Position correction method, device and equipment of mechanical arm and storage medium

Abstract

The invention provides a position correction method, device and equipment of a mechanical arm and a storage medium, and the position correction method comprises the steps that under the condition that an execution device for controlling the mechanical arm collides with a calibration position, current position information of the mechanical arm is obtained; wherein the relative position between the calibration position and the teaching working point is not changed; the teaching working point is a working point determined by carrying out position teaching on the mechanical arm; according to the current position information of the mechanical arm, the position information of the teaching working point and a preset calibration distance threshold value, a correction value of the teaching working point is determined; wherein the preset calibration distance threshold value is determined according to the calibration position and the position information of the teaching working point; and position information of any teaching working point corresponding to the mechanical arm is corrected according to the correction value. According to the technical scheme, the position deviation of the mechanical arm can be corrected under the condition that the mechanical arm does not stop, and therefore stable work of the mechanical arm is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to a method, device, equipment and storage medium for correcting the position of a robot arm. Background Art

[0002] The robotic arm is a product of the cross-application of multiple fields such as artificial intelligence, automation and control science, and is widely used in various fields. For example, it is used for sorting tasks in the express sorting field, and for assembly, processing and welding of parts in the industrial field. In these structured scenarios, the robotic arm usually completes specific tasks through a teach pendant or offline, so that the taught robotic arm can carry or grab objects at the work point.

[0003] However, after working for a long time, the robot arm is prone to position deviation, and the robot arm needs to be stopped and manually re-taught to ensure the subsequent stable operation of the robot arm. Summary of the invention

[0004] In order to solve the above problems, the present application proposes a method, device, equipment and storage medium for correcting the position of a robotic arm, which can correct the position deviation of the robotic arm without stopping the robotic arm, thereby ensuring the stable operation of the robotic arm.

[0005] According to a first aspect of an embodiment of the present application, a method for correcting a position of a robot arm is provided, comprising:

[0006] When the actuator controlling the robot arm collides with the calibration position, the current position information of the robot arm is obtained; wherein the relative position between the calibration position and the teaching working point remains unchanged; the teaching working point is the working point determined by position teaching of the robot arm;

[0007] Determine a correction value of the teaching working point according to the current position information of the robot arm, the position information of the teaching working point and a preset calibration distance threshold; wherein the preset calibration distance threshold is determined according to the calibration position and the position information of the teaching working point;

[0008] The position information of any teaching working point corresponding to the robot arm is corrected according to the correction value.

[0009] According to a second aspect of an embodiment of the present application, a position correction device for a robot arm is provided, comprising:

[0010] An acquisition module, used for acquiring the current position information of the robotic arm when the actuator controlling the robotic arm collides with the calibration position; wherein the relative position between the calibration position and the teaching working point remains unchanged; and the teaching working point is a working point determined by position teaching of the robotic arm;

[0011] A processing module, used to determine a correction value of the teaching working point according to the current position information of the robot arm, the position information of the teaching working point and a preset calibration distance threshold; wherein the preset calibration distance threshold is determined according to the calibration position and the position information of the teaching working point;

[0012] The correction module is used to correct the position information of any teaching working point corresponding to the robot arm according to the correction value.

[0013] A third aspect of the present application provides an electronic device, including:

[0014] Memory and processor;

[0015] The memory is connected to the processor and is used to store programs;

[0016] The processor implements the above-mentioned method for correcting the position of the robot arm by running the program in the memory.

[0017] A fourth aspect of the present application provides a storage medium having a computer program stored thereon. When the computer program is executed by a processor, the above-mentioned method for correcting the position of the robot arm is implemented.

[0018] One embodiment of the above application has the following advantages or beneficial effects:

[0019] In the case where the actuator of the control robot arm collides with the calibration position, the current position information of the robot arm is obtained; the correction value of the teaching work point is determined by the preset calibration distance threshold, the current position information of the robot arm and the position information of the teaching work point, and the position information of any teaching work point corresponding to the robot arm is corrected according to the correction value. It can be seen that since the preset calibration distance threshold is determined according to the position information of the calibration position and the teaching work point, and the relative position between the calibration position and the teaching work point remains unchanged, the actuator of the control robot arm collides with the calibration position to determine the current position information of the robot arm. In this way, the current position information of the robot arm and the position information of the teaching work point are calculated using the fixed preset calibration distance threshold to obtain the correction value of the teaching work point, thereby determining the deviation in the position of the robot arm. Without manual re-teaching, the robot arm can automatically correct the position information of any corresponding work point without stopping, thereby ensuring the stable operation of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0021] Figure 1 A schematic diagram of a flow chart of a method for correcting the position of a robotic arm provided in an embodiment of the present application;

[0022] Figure 2 A schematic diagram of a specific flow chart of step S120 of a method for correcting the position of a robotic arm provided in an embodiment of the present application;

[0023] Figure 3 A schematic diagram of a specific flow chart of step S120 of another method for correcting the position of a robotic arm provided in an embodiment of the present application;

[0024] Figure 4 A structural schematic diagram of the force collision direction provided in an embodiment of the present application;

[0025] Figure 5 A schematic diagram of the structure of a position correction device for a robotic arm provided in an embodiment of the present application;

[0026] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] Exemplary Methods

[0029] Figure 1 : is a flow chart of a method for correcting the position of a robot arm according to an embodiment of the present application. In an exemplary embodiment, a method for correcting the position of a robot arm is provided, comprising:

[0030] S110, when the actuator 11 controlling the robot arm collides with the calibration position, obtaining the current position information of the robot arm; wherein the relative position between the calibration position and the teaching working point 12 remains unchanged; the teaching working point 12 is the working point determined by position teaching of the robot arm;

[0031] S120, determining a correction value of the teaching working point 12 according to the current position information of the robot arm, the position information of the teaching working point 12 and a preset calibration distance threshold; wherein the preset calibration distance threshold is determined according to the calibration position and the position information of the teaching working point 12;

[0032] S130. Correct the position information of any teaching working point corresponding to the robot arm according to the correction value.

