Air bag TCP automatic calibration method and system for robot force control polishing system

Abstract

The invention provides an air bag TCP automatic calibration method and system for a robot force control polishing system, based on an air bag polishing tool which is mounted at the tail end of an industrial robot and comprises a flexible force control device, the method comprises the steps that a demonstrator receives a downward pressing instruction of a user, the robot is operated according to the downward pressing instruction, and the robot is operated according to the downward pressing instruction; the air bag head is close to the solid horizontal plane in a vertically downward posture; the demonstrator receives a repositioning instruction of a user and operates the robot to execute repositioning operation according to the repositioning instruction; in the repositioning operation process, the sampling module monitors and collects at least four groups of sampling data in real time, and sends all the sampling data to the data processing module; and the data processing module automatically calculates the position coordinates of the air bag TCP according to the sampling data to obtain an air bag TCP calibration result, and sends the air bag TCP calibration result to the robot. According to the invention, the operation difficulty and the equipment cost of airbag TCP calibration are reduced, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot control, and in particular to an airbag TCP automatic calibration method and system for a robot force-controlled polishing system. Background Art

[0002] High-precision optical components are widely used in national optical engineering, military defense, aerospace and other fields due to their superior optical properties. It is very important to develop the batch processing level of high-precision optical components. As an emerging polishing technology with great development potential, robot airbag polishing technology has the advantages of good processing flexibility, strong scalability and low cost, which can meet the high-efficiency polishing needs of optical components.

[0003] Before processing, the robot needs to determine the control point coordinates (TCP, Tool Center Point) of its end tool. TCP is often calibrated using the "point-to-point" method of the robot system. However, since the airbag polishing tool is spherical and the radius is usually large, it is impossible to control the airbag center to coincide with the fixed point in space, so the robot's built-in calibration method cannot be used to accurately calibrate TCP, which in turn affects the processing accuracy of the robot airbag polishing. Therefore, it is of great significance to develop a fast and accurate automatic calibration method for robot airbag polishing TCP. Summary of the invention

[0004] In order to solve the above problems in the prior art, the present invention provides an airbag TCP automatic calibration method and system for a robot force-controlled polishing system, which realizes automatic calibration of the airbag TCP calibration.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is: In a first aspect, the present invention provides an automatic calibration method for an airbag TCP for a robot force-controlled polishing system, based on an airbag polishing tool including a flexible force-controlled device mounted at the end of an industrial robot, comprising the steps of: S1. The teaching pendant receives a downward pressure command from the user, and operates the robot according to the downward pressure command so that the airbag head approaches a solid horizontal plane in a vertical downward posture. The solid horizontal plane is set within the working range of the robot and is parallel to the robot base; S2, the teaching pendant receives a repositioning instruction from the user, and operates the robot to perform a repositioning operation according to the repositioning instruction, wherein the repositioning operation is performed with the repositioning center point as the origin, and the repositioning center point is located within the travel of the flexible force control device; S3. During the repositioning operation, the sampling module monitors and collects N groups of sampling data in real time, and sends all the sampling data to the data processing module, wherein N≥4 and each group of sampling data includes the posture matrix of the robot end flange coordinate system and the downward pressure of the flexible force control device; S4. After the repositioning operation is completed, the data processing module automatically calculates the position coordinates of the airbag TCP according to the sampling data, obtains the airbag TCP calibration result, and sends the airbag TCP calibration result to the robot.

[0006] The beneficial effects of the present invention are as follows: the calibration process of the airbag TCP coordinate system is mostly an automatic process under program control, and the manual repositioning operation involved is very simple, which greatly reduces the operational difficulty of the airbag TCP calibration and improves production efficiency. At the same time, the present invention uses the end position feedback of the robot itself combined with the displacement sensor of the force control device to realize the automatic calibration of the airbag TCP, without the need to use other calibration equipment, which greatly reduces the equipment cost required for TCP calibration.

