Method and system for calibrating robot offline program by using global optimization algorithm, computer program product and readable storage medium

Abstract

The invention discloses a method and a system for calibrating a robot offline program by using a global optimization algorithm, a computer program product and a readable storage medium. The method comprises the following steps: adjusting the position of each process point according to a theoretical reference coordinate system, a theoretical reference coordinate system deviation matrix, a tool coordinate system deviation matrix and a conversion matrix of each process point; optimizing the position of each adjusted process point by using a global optimization algorithm to obtain an optimal theoretical reference coordinate system deviation matrix and an optimal tool coordinate system deviation matrix; and calibrating the reference coordinate system and the tool coordinate system of the robot by using the optimal theoretical reference coordinate system deviation matrix and the tool coordinate system deviation matrix. According to the method, the reference coordinate systems and the tool coordinate systems of all the robots in the production line can be checked under the condition that the production line is not occupied, the precision of the process data points in the off-line program is improved, and the position deviation between all the process data points in the off-line program and the actual points is within a reasonable range.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot applications, and particularly relates to a method, a system, a computer program product, and a readable storage medium for calibrating an offline program of a robot by using a global optimization algorithm. Background Art

[0002] Robot offline programming is a technology for planning robot trajectories offline in a dedicated simulation software environment. It has high efficiency and can perform layout optimization, part interference checking, and shorten the on-site introduction time during the product design stage. However, due to the installation errors of robots and tooling equipment and machining errors, problems such as large deviations and interferences often occur after the offline program is imported into the on-site robot, and multiple corrections are required, resulting in an extended debugging cycle.

[0003] The existing method is to simultaneously measure 3 - 6 points with relatively high positioning accuracy in the real environment and the virtual environment, such as the positioning pins of the fixture, obtain the deviation between the welding torch tool coordinate system in the virtual environment and the coordinate system in the real environment, calculate the corresponding translation and rotation matrices, and then optimize and calibrate the tool coordinate system of the robot in the virtual environment.

[0004] The above technical solutions have the following several disadvantages:

[0005] ① When calibrating each robot, it is necessary to go to the site for actual dotting confirmation before calibration, which takes up a lot of production time and has a low confirmation efficiency.

[0006] ② Each robot only uses 3 - 6 points for calibration, and it is difficult to ensure the stability and reliability of the robot accuracy results outside the range of these points.

[0007] ③ Only the tool coordinate system of the robot is calibrated, and the theoretical reference coordinate system of the robot is not calibrated. Summary of the Invention

[0008] A method for calibrating an offline program of a robot by using a global optimization algorithm to achieve one of the purposes of the present invention includes:

[0009] Adjust the position of each process point according to the theoretical reference coordinate system, the theoretical reference coordinate system deviation matrix, the tool coordinate system deviation matrix, and the transformation matrix of each process point to obtain the adjusted position of each process point;

[0010] Use the global optimization algorithm to optimize the adjusted position of each process point to obtain the optimal theoretical reference coordinate system deviation matrix and tool coordinate system deviation matrix;

[0011] Calibrate the reference coordinate system and the tool coordinate system of the robot by using the optimal theoretical reference coordinate system deviation matrix and the tool coordinate system deviation matrix.

[0012] Furthermore, the method for obtaining the optimal theoretical reference coordinate system deviation matrix and the tool coordinate system deviation matrix includes:

[0013] Calculate the loss function based on the error between the position of each adjusted process point and the theoretical position of each process point;

[0014] Continuously adjust the theoretical reference coordinate system deviation matrix and the tool coordinate system deviation matrix by using the global optimization algorithm; until both the theoretical reference coordinate system deviation matrix and the tool coordinate system deviation matrix are within the set range, and the minimum value of the loss function is less than the set target value.

[0015] Furthermore, the set range is 0±(x,y,z,α,β,γ), where x, y, z represent the translational deviation in space, and α, β, γ represent the rotational deviation in space. The preferred values of x, y, z are 500mm, the preferred values of α, β are 1°; the preferred value of γ is 5°.

[0016] Furthermore, the global optimization algorithm is the jumping basin algorithm, and the non-linear optimizer in the jumping basin algorithm is the sequential least squares method.

[0017] Furthermore, the calculation method for obtaining the position of each adjusted process point includes:

[0018] P i =P Base ×δ Base ×T i ×δ Tool

[0019] In the formula:

[0020] P i : The position of the i-th adjusted process point;

[0021] P Base : The theoretical reference coordinate system of the robot;

[0022] δ Base : The theoretical reference coordinate system deviation matrix of the robot;

[0023] T i : The transformation matrix of the i-th process point;

[0024] δ Tool : The tool coordinate system deviation matrix.