[0033] In step S110, illustratively, the actuator 11 of the robot arm represents a device used for the robot arm to transfer items. The actuator 11 is generally located at the end of the robot arm and can also be referred to as the end actuator of the robot arm. Optionally, the actuator 11 can be a gripper, or a suction cup, etc., which is not limited here. It should be noted that the actuator 11 of the robot arm can be controlled to collide with the calibration position once within a preset time interval. The preset time interval can be set according to actual conditions and is not limited here. For example, if the preset time interval is 24 hours, then after the actuator 11 of the robot arm transfers items for 24 hours, the actuator 11 of the robot arm is controlled to collide with the calibration position once.

[0034] Exemplarily, the calibration position is a position pre-set according to the teaching work point 12. It should be noted that before the robot arm performs the work of transferring objects at the teaching work point 12, it needs to be taught so that the actuator 11 of the robot arm can reach the designated position (i.e., the teaching work point 12) according to the designated path and perform the operation at the designated position. In this embodiment, the teaching work point 12 is the center position of the working area on the workbench 13. There may be multiple work points on the workbench 13 for the robot arm to transfer objects. The robot arm is fixedly mounted on the workbench 13. The calibration position can be the edge of the workbench 13, or it can be a position where the relative position with respect to the teaching work point 12 remains unchanged. The teaching work point 12 can be one of all the teaching work points obtained after teaching using the robot arm or any one of the teaching work points.

[0035] Specifically, after the actuator 11 of the robot arm collides with the calibration position, the actuator 11 of the robot arm is controlled to stop moving, and the current position information of the actuator 11 of the robot arm is determined. Optionally, a position sensor is provided at the end of the robot arm, and the current position information of the robot arm can be obtained according to the position sensor. For example, in the case where the actuator 11 of the robot arm is a gripper, since the position sensor is generally provided at the end of the robot arm, the current position information of the robot arm is the coordinate corresponding to the center position of the gripper.

[0036] Preferably, the controlling the execution device of the robotic arm to collide with the calibration position comprises: when the execution device 11 of the robotic arm meets a preset correction condition, the controlling the execution device of the robotic arm to collide with the calibration position.

[0037] Optionally, the preset correction condition may be that the time interval between the current time and the last time the robot arm made a position correction reaches a preset time. The preset time is set according to actual conditions and is not limited here. Optionally, the preset correction condition may also be that the robot arm is in an idle state, such as when the robot arm has completed an experimental operation. Optionally, the preset correction condition may also be that the time interval between the current time and the last time the robot arm made a position correction reaches a preset time and the robot arm is in an idle state. In this way, before each time the robot arm is controlled to perform a collision action, the current state of the robot arm is judged to determine whether the robot arm is performing an experiment, so as to avoid the situation where the robot arm is started to perform the next collision action when the experimental operation being performed by the robot arm has not been completed. In this way, the stability of the experimental operation is ensured and the experiment is prevented from being interrupted.

[0038] In step S120, exemplarily, the preset calibration distance threshold is that after the robot arm teaching is completed, the robot arm's actuator 11 is controlled to collide with the calibration position, the robot arm stops moving after the collision occurs, and the distance between the robot arm and the teaching work point 12 at this time is recorded. Optionally, in the case where the robot arm's actuator 11 is a gripper, the center position of the four-finger gripper does not coincide with the calibration position, and there is a certain distance. Therefore, the preset calibration distance threshold is the distance between the center position of the four-finger gripper and the teaching work point 12. Optionally, in the case where the robot arm's actuator 11 is a two-finger gripper, the center position of the two-finger gripper coincides with the calibration position. Therefore, the preset calibration distance threshold is the distance between the calibration position and the teaching work point 12.

[0039] Alternatively, if Figure 2 As shown, step S120 includes: S1210, calculating the current position information of the robot arm and the position information of the teaching work point 12 to obtain current distance information;

[0040] S1220: Calculate the current distance information and the preset calibration distance threshold to obtain a correction value of the teaching working point.

[0041] Among them, the current position information of the robot arm and the position information of the teaching work point 12 can both be represented by coordinates. Preferably, they can all be coordinates in the robot arm base coordinate system. Specifically, the current coordinates of the robot arm are subtracted from the coordinates of the teaching work point 12 to obtain the current distance information. In this way, the current distance information represents the distance between the current robot arm and the teaching work point 12. Then, the preset calibration distance threshold is subtracted from the current distance information. If the difference is 0, it means that there is no deviation in the position of the robot arm. If the difference is not 0, it means that there is a deviation in the position of the robot arm, and the difference is the correction value corresponding to the robot arm. Thereby, the teaching work point 12 is automatically corrected according to the correction value.

[0042] Alternatively, if Figure 3 As shown, step S120 includes: S1210', calculating the current position information of the robot arm and the preset calibration distance threshold to obtain the position information of the predicted working point;

[0043] S1220' calculates the position information of the predicted working point and the position information of the teaching working point 12 to obtain a correction value of the teaching working point.

[0044] Among them, the current position information of the robot arm, the position information of the teaching work point 12, and the position information of the predicted work point can all be represented by coordinates. Specifically, the current coordinates of the robot arm are added to the preset calibration distance threshold to estimate the coordinates of the predicted work point. Then the coordinates of the predicted work point are compared with the coordinates of the teaching work point 12. When the coordinates of the above two work points are the same, it means that there is no deviation in the position of the robot arm. If the coordinates of the predicted work point are different from the coordinates of the teaching work point 12, it means that there is a deviation in the position of the robot arm. The difference between the coordinates of the predicted work point and the coordinates of the teaching work point 12 is calculated, and the difference is used as the correction value corresponding to the robot arm. Thereby, the teaching work point 12 is automatically corrected according to the correction value.