[0007] Optionally, the data processing module in step S4 automatically calculates the position coordinates of the airbag TCP according to the sampled data, including the following steps: For any set of sampling data, the pose matrix of the end flange coordinate system in the sampling data is transformed by homogeneous coordinates to obtain the pose matrix of the airbag TCP coordinate system, and the first equation is generated. The operation process of the third column in the first equation is extracted to obtain the second equation. When the pressure of the flexible force control device is 0, the position coordinates of the airbag TCP relative to the robot end flange coordinate system are (xt, yt, zt). The homogeneous coordinate transformation is the translation of xt, yt, and zt along the X-axis, Y-axis, and Z-axis, respectively, and then the translation of the pressure along the Z-axis; The second equations of the two groups of sampling data are subtracted to obtain a third equation, and the position coordinates of the airbag TCP are obtained through at least three third equations.

[0008] Optionally, during the repositioning operation, the actual height of the airbag TCP remains unchanged.

[0009] Optionally, the first equation is: ; in, is the pose matrix of the end flange coordinate system; is the pose matrix of the airbag TCP coordinate system; Translation xt, yt, zt for the X, Y, and Z axes; h is the Z-axis translation downward pressure i ; The expansion of the first equation is: ; Among them, Z 6,i is the Z-axis coordinate of the end flange coordinate system in the i-th group of sampling data, NZ 6,i ,OZ 6,i ,AZ 6,i is the component representing the approach vector in the end flange coordinate system in the i-th group of sampling data, and C is the height of the airbag TCP; The second equation is: ; The third equation is: ; Among them, NZ 6,j ,OZ 6,j ,AZ 6,j is the component representing the approach vector in the end flange coordinate system in the jth group of sampling data, h j is the downward pressure of the flexible force control device in the jth group of sampling data.

[0010] Optionally, the pressing amount of the flexible force control device in step S1 is within a preset fluctuation range of the middle position of the stroke.

[0011] Optionally, the relocation center point in step S2 may be: When the airbag TCP used in the last processing is within the preset distance range from the airbag TCP to be calibrated this time, the TCP origin used in the last processing is used as the repositioning center point.

[0012] Optionally, when the repositioning operation is performed in step S2, if the sampling module detects that the downward pressure reaches the upper and lower limits of the flexible force control device, the airbag head will stop automatically.

[0013] Optionally, the sampling data may also only include the third row elements in the posture matrix of the robot end flange coordinate system and the downward pressure of the flexible force control device. In this case, the N groups of sampling data are a two-dimensional matrix with N rows and 5 columns.

[0014] Optionally, the sampling frequency of the sampling module is 3ms to 100ms.

[0015] In a second aspect, the present invention provides an airbag TCP automatic calibration system for a robot force-controlled polishing system, comprising: The teaching pendant is used to receive a downward pressure instruction from the user, and operate the robot according to the downward pressure instruction so that the airbag head approaches a solid horizontal plane in a vertical downward posture, and the solid horizontal plane is set within the working range of the robot and parallel to the robot base; and is used to receive a repositioning instruction from the user, and operate the robot to perform a repositioning operation according to the repositioning instruction, and the repositioning operation is performed with the repositioning center point as the origin, and the repositioning center point is located within the travel of the flexible force control device; A sampling module, used for real-time monitoring and collecting N groups of sampling data during the repositioning operation, and sending all the sampling data to the data processing module, wherein N ≥ 4 and each group of sampling data includes the posture matrix of the robot end flange coordinate system and the downward pressure of the flexible force control device; The data processing module is used to automatically calculate the position coordinates of the airbag TCP according to the sampling data after the repositioning operation is completed, obtain the airbag TCP calibration result, and send the airbag TCP calibration result to the robot.

[0016] Among them, the technical effect corresponding to the airbag TCP automatic calibration system for the robot force-controlled polishing system provided by the second aspect refers to the relevant description of the airbag TCP automatic calibration method for the robot force-controlled polishing system provided by the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic flow chart of an automatic calibration method of an airbag TCP for a robot force-controlled polishing system according to an embodiment of the present invention; Figure 2 A schematic diagram of the structure of the relocation operation involved in an embodiment of the present invention; Figure 3 It is a schematic diagram of the framework of the airbag TCP automatic calibration system for the robot force-controlled polishing system according to an embodiment of the present invention.

