustment algorithm: Adjusts the robotic arm's motion strategy in real time according to changes in the environment.

[0125] The communication layer is used to realize data transmission and information exchange between different modules, ensuring effective communication between each layer. Specifically, the robotic arm communicates with the robotic gripper using the RS485 communication protocol to realize the opening and closing operations of the gripper's grippers. The robotic arm communicates directly with the computer using Ethernet TCP / IP communication, exchanging data and commands via the network. The distance sensor communicates directly with the computer using the RS232 communication protocol, sending the collected distance data to the computer for processing.

[0126] The driver layer is the underlying entity of the system, directly controlling hardware devices such as robotic arms, robotic hands, and distance sensors. Its main functions include:

[0127] Robotic arm and distance sensor related drives: control the movement and operation of the robotic arm and distance sensor.

[0128] Physical layer interface: Communicates with the actual hardware devices to ensure that the driver layer can directly control the devices, including robotic arm interface, controller interface, and distance sensor interface.

[0129] The robotic arm calibration device provided in the embodiments of this application is described below. The robotic arm calibration device described below can be referred to in correspondence with the robotic arm calibration method described above.

[0130] First, combined Figure 9 The robotic arm calibration device for the processor 10 used in the robotic arm calibration system is described below, such as... Figure 9 As shown, the robotic arm calibration device may include:

[0131] The information acquisition unit 100 is used to acquire the point information of the path to be calibrated. The point information includes at least the point information corresponding to the starting point and the target point, and the point information includes at least the spatial coordinates and attitude information.

[0132] The path interpolation unit 200 is used to perform path interpolation processing based on the point information corresponding to the starting point and the target point, respectively, to obtain path information of the robotic arm moving from the starting point to the target point within a preset area. The path information includes at least the point information of at least one intermediate point.

[0133] The path calibration unit 300 is used to store the path information as path calibration information for the robotic arm to move from the starting point of the path to be calibrated to the target point.

[0134] In summary, this embodiment of the application can perform path interpolation processing based on the position information of the starting point and the target point of the path to be calibrated, to obtain the position information of the intermediate points of the robotic arm moving from the starting point to the target point, and use the position information of the intermediate points as the path calibration information. For the user, calibrating the robotic arm only requires inputting the position information of the starting point and the target point to the processor; the calibration process is automatically completed by the server, reducing the influence of subjective factors in the calibration process. Furthermore, the calibration platform calibrates the spatial coordinates of each spatial point in the motion space for the robotic arm, enabling the robotic arm to accurately find the position of each intermediate point during calibration or movement, further improving the accuracy and efficiency of the path calibration information.

[0135] In one possible implementation, the robotic arm calibration system further includes a robotic arm, and the motion space of the robotic arm determined by the calibration platform is divided into four regions.

[0136] The path interpolation unit 200 includes:

[0137] The first region determination subunit is used to determine the region where the robotic arm is located in the motion space when the robotic arm is at the starting point, and is denoted as the first region.

[0138] The second region determination subunit is used to determine the region where the robotic arm is located in the motion space when the robotic arm is at the target point, and is denoted as the second region.

[0139] The variable determination subunit is used to determine the region variable for the robotic arm to move from the starting point to the target point based on the first region and the second region;

[0140] The path interpolation subunit is used to perform path interpolation processing based on the point information corresponding to the region variable, the starting point, and the target point, respectively, to obtain the point information of multiple intermediate points.

[0141] The path information determination subunit is used to take the set of point information of multiple intermediate points as path information.

[0142] In one possible implementation, the robotic arm calibration device may further include:

[0143] The instruction generation unit is used to generate motion instructions for controlling the robotic arm based on the path calibration information.

[0144] The instruction sending unit is used to send the motion instruction to the robotic arm and control the robotic arm to move to the preset area of ​​the target point.

[0145] In one possible implementation, when the target location information also includes the gripping posture information of the robotic arm, the robotic arm calibration device may include:

[0146] The grasping posture adjustment unit is used to control the robotic arm to adjust it to the target grasping posture based on the grasping posture information when the robotic arm is located within the preset area of ​​the target point.

[0147] The parameter acquisition unit is used to acquire the distance parameters sent by the ranging sensor installed on the robotic arm when the robotic arm is in the target grasping posture. The distance parameters are parameters that characterize the positional relationship between the mechanical gripper and the target object.

[0148] A gripper adjustment unit is used to adjust the mechanical gripper of the robot arm based on the distance parameter, so that the mechanical gripper is located at a preset position of the target object;

[0149] The gripping calibration unit is used to determine the position information of the mechanical gripper when it is located at the preset position as the gripping calibration information of the robot at the target position.