[0045] In step S130, any teaching work point corresponding to the robot arm represents any work point obtained by teaching using the robot arm, and the position information of the teaching work point and the teaching work point 12 are based on the same coordinate system. The teaching work point can be the teaching work point 12 or other teaching work points. Specifically, after determining the correction value, any one or all teaching work points corresponding to the robot arm on the workbench 13 are obtained, and the correction value is added to the position information of the work point corresponding to the robot arm to obtain the corrected work point.

[0046] In the technical solution of the present application, when the actuator 11 of the control robot collides with the calibration position, the current position information of the robot is obtained; the correction value of the teaching work point 12 is determined by the preset calibration distance threshold, the current position information of the robot and the position information of the teaching work point 12, and the position information of all the teaching work points 12 corresponding to the robot is corrected according to the correction value. It can be seen that since the preset calibration distance threshold is determined according to the position information of the calibration position and the teaching work point 12, and the relative position between the calibration position and the teaching work point 12 remains unchanged, the actuator 11 of the control robot collides with the calibration position to determine the current position information of the robot. In this way, the current position information of the robot and the position information of the teaching work point 12 are calculated using the fixed preset calibration distance threshold to obtain the correction value of the teaching work point, thereby determining the deviation in the position of the robot. Without manual re-teaching, the robot can automatically correct the position information of its corresponding work point without stopping, thereby ensuring the stable operation of the robot.

[0047] In one embodiment, the actuator 11 of the control robot arm collides with the calibration position, including:

[0048] Control the actuator 11 of the robotic arm to move along a preset force collision direction toward a calibration position; wherein the preset force collision direction is parallel to the direction of any coordinate axis in the robotic arm base coordinate system; the calibration position is in the preset force collision direction; and determine that the actuator of the robotic arm collides with the calibration position.

[0049] Exemplarily, the preset force collision direction represents the direction corresponding to any coordinate axis in the robot base coordinate system. It should be noted that the position information of the calibration position and the teaching work point 12 are both in the robot base coordinate system.

[0050] Furthermore, the plane where the calibration position is located is perpendicular to the preset force collision direction. The calibration position can be a specified position on the plane where it is located, or any position on the plane, and there is no limitation here. In this way, it can move along the direction corresponding to the coordinate axis in the robot base coordinate system, so that the position deviation obtained in this direction is more accurate.

[0051] Alternatively, if Figure 4As shown, the calibration position can be the edge of the workbench 13, the edge of the workbench 13 is neat, and the force-controlled collision direction is perpendicular to the edge of the workbench 13. If the force-controlled collision direction is the X-axis direction in the base coordinate system of the robot arm, the actuator 11 of the robot arm is controlled to move along the X-axis direction until the actuator 11 of the robot arm collides with the edge of the workbench 13, then the movement of the actuator 11 of the robot arm is stopped, and the current position information of the robot arm is obtained. According to the current position information of the robot arm, the position information of the teaching work point 12, and the preset calibration distance threshold, the correction value of the teaching work point 12 in the force-controlled collision direction is determined, and any or all teaching work points corresponding to the robot arm are corrected according to the correction value. In this way, the current position information of the robot arm is obtained by force control, so as to effectively identify the position deviation of the robot arm.

[0052] Optionally, a target object with neat edges is placed in the force collision direction so that the force-controlled collision direction is perpendicular to the edge of the target object, and the position where the target object is placed is the calibration position. For example, the target object is placed between the workbench 13 and the actuator 11 of the robotic arm. If the force-controlled collision direction is the X-axis direction in the robotic arm base coordinate system, the actuator 11 of the robotic arm is controlled to move along the X-axis direction until the actuator 11 of the robotic arm collides with the edge of the target object, then the movement of the actuator 11 of the robotic arm is stopped, and the current position information of the robotic arm is obtained. According to the current position information of the robotic arm, the position information of the teaching work point 12, and the preset calibration distance threshold, the correction value of the teaching work point 12 in the force-controlled collision direction is determined, and any or all teaching work points corresponding to the robotic arm are corrected according to the correction value. In this way, the current position information of the robotic arm is obtained by force control, so as to effectively identify the position deviation of the robotic arm.

[0053] Preferably, the actuator 11 for controlling the mechanical arm to move toward the calibration position along a preset force collision direction comprises:

[0054] The actuator 11 of the robot arm is controlled to move to corresponding calibration positions along the directions of at least two coordinate axes of the robot arm base coordinate system.

[0055] Exemplarily, the preset force collision direction may include: directions corresponding to all coordinate axes in the base coordinate system of the manipulator, for example, the X-axis direction, the Y-axis direction, and the Z-axis direction. A corresponding calibration position is set for the direction of each coordinate axis, and the calibration position of each direction is calibrated with a corresponding preset calibration distance threshold. Optionally, when the position accuracy requirement for any direction in the X-axis direction, the Y-axis direction, and the Z-axis direction is not high, the direction may not be corrected, and only the other two directions may be corrected. For example, if the position accuracy requirement for the Z-axis direction is not high, the actuator 11 of the control manipulator is moved to the corresponding calibration position along the X-axis direction and the Y-axis direction respectively to correct the position deviation in the two directions of the X-axis and the Y-axis. Optionally, when the position accuracy requirement for each direction in the X-axis direction, the Y-axis direction, and the Z-axis direction is high, the actuator 11 of the control manipulator is moved to the corresponding calibration position along the X-axis direction, the Y-axis direction, and the Z-axis direction respectively to correct the position deviation in the three directions of the X-axis, the Y-axis, and the Z-axis. Furthermore, the X-axis direction includes: an X-axis positive direction and an X-axis negative direction; the Y-axis direction includes: a Y-axis positive direction and a Y-axis negative direction; and the Z-axis direction includes: a Z-axis positive direction and a Z-axis negative direction.

[0056] Specifically, taking the calibration position as the edge of the workbench 13 as an example, when the force collision direction is the X-axis direction, the actuator 11 of the robot arm is controlled to move along the X-axis direction until the actuator 11 of the robot arm collides with the calibration position 1 of the workbench 13, then the movement of the actuator 11 of the robot arm is stopped, and the current position information of the robot arm is obtained.