[0025] Furthermore, the calculation method for the loss function includes:

[0026] Convert the position of each adjusted process point into the Euler coordinate system;

[0027] Calculate the square value of the distance between the position of each adjusted process point and the theoretical position in the Euler coordinate system; The calculation method includes:

[0028] δ i =(x i -x i' ) 2 +(y i -y i' ) 2 +(z i -z i' ) 2

[0029] In the formula:

[0030] δ i represents the square value of the distance between the position of the i-th process point and the theoretical position;

[0031] (x i ,y i ,z i ) is the position of the i-th process point; (x i’ ,y i’ ,z i’ ) is the theoretical position of the i-th process point;

[0032] Calculate the loss function according to the square value of the distance, and the calculation method includes:

[0033]

[0034] In the formula, n represents the number of process points.

[0035] Further, before adjusting the position of each process point, it also includes initializing the theoretical reference coordinate system deviation matrix and the tool coordinate system deviation matrix as standard matrices.

[0036] Further, for the convenience of calculation, when calculating the position of the adjusted process point, it also includes converting the Euler angle coordinates in the robot theoretical reference coordinate system P Base into a third-order matrix form, and after supplementing the position coordinates, converting it into a fourth-order homogeneous matrix.

[0037] A system for calibrating a robot offline program using the global optimization algorithm according to the method for calibrating a robot offline program using the global optimization algorithm to achieve the second object of the present invention, characterized in that it includes:

[0038] Process point position calculation module: used to adjust the position of each process point according to the theoretical reference coordinate system, the deviation matrix of the theoretical reference coordinate system, the deviation matrix of the tool coordinate system, and the transformation matrix of each process point, and obtain the adjusted position of each process point;

[0039] Optimal deviation matrix calculation module: used to optimize the position of each adjusted process point by using a global optimization algorithm, and obtain the optimal deviation matrix of the theoretical reference coordinate system and the deviation matrix of the tool coordinate system;

[0040] Calibration module: used to calibrate the robot's theoretical reference coordinate system and tool coordinate system by using the optimal deviation matrix of the robot's theoretical reference coordinate system and the deviation matrix of the tool coordinate system.

[0041] Furthermore, the optimal deviation matrix calculation module includes:

[0042] Loss function calculation module: used to calculate the loss function according to the error between the position of each adjusted process point and the theoretical position of each process point;

[0043] Iterative calculation module: used to continuously adjust the deviation matrix of the theoretical reference coordinate system and the deviation matrix of the tool coordinate system by using a global optimization algorithm; until both the deviation matrix of the theoretical reference coordinate system and the deviation matrix of the tool coordinate system are within the set range, and the minimum value of the loss function is less than the set target value.

[0044] Furthermore, the system further includes an initialization module, used to initialize the deviation matrix of the theoretical reference coordinate system and the deviation matrix of the tool coordinate system as a standard matrix before adjusting the position of each process point, and the standard matrix can be an identity matrix.

[0045] A computer program product for achieving the third object of the present invention includes a computer program / instructions, and when the computer program / instructions are executed by a processor, any step of the method for calibrating a robot offline program by using a global optimization algorithm as claimed in the claims is implemented.

[0046] A non-transitory computer-readable storage medium for achieving the fourth object of the present invention, on which a computer program is stored, and when the computer program is executed by a processor, any step of the method for calibrating a robot offline program by using a global optimization algorithm is implemented.

[0047] The beneficial effects of the present invention include:

[0048] The present invention utilizes a global optimization algorithm to achieve the optimization and calibration of the reference coordinate system and tool coordinate system of a robot, thereby calibrating the reference coordinate system and tool coordinate system of all robots on the production line without occupying the production line, and further improving the accuracy of the process data points in the offline program, so that the position deviation between all process data points in the offline program and the actual points is within a reasonable range. Description of the Drawings

[0049] Figure 1 , Process for calibrating the theoretical reference coordinate system and tool coordinate system of a robot using a robot;

[0050] Figure 2 , Process for obtaining the theoretical reference coordinate system of a robot and the robot tool transformation matrix through a robot program;

[0051] Figure 3 , Process for obtaining the optimal reference coordinate system deviation matrix and tool coordinate system deviation matrix of a robot using a global optimization algorithm;

[0052] Figure 4 , Structural schematic diagram of a computer device provided by an embodiment of the present application. Detailed Embodiments

[0053] The following detailed embodiments are used to explain the technical solutions of the claims of the present invention, so that those skilled in the art can understand the claims. The protection scope of the present invention is not limited to the following specific implementation structures. Those made by those skilled in the art that include the technical solutions of the claims of the present invention and are different from the following detailed embodiments are also within the protection scope of the present invention.