[0018] Description of reference numerals: 1. Airbag TCP automatic calibration system for robot force-controlled polishing system; 2. Sampling module; 3. Data processing module; 4. Teaching pendant. DETAILED DESCRIPTION

[0019] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0020] Embodiment 1 This embodiment is suitable for application scenarios where TCP calibration of airbag polishing is required. The existing robot's built-in calibration method cannot accurately calibrate TCP, which in turn affects the processing accuracy of the robot's airbag polishing. This embodiment uses the downward pressure collected by the flexible force control device itself and the real-time monitoring position of the robot itself, through simple manual repositioning operations and automated data monitoring and data processing, to complete the automatic calibration of the robot's airbag TCP. See the following description for details.

[0021] The implementation method of the present application is based on an airbag polishing tool including a flexible force control device mounted on the end of an industrial robot. The flexible force control device refers to a force control device that can passively extend and retract to adapt to the relative position deviation between the tool and the workpiece, which can ensure the stability of the contact force and feedback the deviation value through a built-in displacement sensor. The airbag polishing tool refers to a spherical or hemispherical polishing tool, and its deformation can be ignored when a small polishing force is applied.

[0022] Please refer to Figure 1 to Figure 2 , an automatic calibration method of an airbag TCP for a robot force-controlled polishing system, comprising the steps of: S1. The teaching pendant receives a downward pressure command from the user, and operates the robot according to the downward pressure command so that the airbag head approaches a solid horizontal plane in a vertical downward posture. The solid horizontal plane is set within the working range of the robot and is parallel to the robot base.

[0023] Among them, the downward pressure of the flexible force control device in step S1 is within the preset fluctuation range of the middle position of the stroke, which can be referred to here Figure 2 That is, the downward pressure of the flexible force control device should be close to the middle position of its stroke, leaving enough movement margin for the subsequent repositioning operation.

[0024] In this embodiment, the physical horizontal plane can be the workbench surface where the robot is located. The physical horizontal plane and the vertical downward pressure of the airbag head required for calibration do not need to be particularly accurate, and can be visually horizontal or visually vertical.

[0025] S2. The teaching pendant receives the user's repositioning instruction and operates the robot to perform the repositioning operation according to the repositioning instruction. The repositioning operation is performed with the repositioning center point as the origin, and the repositioning center point is within the travel of the flexible force control device.

[0026] The relocation center point in step S2 may be: When the airbag TCP used in the last processing is within the preset distance range from the airbag TCP to be calibrated this time, the TCP origin used in the last processing is used as the repositioning center point.

[0027] In this embodiment, the relocation center point can be initially determined by visual inspection or using simple measuring tools. The distance between the relocation center point and the airbag TCP should not be too far, otherwise it may cause insufficient movement margin of the force control device. When the airbag TCP used in the last processing is close to the airbag TCP to be calibrated this time, the last TCP origin can also be directly used as the relocation center point. The relocation center point of this embodiment is as follows: Figure 2 as shown in .

[0028] That is, in the above steps S1 and S2, for any spherical airbag tool of any specification installed, when performing TCP automatic calibration, first ensure that the airbag is in contact with any horizontal surface, and use the repositioning function for the robot.

[0029] Specifically, the user manually controls the robot to perform the repositioning operation with the repositioning center point as the origin. When the real-time monitoring module detects that the downward pressure of the force control device is close to the upper and lower limits, the stop function will be automatically triggered to prevent the airbag head from leaving the contact surface or causing the force control device to overtravel. After the robot stops automatically, the user can change the repositioning direction to continue data collection. The purpose of data collection is to obtain as much raw data as possible to provide it to the data processing module for TCP fitting.