[0057] When the force collision direction is in the Y-axis direction, the actuator 11 of the robot arm is controlled to move along the Y-axis direction until the actuator 11 of the robot arm collides with the calibration position 2 of the workbench 13, then the movement of the actuator 11 of the robot arm is stopped and the current position information of the robot arm is obtained.

[0058] When the force collision direction is the Z-axis direction, the actuator 11 of the robot arm is controlled to move along the Z-axis direction until the actuator 11 of the robot arm collides with the calibration position 3 of the workbench 13, then the movement of the actuator 11 of the robot arm is stopped, and the current position information of the robot arm is obtained. In this way, the corresponding calibration position is set in each force collision direction, which can ensure the accuracy of the correction value calculation.

[0059] Further, when the actuator 11 controlling the robot arm moves toward the calibration position along the preset force collision direction, step S1210 includes: calculating the current position information of the robot arm and the position information of the teaching work point 12 to obtain the current distance information between the robot arm and the teaching work point in the preset force collision direction;

[0060] Step S1220 includes: calculating the current distance information and the preset calibration distance threshold to obtain a correction value of the teaching working point 12 in the preset force collision direction.

[0061] Specifically, the first coordinate value of the robot arm in the preset force collision direction is determined according to the current position information of the robot arm, and the second coordinate value of the teaching work point 12 in the preset force collision direction is determined according to the position information of the teaching work point 12. The first coordinate value is subtracted from the second coordinate value to obtain the current distance information in the preset force collision direction, so that the current distance information can represent the distance between the robot arm and the teaching work point 12 in the preset force collision direction, and then the preset calibration distance threshold is subtracted from the current distance information to obtain the correction value of the teaching work point in the preset force collision direction.

[0062] It should be noted that, since the preset force collision direction is consistent with the direction of any coordinate axis in the robot base coordinate system, the preset force collision direction can be the X-axis direction, Y-axis direction and Z-axis direction of the robot base coordinate system. Then, the actuator 11 of the robot can correct the position along a preset force collision direction or along multiple preset force collision directions. In the case where the actuator 11 of the robot needs to collide along multiple preset force collision directions to correct the teaching work point 12, it can be that after executing steps S110-S130 in the robot position correction method for one preset force collision direction, the steps S110-S130 in the robot position correction method are executed for another force collision direction. It can also be that step S110 is executed successively for multiple force collision directions, and then steps S120-S130 are executed simultaneously, which is not limited here.

[0063] In one embodiment, when the preset force collision direction includes directions corresponding to all coordinate axes in the robot base coordinate system, the correction value of the teaching work point 12 is determined according to the current position information of the robot, the position information of the teaching work point 12 and the preset calibration distance threshold, and step S120 includes:

[0064] The correction value corresponding to each coordinate axis direction is determined according to the preset calibration distance threshold corresponding to each coordinate axis direction, the current position information of the robot arm and the position information of the teaching work point 12 .

[0065] Specifically, the position information can be expressed by coordinates. Taking the calibration position as the edge of the workbench 13 as an example, when the force collision direction is the X-axis direction, the actuator 11 of the robot arm is controlled to move along the X-axis direction until the actuator 11 of the robot arm collides with the calibration position 1 of the workbench 13, then the movement of the actuator 11 of the robot arm is stopped, and the current position information of the robot arm is obtained. The current position information of the robot arm and the position information of the teaching work point 12 are calculated to obtain the current distance information, and the current distance information and the preset calibration distance threshold in the X-axis direction are calculated to obtain the correction value corresponding to the X-axis direction. Among them, the preset calibration distance threshold in the X-axis direction is determined by the actuator 11 of the robot arm colliding with the calibration position 1 along the X-axis direction after the teaching work point is determined. Then, according to the above method, the actuator 11 of the robot arm is controlled to move toward its corresponding calibration position along the Y-axis direction and the Z-axis direction respectively until a collision occurs, and the correction value corresponding to the Y-axis direction and the correction value corresponding to the Z-axis direction are calculated respectively. In this way, the correction value corresponding to each coordinate axis direction (that is, each preset force collision direction) is obtained.

[0066] In this embodiment, the position information can be expressed by coordinates. That is, if the force collision direction is the positive direction of the X-axis, the X-axis coordinate in the coordinates of the teaching work point 12 is subtracted from the X-axis coordinate in the current coordinates of the robot arm to obtain the current distance information. Then, the preset calibration distance threshold in the X-axis direction is subtracted from the current distance information to obtain the correction value in the X-axis direction.

[0067] If the force collision direction is the negative direction of the X-axis, the X-axis coordinate in the current coordinates of the robot arm is subtracted from the X-axis coordinate in the coordinates of the teaching work point 12 to obtain the current distance information. Then, the current distance information is subtracted from the preset calibration distance threshold in the X-axis direction to obtain the correction value in the X-axis direction.

[0068] When the force collision direction is in the Y-axis direction, the actuator 11 of the robot arm is controlled to move in the Y-axis direction until the actuator 11 of the robot arm collides with the calibration position 2 of the workbench 13, then the movement of the actuator 11 of the robot arm is stopped, and the current position information of the robot arm is obtained. The current position information of the robot arm and the position information of the teaching work point 12 are calculated to obtain the current distance information, and the current distance information and the preset calibration distance threshold in the Y-axis direction are calculated to obtain the correction value corresponding to the Y-axis direction. Among them, the preset calibration distance threshold in the Y-axis direction is determined by the actuator 11 of the robot arm colliding with the calibration position 2 in the Y-axis direction after the teaching work point is determined.

[0069] In this embodiment, if the force collision direction is the positive direction of the Y axis, the Y axis coordinate in the coordinates of the teaching work point 12 is subtracted from the Y axis coordinate in the current coordinates of the robot arm to obtain the current distance information. Then, the preset calibration distance threshold in the Y axis direction is subtracted from the current distance information to obtain the correction value in the Y axis direction.