[0054] In a first aspect, the present invention provides a method for calibrating a robot offline program using a global optimization algorithm, and the specific steps are as Figure 1 shown:

[0055] Step S101: Obtain the transformation matrix T corresponding to all process points of a certain robot on a certain production line and the theoretical reference coordinate system P of the robot Base ;

[0056] The theoretical reference coordinate system P of the robot Base is used to describe the position and attitude relationships of various parts of the robot and the objects in the surrounding environment of the robot, such as the earth coordinate system;

[0057] During the working process of the robot, multiple coordinate systems are often involved. The transformation matrix T is used to convert the coordinate points in the tool coordinate system to the coordinate points in the theoretical reference coordinate system P Base ; combined with the theoretical reference coordinate system P BaseConvert to the coordinate values in the body coordinate system. The tool coordinate system is a coordinate system established on the end effector (tool) of the robot and is used to describe the position and orientation of the tool in space. It takes a specific point or feature of the tool as the origin, and the directions of the coordinate axes are determined according to the structure and working requirements of the tool.

[0058] In one embodiment, according to the production line plan or by referring to information such as drawings, it can be known that the theoretical reference coordinate system P of a certain robot Base is as follows:

[0059] P Base =(700, 2500, 250, 0, 0, -90°).

[0060] In one embodiment, by reading the robot program, it can be known that a certain robot has a total of 53 process points, and the transformation matrices T corresponding to the 53 process points of the robot are obtained from the robot program 1 ~T 53 . For example, the transformation matrix T of the first process point among them 1 can be:

[0061]

[0062] Optionally, Figure 2 a process is provided to facilitate subsequent calculations and convert the theoretical reference coordinate system of the robot from the Euler coordinate system to the fourth-order homogeneous matrix form.

[0063] Step S201: Obtain the theoretical reference coordinate system P of a certain robot by referring to information such as drawings Base .

[0064] Step S202: Convert the Euler angle coordinates in the theoretical reference coordinate system P of the robot Base to the third-order matrix form, and after supplementing the position coordinates, convert it to the fourth-order homogeneous matrix.

[0065] For example, in one embodiment, the theoretical reference coordinate system P of the robot Base =(700, 2500, 250, 0, 0, -90°) after conversion, the theoretical reference coordinate system P of the robot Base can be:

[0066]

[0067] Step S102: Set the deviation matrix δ of the initial reference coordinate system of the robot Base and the deviation matrix δ of the initial tool coordinate system ToolThe range is 0±(x, y, z, α, β, γ), where x, y, z represent the translational deviation in space, and α, β, γ represent the rotational deviation in space. Calculate the positions of all process points at this time.

[0068] In one embodiment, x, y, z can take 500 mm, α, β can take 1°, and γ can take 5°.

[0069] In one embodiment, the deviation matrix δ of the reference coordinate system Base and the deviation matrix δ of the tool coordinate system Tool can be set as the identity matrix. At this time, the position of the adjusted process point P i can be expressed as:

[0070] P i = P Base ×δ Base ×T i ×δ Tool

[0071] In the above formula, through the calculation of (T i ×δ Tool ), the process point is transferred from the tool coordinate system (i.e., the robot process coordinate system) to the theoretical reference coordinate system P Base , and then through the calculation of (P Base ×δ Base ), it is converted to the body coordinate system. Finally, the positions of all process points adjusted by the deviation matrix δ of the reference coordinate system Base and the deviation matrix δ of the tool coordinate system Tool are calculated.

[0072] Step S103: Iteratively calculate δ using the standard global optimization algorithm Base When the loss function δ is at its minimum within the range of 0±(x, y, z, α, β, γ) and δ Tool is within the range of 0±(x, y, z, α, β, γ) and δ ≤ the target value, record the deviation matrices δ Base and δ Tool . The target value is determined by the minimum value of the theoretical spacing of the process points and is used to ensure that there is only one corresponding process point for the corrected process point coordinates in the real environment. Its preferred range is 0 mm to 20 mm.

[0073] Optionally, Figure 3 A process for obtaining the optimal deviation matrix δ of the robot reference coordinate system Base and the deviation matrix δ of the tool coordinate system Tool using the global optimization algorithm is provided in an embodiment

[0074] Step S301: Define the error function δ of the process point position deviation.

[0075] In one embodiment, the positional deviation of all process points can be calculated using the arithmetic mean square deviation.