[0150] In one possible implementation, the gripper adjustment unit includes:

[0151] The first judgment subunit is used to determine whether the first parameter is equal to a preset height value when the distance parameter includes at least the first parameter, the second parameter and the third parameter, wherein the first parameter is the height value of the bottom edge of the mechanical gripper from the calibration platform, the second parameter is the distance between the left edge of the mechanical gripper and the target object, and the third parameter is the distance between the right edge of the mechanical gripper and the target object.

[0152] The height adjustment subunit is used to adjust the coordinate parameters of the mechanical gripper in the first direction when the judgment result of the first judgment subunit is negative, until the first parameter sent by the ranging sensor is equal to the preset height value, wherein the first direction is the direction perpendicular to the calibration platform.

[0153] The second judgment subunit is used to determine whether the second parameter and the third parameter are equal when the judgment result of the first judgment subunit is yes.

[0154] A horizontal adjustment subunit is used to adjust the coordinate parameters of the mechanical gripper in the second direction when the judgment result of the second judgment subunit is negative, until the second parameter sent by the ranging sensor is equal to the third parameter, wherein the second direction is a direction parallel to the calibration platform at a preset height;

[0155] The position determination subunit determines that the mechanical gripper is located at a preset position on the target object if the judgment result of the second judgment subunit is yes.

[0156] One possible implementation also includes:

[0157] The editing unit is used to respond to the target object's editing operation on the point information of any point in the path calibration information or the grasping calibration information corresponding to the robotic arm or the robotic hand, and to edit the point information in the path calibration information or the grasping calibration information accordingly. The editing includes at least adding, modifying or deleting.

[0158] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0159] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0160] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robotic arm calibration system, characterized in that, include: Calibration platform, robotic arm, and processor; The robotic arm is mounted on the calibration platform, and the robotic arm moves within the motion space defined by the calibration platform. Each spatial point in the motion space is provided with spatial coordinates. The processor is used to acquire the point information of the path to be calibrated. The point information includes at least the point information corresponding to the starting point and the target point, and the point information includes at least the spatial coordinates and attitude information. Based on the point information corresponding to the starting point and the target point respectively, path interpolation processing is performed to obtain the path information of the robotic arm moving from the starting point to the target point within a preset area. The path information includes at least the point information of at least one intermediate point. The path information is stored as path calibration information for the robotic arm to move from the starting point of the path to be calibrated to the target point. Wherein, the robotic arm calibration system further includes a robotic arm, and the motion space of the robotic arm determined by the calibration platform is divided into four regions, the process of performing path interpolation based on the point information corresponding to the starting point and the target point to obtain the path information of the robotic arm moving from the starting point to the target point within a preset region includes: When the robotic arm is determined to be at the starting point, the area where the robotic hand is located in the motion space is denoted as the first area; When the robotic arm is determined to be at the target point, the area where the robotic hand is located in the motion space is denoted as the second area; Based on the first region and the second region, determine the region variable for the robotic arm to move from the starting point to the target point; Path interpolation is performed based on the location information corresponding to the region variable, the starting point, and the target point to obtain location information for multiple intermediate points. The set of location information of multiple intermediate points is used as path information.

2. The robotic arm calibration system according to claim 1, characterized in that, Also includes: A robotic arm is mounted on the flange end of the robotic arm, and the robotic arm is used to grasp or place a target object.

3. The robotic arm calibration system according to claim 2, characterized in that, The robotic arm includes a mechanical gripper and distance sensors mounted on the inner and bottom sides of the mechanical gripper. The distance sensors are used to measure the distance between the inner side of the mechanical gripper and the target object, and the distance between the bottom side of the mechanical gripper and the calibration platform.

4. A method for calibrating a robotic arm, characterized in that, A processor is used in a robotic arm calibration system, the robotic arm calibration system further comprising at least: a calibration platform and a robotic arm, the robotic arm calibration method comprising: Obtain the point information of the path to be calibrated, wherein the point information includes at least: the point information corresponding to the starting point and the target point, and the point information includes at least: spatial coordinates and attitude information; Based on the point information corresponding to the starting point and the target point respectively, path interpolation processing is performed to obtain the path information of the robotic arm moving from the starting point to the target point within a preset area. The path information includes at least the point information of at least one intermediate point. The path information is stored as path calibration information for the robotic arm to move from the starting point of the path to be calibrated to the target point. In the case where the robotic arm calibration system also includes a robotic arm, and the motion space of the robotic arm determined by the calibration platform is divided into four regions, the process of performing path interpolation based on the point information corresponding to the starting point and the target point to obtain the path information of the robotic arm moving from the starting point to the target point within a preset region includes: When the robotic arm is determined to be at the starting point, the area where the robotic hand is located in the motion space is denoted as the first area; When the robotic arm is determined to be at the target point, the area where the robotic hand is located in the motion space is denoted as the second area; Based on the first region and the second region, determine the region variable for the robotic arm to move from the starting point to the target point; Path interpolation is performed based on the location information corresponding to the region variable, the starting point, and the target point to obtain location information for multiple intermediate points. The set of location information of multiple intermediate points is used as path information.