[0070] If the force collision direction is the negative direction of the Y axis, the Y axis coordinate in the current coordinate of the robot arm is subtracted from the Y axis coordinate in the coordinate of the teaching work point 12 to obtain the current distance information. Then, the current distance information is subtracted from the preset calibration distance threshold in the Y axis direction to obtain the correction value in the Y axis direction.

[0071] When the force collision direction is in the Z-axis direction, the actuator 11 of the robot arm is controlled to move in the Z-axis direction until the actuator 11 of the robot arm collides with the calibration position 3 of the workbench 13, then the movement of the actuator 11 of the robot arm is stopped, and the current position information of the robot arm is obtained. The current position information of the robot arm and the position information of the teaching work point 12 are calculated to obtain the current distance information, and the current distance information and the preset calibration distance threshold in the Z-axis direction are calculated to obtain the correction value corresponding to the Z-axis direction. Among them, the preset calibration distance threshold in the Z-axis direction is determined by the actuator 11 of the robot arm colliding with the calibration position 3 in the Z-axis direction after the teaching work point is determined.

[0072] In this embodiment, if the force collision direction is the positive direction of the Z axis, the Z axis coordinate in the coordinates of the teaching work point 12 is subtracted from the Z axis coordinate in the current coordinates of the robot arm to obtain the current distance information. Then, the preset calibration distance threshold in the Z axis direction is subtracted from the current distance information to obtain the correction value in the Z axis direction.

[0073] If the force collision direction is the negative direction of the Z axis, the Z axis coordinate in the current coordinate of the robot arm is subtracted from the Z axis coordinate in the coordinate of the teaching work point 12 to obtain the current distance information. Then, the current distance information is subtracted from the preset calibration distance threshold in the Z axis direction to obtain the correction value in the Z axis direction.

[0074] Further, the current position information of the robot arm and the position information of the teaching work point 12 are calculated to obtain the current distance information between the robot arm and the teaching work point 12 in the preset force collision direction, including:

[0075] Using the direction coefficient, the difference between the current position information of the robot arm and the position information of the teaching work point 12 in the preset force collision direction is calculated to obtain the current distance information between the robot arm and the teaching work point in the preset force collision direction; wherein the direction coefficient represents the positive direction or negative direction of the preset force collision direction in the robot arm base coordinate system.

[0076] Exemplarily, the direction coefficient only indicates the positive or negative direction of the preset force collision direction, without changing the specific numerical value of the difference between the current position information of the robot arm and the position information of the teaching work point 12 in the preset force collision direction. Therefore, the direction coefficient is represented by 1 and -1, 1 represents the negative direction of the preset force collision direction, and -1 represents the positive direction of the preset force collision direction.

[0077] The current distance information in the preset force collision direction is as follows:

[0078] L=α(m-m1)

[0079] Among them, m represents the current coordinate value of the current position information of the robot arm in the preset force collision direction, m1 represents the coordinate value of the position information of the teaching work point 12 in the preset force collision direction, α represents the direction coefficient, and L represents the current distance information in the preset force collision direction.

[0080] The correction value Δ in the preset force collision direction is α(L-L0), wherein L0 represents the preset calibration distance threshold corresponding to the preset force collision direction.

[0081] For example, taking the force collision direction as the X-axis direction of the robot base coordinate system, the preset calibration distance threshold of the X-axis direction is 90mm. After the collision stops, the current robot coordinates [x, y, z, Rx, Ry, Rz] are obtained and compared with the coordinates of the teaching work point 12 [x1, y1, z1, Rx1, Ry1, Rz1]. If the force-controlled collision direction is the positive direction of the X-axis, the difference x1-x in the X-axis direction (that is, the current distance information, at this time α is -1) is calculated. If the difference distance is not 90mm, the difference and the preset calibration distance threshold of 90mm are recorded as Δx=90-(x1-x), that is, the correction value in the positive direction of the X-axis is obtained; if the force-controlled collision direction is the negative direction of the X-axis, the difference x-x1 in the force-controlled collision direction is calculated (at this time α is 1), and the difference is subtracted from the preset calibration distance threshold Δx=(x-x1)-90, that is, the correction value in the negative direction of the X-axis is obtained.

[0082] Further, the position information of any teaching working point 12 corresponding to the robot arm is corrected according to the correction value, step S130 includes:

[0083] The coordinate value of any teaching working point on the corresponding coordinate axis is corrected by using the correction value corresponding to each coordinate axis direction to obtain the corrected position information of any teaching working point.

[0084] Specifically, after respectively determining the correction value in the X-axis direction, the correction value in the Y-axis direction, and the correction value in the Z-axis direction, the correction value in the X-axis direction is added to the X-axis coordinate in the coordinates of the working point corresponding to the robot arm to obtain the corrected X-axis coordinate; the correction value in the Y-axis direction is added to the Y-axis coordinate in the coordinates of the working point corresponding to the robot arm to obtain the corrected Y-axis coordinate; the correction value in the Z-axis direction is added to the Z-axis coordinate in the coordinates of the working point corresponding to the robot arm to obtain the corrected Z-axis coordinate. In this way, the corrected working point position information is obtained according to the corrected X-axis coordinate, the corrected Y-axis coordinate, and the corrected Z-axis coordinate. In this way, the position information of all working points corresponding to the robot arm can be corrected, thereby improving the stability of the robot arm.