[0030] like Figure 2 As shown in the figure, the second posture and the third posture are different postures in the repositioning operation. The height of the robot end flange origin corresponding to any i-th sampling point relative to the origin of the base coordinate system is Z 6,i , the third row of elements in the pose matrix of the end flange coordinate system are NZ from left to right 6,i , OZ 6,i , A.Z. 6,i , the downward pressure of the force control device is h i , then the data format corresponding to any set of sampling data is defined as [Z 6,i ,NZ 6,i ,OZ 6,i ,AZ 6,I , h i]. Assuming that after a period of sampling, a total of N groups of sampling data are obtained, a two-dimensional matrix M with N rows and 5 columns is set, and each row contains a sampling data. The matrix is ​​automatically sent to the data processing module by the real-time monitoring module after the repositioning is completed. That is, in this embodiment, the sampling data can also only include the third row elements in the posture matrix of the robot end flange coordinate system and the downward pressure of the flexible force control device.

[0031] in, Figure 2 O 6,1 , X 6,1 , Y 6,1 , Z 6,1 is the coordinate information of the end flange in the first posture, O 6,2 , X 6,2 , Y 6,2 , Z 6,3 is the coordinate information of the end flange in the second posture, O 6,i , X 6, i , Y 6, i , Z 6, i is the coordinate information of the end flange at the i-th posture. At the same time, O represents the origin of the robot's default tool coordinate system, that is, the center point of the robot's end flange. Because the end flange is connected to the robot's sixth axis, the suffix starts with 6.

[0032] S3. During the repositioning operation, the sampling module monitors and collects N groups of sampling data in real time, and sends all the sampling data to the data processing module, where N≥4 and each group of sampling data includes the posture matrix of the robot end flange coordinate system and the downward pressure of the flexible force control device.

[0033] In this embodiment, the sampling frequency of the sampling module is 10 ms. In other embodiments, the sampling frequency of the sampling module is 3 ms to 100 ms.

[0034] In this embodiment, the posture matrix of the robot end flange and the downward pressure of the flexible force control device obtained by monitoring correspond to each other, and the length of the collected data must be greater than 4 groups. After the repositioning is completed, the monitoring data is automatically sent to the data processing module in the form of a matrix. The data processing module automatically performs matrix operations on the input matrix and fits the coordinate values ​​of the airbag TCP.

[0035] S4. After the repositioning operation is completed, the data processing module automatically calculates the position coordinates of the airbag TCP according to the sampling data, obtains the airbag TCP calibration result, and sends the airbag TCP calibration result to the robot.

[0036] Among them, when the downward pressure of the flexible force control device is zero, the relative position of the airbag TCP relative to the robot end flange coordinate system is [xt, yt, zt]. During the repositioning, since the flexible force control device has the characteristic of adaptive compensation for the relative position error between the tool and the workpiece, the actual height of the airbag TCP can be kept unchanged. For any sampling data i obtained by the monitoring module, the following coordinate transformation relationship exists: during the repositioning operation, the actual height of the airbag TCP remains unchanged. That is, in this embodiment, the data processing module in step S4 automatically calculates the position coordinates of the airbag TCP according to the sampling data, including the steps of: S31. For any set of sampling data, the pose matrix of the end flange coordinate system in the sampling data is transformed by homogeneous coordinates to obtain the pose matrix of the airbag TCP coordinate system, and the first equation is generated. The operation process of the third column in the first equation is extracted to obtain the second equation. When the pressure of the airbag TCP in the flexible force control device is 0, its position coordinates relative to the robot end flange coordinate system are (xt, yt, zt). The homogeneous coordinates are transformed into translations of xt, yt, and zt along the X-axis, Y-axis, and Z-axis, respectively, and then the pressure is translated along the Z-axis. Among them, the first equation is: ; in, is the pose matrix of the end flange coordinate system; is the pose matrix of the airbag TCP coordinate system; Translation xt, yt, zt for the X, Y, and Z axes; h is the Z-axis translation downward pressure i ; The expansion of the first equation is: ; Among them, Z 6,i is the Z-axis coordinate of the end flange coordinate system in the i-th group of sampling data, NZ 6,i ,OZ 6,i ,AZ 6,i is the component representing the approach vector in the end flange coordinate system in the i-th group of sampling data, and C is the height of the airbag TCP.