5. The robotic arm calibration method according to claim 4, characterized in that, Also includes: Based on the path calibration information, motion commands to control the robotic arm are generated; The motion command is sent to the robotic arm, controlling the robotic arm to move to the preset area of ​​the target point.

6. The robotic arm calibration method according to claim 4, characterized in that, Also includes: When the target point information also includes the gripping posture information of the robotic arm, the robotic arm calibration method further includes: When the robotic arm is located within the preset area of ​​the target point, the robotic arm is controlled according to the grasping posture information to adjust the robotic arm to the target grasping posture; The distance parameters are obtained from the distance sensor installed on the robotic arm when the robotic arm is in the target grasping posture. The distance parameters are parameters that characterize the positional relationship between the mechanical gripper of the robotic arm and the target object. Based on the distance parameter, the mechanical gripper of the robotic arm is adjusted so that the mechanical gripper is located at a preset position on the target object; The position information of the mechanical gripper when it is located at the preset position is determined as the gripping calibration information of the robotic arm at the target position.

7. The robotic arm calibration method according to claim 6, characterized in that, The step of adjusting the mechanical gripper of the robotic arm based on the distance parameter, so that the mechanical gripper is located at a preset position on the target object, includes: When the distance parameters include at least a first parameter, a second parameter, and a third parameter, it is determined whether the first parameter is equal to a preset height value, wherein the first parameter is the height value of the bottom edge of the mechanical gripper from the calibration platform, the second parameter is the distance between the left edge of the mechanical gripper and the target object, and the third parameter is the distance between the right edge of the mechanical gripper and the target object; If the first parameter is not equal to the preset height value, then adjust the coordinate parameters of the mechanical gripper in the first direction until the first parameter sent by the ranging sensor is equal to the preset height value, where the first direction is the direction perpendicular to the calibration platform; If the first parameter is equal to the preset height value, then determine whether the second parameter is equal to the third parameter; If the second parameter is not equal to the third parameter, adjust the coordinate parameters of the mechanical gripper in the second direction until the second parameter sent by the ranging sensor is equal to the third parameter. The second direction is a direction parallel to the calibration platform at a preset height. When the second parameter is equal to the third parameter, the mechanical gripper is determined to be located at a preset position on the target object.

8. The robotic arm calibration method according to claim 6, characterized in that, Also includes: In response to the target object's editing operation on the point information of any point in the path calibration information or grasping calibration information corresponding to the robotic arm or the robotic hand, the point information in the path calibration information or grasping calibration information is edited accordingly, and the editing includes at least: adding, modifying or deleting.

9. A robotic arm calibration device, characterized in that, A processor is configured in the robotic arm calibration system, which at least includes a calibration platform and a robotic arm, and the robotic arm calibration device includes: The information acquisition unit is used to acquire the point information of the path to be calibrated. The point information includes at least the point information corresponding to the starting point and the target point, and the point information includes at least the spatial coordinates and attitude information. The path interpolation unit is used to perform path interpolation processing based on the point information corresponding to the starting point and the target point, respectively, to obtain the path information of the robotic arm moving from the starting point to the target point within a preset area. The path information includes at least the point information of at least one intermediate point. A path calibration unit is used to store the path information as path calibration information for the robotic arm to move from the starting point of the path to be calibrated to the target point. In the case where the robotic arm calibration system also includes a robotic arm, and the motion space of the robotic arm determined by the calibration platform is divided into four regions, the path interpolation unit includes: The first region determination subunit is used to determine the region where the robotic arm is located in the motion space when the robotic arm is at the starting point, and is denoted as the first region. The second region determination subunit is used to determine the region where the robotic arm is located in the motion space when the robotic arm is at the target point, and is denoted as the second region. The variable determination subunit is used to determine the region variable for the robotic arm to move from the starting point to the target point based on the first region and the second region; The path interpolation subunit is used to perform path interpolation processing based on the point information corresponding to the region variable, the starting point, and the target point, respectively, to obtain the point information of multiple intermediate points. The path information determination subunit is used to take the set of point information of multiple intermediate points as path information.

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