[0085] For example, taking the force collision direction as the X-axis direction, the preset calibration distance threshold of the X-axis direction is 90mm. After the collision stops, obtain the current robot arm coordinates [x, y, z, Rx, Ry, Rz] and the coordinates of the teaching work point 12 [x1, y1, z1, Rx1, Ry1, Rz1] for comparison. If the force-controlled collision direction is the positive direction of the X-axis, calculate the difference x1-x in the X-axis direction. If the difference distance is not 90mm, the difference between the difference and the standard value of 90mm is recorded as Δx=90-(x1-x); if the force-controlled collision direction is the negative direction of the X-axis, calculate the difference x-x1 in the force-controlled collision direction, and subtract the difference from the standard value as Δx=(x-x1)-90. Then, when the robot arm is about to move the object to the working point on the workbench 13, the correction value Δx is added to the corresponding coordinates in the working point to obtain the modified position information of the working point [x1+Δx, y1, z1, Rx1, Ry1, Rz1]. It can be understood that, when the correction value Δx in the X-axis direction, the correction value Δy in the Y-axis direction and the correction value Δz in the Z-axis direction are determined, the correction values ​​are added to the corresponding coordinates in the working point respectively to obtain the modified position information of the working point [x1+Δx, y1+Δy, z1+Δz, Rx1, Ry1, Rz1]. In this way, the number of manual repeated teaching is reduced, and automatic correction can be performed without stopping the machine, without waiting for an abnormality to occur and then manually re-teaching or regular manual teaching.

[0086] In one embodiment, the actuator 11 of the robot arm is controlled to move toward the calibration position along a preset force collision direction, including:

[0087] Determine the moving speed of the actuator 11 of the robotic arm by using the distance between the actuator 11 of the robotic arm and the calibration position;

[0088] The actuator 11 of the robot arm is controlled to move toward the calibration position along the preset force collision direction at the moving speed.

[0089] Exemplarily, the distance between the actuator 11 of the robot arm and the calibration position is determined based on the position sensor on the robot arm. Specifically, the position information of the calibration position is pre-stored, and the actuator 11 of the robot arm uses the position sensor to determine the position of the actuator 11 of the robot arm in real time during the movement. The distance between the actuator 11 of the robot arm and the calibration position is determined based on the position of the actuator 11 of the robot arm and the pre-stored position information of the calibration position. Optionally, a distance sensor (such as a laser sensor, an infrared light sensor, etc.) can be installed on the robot arm or the calibration position to collect the distance between the actuator 11 of the robot arm and the calibration position.

[0090] Specifically, the correspondence between the distance between the actuator 11 of the robot and the calibration position and the moving speed can be pre-set. For example, in the above correspondence, as the distance between the actuator 11 of the robot and the calibration position decreases, the moving speed decreases accordingly. In this way, after determining the distance between the actuator 11 of the robot and the calibration position, the corresponding moving speed can be determined according to the above correspondence. Thus, according to the distance between the actuator 11 of the robot and the calibration position, the actuator 11 of the robot is controlled to move toward the calibration position along the preset force collision direction at a moving speed. For example, when the distance between the two is large, the robot can be driven to move at a larger moving speed to improve the movement efficiency; when the distance between the two is small, the robot can be driven to move at a smaller moving speed (such as not more than 2mm / s) to avoid the actuator 11 of the robot colliding with the calibration position when the speed is too large, causing damage to the robot.

[0091] Specifically, a target distance threshold may be pre-set, and the distance between the actuator 11 of the robot and the calibration position may be determined according to the position of the actuator 11 of the robot and the position information of the pre-stored calibration position. When the distance between the actuator 11 of the robot and the calibration position is less than the target distance threshold, the moving speed may be reduced to the minimum speed, and the robot may move toward the calibration position along the preset force collision direction at the minimum speed. The minimum speed may be set to 2 mm / s, and may also be set according to actual conditions, which is not limited here. This can prevent the robot from moving too fast and causing damage to the robot during a collision.

[0092] In one embodiment, the method for determining whether the actuator 11 of the robot arm collides with the calibration position includes:

[0093] Obtaining a force feedback value of a force sensor on the robotic arm in the preset force collision direction;

[0094] When the force feedback value reaches a preset threshold, it is determined that the actuator 11 of the robot arm collides with the calibration position.

[0095] Specifically, the preset threshold value can be set according to the actual situation and is not limited here. A force sensor can be set on the robot arm. When the actuator 11 of the robot arm moves toward the calibration position (such as the edge of the workbench 13) along the force collision direction, the force sensor is used to detect the force feedback value in the force collision direction in real time. When the force feedback reaches the preset threshold value (such as 2-3N), it means that the actuator 11 of the robot arm collides with the calibration position, and the robot arm stops moving. This avoids damage to the robot arm caused by the collision.

[0096] Exemplary Devices

[0097] Accordingly, Figure 5 A schematic diagram of a position correction device for a robot arm according to an embodiment of the present application. In an exemplary embodiment, a position correction device for a robot arm is provided, comprising:

[0098] The acquisition module 510 is used to acquire the current position information of the robotic arm when the actuator controlling the robotic arm collides with the calibration position; wherein the relative position between the calibration position and the teaching working point remains unchanged; and the teaching working point is the working point determined by position teaching of the robotic arm;

[0099] A processing module 520, configured to determine a correction value of the teaching working point according to the current position information of the robot arm, the position information of the teaching working point and a preset calibration distance threshold; wherein the preset calibration distance threshold is determined according to the calibration position and the position information of the teaching working point;

[0100] The correction module 530 is used to correct the position information of any teaching working point corresponding to the robot arm according to the correction value.

[0101] In one embodiment, the execution device of the control robot arm collides with the calibration position, including:

[0102] Control the actuator of the robotic arm to move along a preset force collision direction toward a calibration position; wherein the preset force collision direction is parallel to the direction of any coordinate axis in the robotic arm base coordinate system; the calibration position is in the preset force collision direction; and determine that the actuator of the robotic arm collides with the calibration position.

[0103] In one embodiment, the actuator for controlling the mechanical arm to move toward the calibration position along a preset force collision direction includes:

[0104] Determine the moving speed of the actuator of the robotic arm by using the distance between the actuator of the robotic arm and the calibration position;

[0105] The actuator of the robot arm is controlled to move toward the calibration position along the preset force collision direction at the moving speed.