[0037] The second equation is: .

[0038] S32, subtracting the second equations of the two groups of sampling data to obtain a third equation, and obtaining the position coordinates of the airbag TCP through at least three third equations.

[0039] Among them, subtracting the two second equations to obtain the third equation will eliminate the constant C, that is, the third equation is: .

[0040] Among them, NZ 6,j ,OZ 6,j ,AZ 6,j is the component representing the approach vector in the end flange coordinate system in the jth group of sampling data, h j is the downward pressure of the flexible force control device in the jth group of sampling data.

[0041] The third equation mentioned above includes only three unknowns, and the rest are in the two-dimensional matrix M. Since there are at least 4 groups of sampled data, there will be at least three third equations, which can be solved using overdetermined equations.

[0042] This embodiment does not require the use of other additional calibration equipment, which can greatly reduce the operational difficulty and equipment cost of airbag TCP calibration and improve production efficiency and production benefits.

[0043] Embodiment 2 Please refer to Figure 3 The airbag TCP automatic calibration system 1 for the robot force-controlled polishing system includes a teaching pendant 4, a sampling module 2 and a data processing module 3. The teaching pendant 4 receives the user's operation instructions to control the robot to operate, and the sampling module 2 is connected to the data processing module 3. Specifically, the teaching pendant 4 implements steps S1 and S2 in the first embodiment, the sampling module 2 implements step S3 in the first embodiment, and the data processing module 3 implements step S4 in the first embodiment.

[0044] Since the system / device described in the above embodiments of the present invention is a system / device used to implement the method of the above embodiments of the present invention, a person skilled in the art can understand the specific structure and deformation of the system / device based on the method described in the above embodiments of the present invention, and thus will not be described in detail here. All systems / devices used in the method of the above embodiments of the present invention belong to the scope of protection of the present invention.

[0045] It should be understood by those skilled in the art that embodiments of the present invention may be provided as methods, apparatuses or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0046] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (apparatus) and computer program products according to embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions.

[0047] It should be noted that in the claims, any reference numerals placed between brackets shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In the claims enumerating several means, several of these means may be embodied by the same hardware. The use of the words first, second, third, etc., is for convenience of expression only and does not indicate any order. These words may be understood as part of the component name.

[0048] In addition, it should be noted that, in the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0049] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments after knowing the basic creative concept. Therefore, the claims should be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0050] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention should also include these modifications and variations.

Claims

1. An automatic calibration method for airbag TCP used in a robot force-controlled polishing system, based on an airbag polishing tool including a flexible force-controlled device mounted on the end of an industrial robot, characterized in that: Includes steps: S1. The teaching pendant receives a downward pressure command from the user, and operates the robot according to the downward pressure command so that the airbag head approaches a solid horizontal plane in a vertical downward posture. The solid horizontal plane is set within the working range of the robot and is parallel to the robot base; S2, the teaching pendant receives a repositioning instruction from the user, and operates the robot to perform a repositioning operation according to the repositioning instruction, wherein the repositioning operation is performed with the repositioning center point as the origin, and the repositioning center point is located within the travel of the flexible force control device; S3. During the repositioning operation, the sampling module monitors and collects N groups of sampling data in real time, and sends all the sampling data to the data processing module, wherein N≥4 and each group of sampling data includes the posture matrix of the robot end flange coordinate system and the downward pressure of the flexible force control device; S4. After the repositioning operation is completed, the data processing module automatically calculates the position coordinates of the airbag TCP according to the sampling data, obtains the airbag TCP calibration result, and sends the airbag TCP calibration result to the robot.

