Multi-mechanical-arm base coordinate self-calibration method based on butt joint socket matching

By using the method of docking socket matching in a multi-robot system, the end position matching and base coordinate calculation are achieved, and the problem of insufficient accuracy and operational complexity of the base coordinate and relative position determination of the multi-robot system is solved, and the working efficiency and accuracy of the system are improved.

CN119635654APending Publication Date: 2025-03-18HANGZHOU DIANZI UNIV
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Patent Information

Application Number
CN202510001607.X
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-01-02
Publication Date
2025-03-18

AI Technical Summary

Technical Problem

The existing multi-robot arm systems have problems such as insufficient accuracy, complex operation and insufficient automation in determining base coordinates and relative positions, especially in the event of environmental changes or robotic arm movement errors, which affect system performance.

Method used

The self-calibration method of the base coordinates of the multi-robot arm based on the matching of the docking socket is adopted. By setting the docking socket and the plug, the end posture matching between the robot arms is achieved, and the base coordinates are calculated using the inverse kinematics method to ensure the accurate determination of the relative position.

Benefits of technology

High-precision self-calibration of base coordinates and relative position determination are achieved, the accuracy shortcomings and operation complexity of the prior art are overcome, and the working efficiency and accuracy of the multi-robot system are improved.

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Abstract

The invention relates to a multi-mechanical-arm base coordinate self-calibration method based on butt joint socket matching, and aims to improve the cooperation precision and efficiency of a multi-mechanical-arm system. The method comprises the following steps that firstly, a cube mold with a four-hole socket on each face is installed at the tail end of a mechanical arm A, a base space coordinate of the mechanical arm A is set as a world coordinate origin, and the tail end pose of the mechanical arm A is calculated; and then, the tail end poses of other mechanical arms are adjusted, so that the tail end plugs of the other mechanical arms are inserted into the sockets of the mechanical arm A, and tail end matching is achieved. In the adjusting process, accurate alignment of the plug and the socket is ensured through force feedback and a visual sensor system. And finally, base coordinates of other mechanical arms are calculated through an inverse kinematics method, and the relative positions of the mechanical arm A and the other mechanical arms are determined. The method has the advantages of being high in precision, high in repeatability, easy and convenient to operate and the like, is suitable for self-calibration and relative position determination of a multi-mechanical-arm system, and is suitable for the fields of industrial automation, robot control and the like.
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