[0106] In one embodiment, the method for determining that the actuator of the robot arm collides with the calibration position includes:

[0107] Obtaining a force feedback value of a force sensor on the robotic arm in the preset force collision direction;

[0108] When the force feedback value reaches a preset threshold, it is determined that the execution device of the robot arm collides with the calibration position.

[0109] In one embodiment, the plane where the calibration position is located is perpendicular to the preset force collision direction.

[0110] In one embodiment, the actuator for controlling the mechanical arm to move toward the calibration position along a preset force collision direction includes:

[0111] The execution device of the robot arm is controlled to move to corresponding calibration positions respectively along the directions of at least two coordinate axes of the robot arm base coordinate system.

[0112] In one implementation, when the preset force collision direction includes: directions corresponding to all coordinate axes in the robot base coordinate system, the processing module 520 is further configured to:

[0113] Determine the correction value corresponding to each coordinate axis direction according to the preset calibration distance threshold corresponding to each coordinate axis direction, the current position information of the robot arm and the position information of the teaching work point;

[0114] The correction module 530 is further used to correct the coordinate value of any teaching working point on the corresponding coordinate axis using the correction value corresponding to each coordinate axis direction, so as to obtain the corrected position information of any teaching working point.

[0115] In one implementation, the processing module 520 is further configured to:

[0116] Calculating the current position information of the robot arm and the position information of the teaching work point to obtain current distance information;

[0117] The current distance information and the preset calibration distance threshold are calculated to obtain a correction value of the teaching working point.

[0118] In one embodiment, when the actuator controlling the robot arm moves toward the calibration position along the preset force collision direction, the current position information of the robot arm and the position information of the teaching working point are calculated to obtain the current distance information, including:

[0119] Calculating the current position information of the robot arm and the position information of the teaching working point to obtain the current distance information between the robot arm and the teaching working point in the preset force collision direction;

[0120] The calculating the current distance information and the preset calibration distance threshold to obtain the correction value of the teaching working point includes:

[0121] The current distance information and the preset calibration distance threshold are calculated to obtain a correction value of the teaching working point in the preset force collision direction.

[0122] In one embodiment, the current distance information L in the preset force collision direction is L=α(m-m1), wherein α represents a direction coefficient, and the direction coefficient represents the positive direction or negative direction of the preset force collision direction in the robot base coordinate system; m represents the current coordinate value of the current position information of the robot in the preset force collision direction; m1 represents the coordinate value of the position information of the teaching work point in the preset force collision direction;

[0123] The correction value Δ in the preset force collision direction is α(L-L0), wherein L0 represents the preset calibration distance threshold corresponding to the preset force collision direction.

[0124] In one implementation, the processing module 520 is further configured to:

[0125] Calculating the current position information of the robotic arm and the preset calibration distance threshold to obtain the position information of the predicted working point;

[0126] The position information of the predicted working point and the position information of the teaching working point are calculated to obtain a correction value of the teaching working point.

[0127] In one embodiment, the execution device of the control robot arm collides with the calibration position, including:

[0128] When the execution device of the robot arm meets the preset correction condition, the execution device of the robot arm is controlled to collide with the calibration position.

[0129] The position correction device of the mechanical arm provided in this embodiment belongs to the same application concept as the position correction method of the mechanical arm provided in the above embodiments of this application, and can execute the position correction method of the mechanical arm provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of executing the position correction method of the mechanical arm. For the technical details not described in detail in this embodiment, please refer to the specific processing content of the position correction method of the mechanical arm provided in the above embodiments of this application, which will not be repeated here.

[0130] Exemplary Electronic Devices

[0131] Another embodiment of the present application also provides an electronic device, see Figure 6 As shown, the device includes:

[0132] Memory 600 and processor 610;

[0133] The memory 600 is connected to the processor 610 and is used to store programs;

[0134] The processor 610 is used to implement the position correction method of the robot arm disclosed in any of the above embodiments by running the program stored in the memory 600.

[0135] Specifically, the electronic device may further include: a bus, a communication interface 620 , an input device 630 and an output device 640 .

[0136] The processor 610, the memory 600, the communication interface 620, the input device 630 and the output device 640 are connected to each other via a bus.

[0137] A bus may include a pathway that transfers information between components of a computer system.

[0138] The processor 610 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the scheme of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0139] The processor 610 may include a main processor, and may also include a baseband chip, a modem, and the like.

[0140] The memory 600 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes a computer operation instruction. More specifically, the memory 600 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.

[0141] The input device 630 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0142] Output device 640 may include a device that allows information to be output to a user, such as a display screen, printer, speaker, etc.

[0143] The communication interface 620 may include any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.

[0144] The processor 610 executes the program stored in the memory 600 and calls other devices, which can be used to implement each step of any one of the robot arm position correction methods provided in the above embodiments of the present application.

[0145] Exemplary computer program products and storage media

[0146] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method for correcting the position of the robotic arm according to various embodiments of the present application described in the above-mentioned "Exemplary Method" section of this specification.

[0147] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0148] In addition, an embodiment of the present application may also be a storage medium on which a computer program is stored, and the computer program is executed by a processor to execute the steps of the position correction method of the robotic arm according to various embodiments of the present application described in the above "Exemplary Method" section of this specification. The specific working content of the above-mentioned electronic device, as well as the specific working content of the above-mentioned computer program product and the computer program on the storage medium when being executed by the processor, can all be referred to the contents of the above-mentioned method embodiment, and will not be repeated here.

[0149] For the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0150] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0151] The steps in the methods of each embodiment of the present application can be adjusted in order, combined and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0152] The modules and sub-modules in the devices and terminals of the various embodiments of the present application can be combined, divided and deleted according to actual needs.

[0153] In the several embodiments provided in the present application, it should be understood that the disclosed terminals, devices and methods can be implemented in other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or submodules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0154] The modules or submodules described as separate components may or may not be physically separated, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place, or they may be distributed on multiple network modules or submodules. Some or all of the modules or submodules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0155] In addition, each functional module or submodule in each embodiment of the present application may be integrated into one processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into one module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or in the form of software functional modules or submodules.