2. The airbag TCP automatic calibration method for a robot force-controlled polishing system according to claim 1, characterized in that: The data processing module in step S4 automatically calculates the position coordinates of the airbag TCP according to the sampled data, including the following steps: For any set of sampling data, the pose matrix of the end flange coordinate system in the sampling data is transformed by homogeneous coordinates to obtain the pose matrix of the airbag TCP coordinate system, and the first equation is generated. The operation process of the third column in the first equation is extracted to obtain the second equation. When the pressure of the flexible force control device is 0, the position coordinates of the airbag TCP relative to the robot end flange coordinate system are (xt, yt, zt). The homogeneous coordinate transformation is the translation of xt, yt, and zt along the X-axis, Y-axis, and Z-axis, respectively, and then the translation of the pressure along the Z-axis; The second equations of the two groups of sampling data are subtracted to obtain a third equation, and the position coordinates of the airbag TCP are obtained through at least three third equations.

3. The airbag TCP automatic calibration method for a robot force-controlled polishing system according to claim 2, characterized in that: During the repositioning operation, the actual height of the airbag TCP remains unchanged.

4. The airbag TCP automatic calibration method for a robot force-controlled polishing system according to claim 3 is characterized in that: The first equation is: ； in, is the pose matrix of the end flange coordinate system; is the pose matrix of the airbag TCP coordinate system; Translation xt, yt, zt for the X, Y, and Z axes; h is the Z-axis translation downward pressure i ; The expansion of the first equation is: ； Among them, Z 6,i is the Z-axis coordinate of the end flange coordinate system in the i-th group of sampling data, NZ 6,i ,OZ 6,i ,AZ 6,i is the component representing the approach vector in the end flange coordinate system in the i-th group of sampling data, and C is the height of the airbag TCP; The second equation is: ； The third equation is: ； Among them, NZ 6,j ,OZ 6,j ,AZ 6,j is the component representing the approach vector in the end flange coordinate system in the jth group of sampling data, h j is the downward pressure of the flexible force control device in the jth group of sampling data.

5. The airbag TCP automatic calibration method for a robot force-controlled polishing system according to any one of claims 1 to 4, characterized in that: The pressing amount of the flexible force control device in step S1 is within a preset fluctuation range at the middle position of the stroke.

6. The airbag TCP automatic calibration method for a robot force-controlled polishing system according to any one of claims 1 to 4, characterized in that: The relocation center point in step S2 may be: When the airbag TCP used in the last processing is within the preset distance range from the airbag TCP to be calibrated this time, the TCP origin used in the last processing is used as the repositioning center point.

7. The airbag TCP automatic calibration method for a robot force-controlled polishing system according to any one of claims 1 to 3, characterized in that: When the repositioning operation is performed in step S2, if the sampling module detects that the downward pressure reaches the upper and lower limits of the flexible force control device, the airbag head will automatically stop.

8. The airbag TCP automatic calibration method for a robot force-controlled polishing system according to any one of claims 1 to 3, characterized in that: The sampling data may also include only the third row elements in the posture matrix of the robot end flange coordinate system and the downward pressure of the flexible force control device. In this case, the N groups of sampling data are a two-dimensional matrix with N rows and 5 columns.

9. The airbag TCP automatic calibration method for a robot force-controlled polishing system according to any one of claims 1 to 3, characterized in that: The sampling frequency of the sampling module is 3ms to 100ms.

10. Airbag TCP automatic calibration system for robot force-controlled polishing system, including: The teaching pendant is used to receive a downward pressure instruction from the user, and operate the robot according to the downward pressure instruction so that the airbag head approaches a solid horizontal plane in a vertical downward posture, and the solid horizontal plane is set within the working range of the robot and parallel to the robot base; and is used to receive a repositioning instruction from the user, and operate the robot to perform a repositioning operation according to the repositioning instruction, and the repositioning operation is performed with the repositioning center point as the origin, and the repositioning center point is located within the travel of the flexible force control device; A sampling module, used for real-time monitoring and collecting N groups of sampling data during the repositioning operation, and sending all the sampling data to the data processing module, wherein N ≥ 4 and each group of sampling data includes the posture matrix of the robot end flange coordinate system and the downward pressure of the flexible force control device; The data processing module is used to automatically calculate the position coordinates of the airbag TCP according to the sampling data after the repositioning operation is completed, obtain the airbag TCP calibration result, and send the airbag TCP calibration result to the robot.

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