[0156] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0157] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly by hardware, software units executed by a processor, or a combination of the two. The software units may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0158] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0159] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be 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 the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for correcting the position of a robot arm, characterized in that: include: When the actuator controlling the robot arm collides with the calibration position, the current position information of the robot arm is obtained; wherein the relative position between the calibration position and the teaching working point remains unchanged; the teaching working point is the working point determined by position teaching of the robot arm; Determine a correction value of the teaching working point according to the current position information of the robot arm, the position information of the teaching working point and a preset calibration distance threshold; wherein the preset calibration distance threshold is determined according to the calibration position and the position information of the teaching working point; The position information of any teaching working point corresponding to the robot arm is corrected according to the correction value.

2. The method according to claim 1, characterized in that: The controlling device of the robot arm collides with the calibration position, comprising: Controlling the actuator of the robot arm to move along a preset force collision direction toward a calibration position; wherein the preset force collision direction is parallel to the direction of any coordinate axis in the robot arm base coordinate system; and the calibration position is in the preset force collision direction; It is determined that an execution device of the robot arm collides with the calibration position.

3. The method according to claim 2, characterized in that The actuator for controlling the mechanical arm to move toward the calibration position along a preset force collision direction includes: Determine the moving speed of the actuator of the robotic arm by using the distance between the actuator of the robotic arm and the calibration position; The actuator of the robot arm is controlled to move toward the calibration position along a preset force collision direction at the moving speed.

4. The method according to claim 2, characterized in that: The step of determining that the execution device of the robot arm collides with the calibration position includes: Obtaining a force feedback value of a force sensor on the robotic arm in the preset force collision direction; When the force feedback value reaches a preset threshold, it is determined that the execution device of the robot arm collides with the calibration position.

5. The method according to claim 2, characterized in that: The plane where the calibration position is located is perpendicular to the preset force collision direction.

6. The method according to claim 2, characterized in that The actuator for controlling the mechanical arm to move toward the calibration position along a preset force collision direction includes: The execution device of the robot arm is controlled to move to corresponding calibration positions respectively along the directions of at least two coordinate axes of the robot arm base coordinate system.

7. The method according to claim 6, characterized in that In the case where the preset force collision direction includes directions corresponding to all coordinate axes in the robot base coordinate system, determining the correction value of the teaching work point according to the current position information of the robot, the position information of the teaching work point and the preset calibration distance threshold includes: Determine the correction value corresponding to each coordinate axis direction according to the preset calibration distance threshold corresponding to each coordinate axis direction, the current position information of the robot arm and the position information of the teaching work point; The step of correcting the position information of any teaching working point corresponding to the robot arm according to the correction value comprises: The coordinate value of any teaching working point on the corresponding coordinate axis is corrected by using the correction value corresponding to each coordinate axis direction to obtain the corrected position information of any teaching working point.

8. The method according to any one of claims 1 to 7, characterized in that The step of determining the correction value of the teaching working point according to the current position information of the robot arm, the position information of the teaching working point and a preset calibration distance threshold comprises: Calculating the current position information of the robot arm and the position information of the teaching work point to obtain current distance information; The current distance information and the preset calibration distance threshold are calculated to obtain a correction value of the teaching working point.

9. The method according to claim 8, characterized in that When the actuator controlling the robot arm moves toward the calibration position along the preset force collision direction, the current position information of the robot arm and the position information of the teaching working point are calculated to obtain the current distance information, including: Calculating the current position information of the robot arm and the position information of the teaching working point to obtain the current distance information between the robot arm and the teaching working point in the preset force collision direction; The calculating the current distance information and the preset calibration distance threshold to obtain the correction value of the teaching working point includes: The current distance information and the preset calibration distance threshold are calculated to obtain a correction value of the teaching working point in the preset force collision direction.

10. The method according to claim 9, characterized in that The current distance information L in the preset force collision direction is L=α(m-m1), wherein α represents the direction coefficient, and the direction coefficient represents the positive direction or negative direction of the preset force collision direction in the robot base coordinate system; m represents the current coordinate value of the current position information of the robot in the preset force collision direction; m1 represents the coordinate value of the position information of the teaching work point in the preset force collision direction; The correction value Δ in the preset force collision direction is α(L-L0), wherein L0 represents the preset calibration distance threshold corresponding to the preset force collision direction.

11. The method according to any one of claims 1 to 7, characterized in that: The step of determining the correction value of the teaching working point according to the current position information of the robot arm, the position information of the teaching working point and a preset calibration distance threshold comprises: Calculating the current position information of the robot arm and the preset calibration distance threshold to obtain the position information of the predicted working point; The position information of the predicted working point and the position information of the teaching working point are calculated to obtain a correction value of the teaching working point.

12. The method according to any one of claims 1 to 7, characterized in that: The controlling device of the robot arm collides with the calibration position, comprising: When the execution device of the robot arm meets the preset correction condition, the execution device of the robot arm is controlled to collide with the calibration position.

13. A position correction device for a robot arm, characterized in that: include: An acquisition module, used for acquiring the current position information of the robotic arm when the actuator controlling the robotic arm collides with the calibration position; wherein the relative position between the calibration position and the teaching working point remains unchanged; and the teaching working point is a working point determined by position teaching of the robotic arm; A processing module, used to determine a correction value of the teaching working point according to the current position information of the robot arm, the position information of the teaching working point and a preset calibration distance threshold; wherein the preset calibration distance threshold is determined according to the calibration position and the position information of the teaching working point; The correction module is used to correct the position information of any teaching working point corresponding to the robot arm according to the correction value.

14. An electronic device, characterized in that: include: Memory and processor; The memory is connected to the processor and is used to store programs; The processor implements the position correction method of the robot arm as claimed in any one of claims 1 to 12 by running the program in the memory.

15. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the method for correcting the position of the robot arm as claimed in any one of claims 1 to 12 is implemented.

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