[0076] Step S302: Calculate the error function δ between the calibrated process point position and the theoretical position

[0077] In one embodiment, the adjusted process point P i can be expressed as:

[0078] P i = P Base × δ Base × T i × δ Tool

[0079] Convert the coordinate P i to the Euler coordinate system, and at this time, we have:

[0080] P i = (x1, y1, z1)

[0081] The theoretical position of the process point corresponding to the vehicle body process point is:

[0082] P i理论 = (x2, y2, z2)

[0083] For example, in one implementation, the position of a certain process point after calculation and conversion to the Euler coordinate system is:

[0084] P 1 = (751.626, 721.993, 167.897)

[0085] For example, in one implementation, the theoretical position corresponding to a certain process point is:

[0086] P 1理论 = (746.500, 722.000, 168.874)

[0087] Then the positional deviation of this process point at this time can be described by the following formula:

[0088] δ 1 = (x1 - x2) 2 + (y1 - y2) 2 + (z1 - z2) 2 = 27.229

[0089] Calculate the positions of all process points of a certain robot in sequence, and obtain the theoretical positions corresponding to the process points. Denote the number of all process points of this robot as n, then the matching error (i.e., the error function or loss function) of this robot can be described as:

[0090]

[0091] Step S303: Continuously adjust the deviation matrix δ of the reference coordinate system by using the error function δ and the optimizer Base and the deviation matrix δ of the tool coordinate system Tool until δ Base is found within the range of 0±(x,y,z,α,β,γ) and δ Tool reaches the minimum value of the loss function within the range of 0±(x,y,z,α,β,γ).

[0092] In one embodiment, the global optimization algorithm used can be the jumping basin algorithm.

[0093] In one embodiment, the non-linear optimizer in the jumping basin algorithm can be the sequential least squares method, which can be called after importing the scipy.optimize library through python.

[0094] Step S304: Record the deviation matrices δ Base and δ Tool .

[0095] After Figure 3 going through the process shown, the deviation matrix δ of the reference coordinate system Base and the deviation matrix δ of the tool coordinate system Tool when the loss function δ reaches the minimum value and δ≤the target value can be obtained.

[0096] Step S104: Calibrate the theoretical reference coordinate system P Base of the robot and the tool coordinate system T Tool by using the deviation matrices δ Base and δ Tool .

[0097] According to the offline program calibration method of the present invention, the reference coordinate systems and tool coordinate systems of all robots on the production line can be calibrated without occupying the production line, thereby improving the accuracy of the offline program.

[0098] For example, in one embodiment, a total of 53 process points of 2 vehicle models are welded in a robot program. The theoretical reference coordinate system P Base of the robot = (700,2500,250,0,0,-90°), and the theoretical tool coordinate system T Tool of the robot = (945,0,289,-90°,0°,180°). After the above steps of adjustment and optimization, the theoretical reference coordinate system P' Base = (708.4639,2500.9745,254.2314,0.0103°,0.2630°,-90.4461°), and the adjusted and optimized tool coordinate system T' Tool= (-942.344, -0.7491, 287.428, -90°, 0°, 180°). The position error function δ = 3.81 mm of the process points calculated using the optimized robot theoretical reference coordinate system and tool coordinate system. After importing the optimized offline program to the site, the actual deviation of the process point position ≤ 3 mm.

[0099] It should be noted that when calibrating and optimizing the tool coordinate system and reference coordinate system using the Figure 1 shown process, it is not limited that the error function must adopt the root mean square. When using other error functions and corresponding target values, if the deviation amount of the process point position reflected by them is within the range of 0 mm to 20 mm when calculating with the root mean square as the error function, it should also be regarded as the protected content of this patent.

[0100] It should be understood that the above detailed description is only exemplary and explanatory. The selection of the error function and the global optimization algorithm cannot limit this application.

[0101] It should be understood that although Figures 1 to 3 the steps in the flowchart are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figures 1 to 3 at least a part of the steps in

[0102] can include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same moment, but can be executed at different moments. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of the steps or stages in other steps or other steps.

[0103] Second aspect, based on the same inventive concept, as Figure 4 shown, through an embodiment of the present invention, a non-transitory computer-readable storage medium 400 of the present invention, the computer-readable storage medium stores a computer program 401, the computer program includes program instructions, and when the program instructions are executed by an executor 402, it can control the production equipment to implement each step of the method described in the present invention, which will not be elaborated here.

[0104] A computer-readable storage medium may be an internal storage unit of the data transmission device or the computer device provided in any of the foregoing embodiments, such as a hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the computer device.

[0105] Furthermore, the computer-readable storage medium may also include both the internal storage unit and the external storage device of the computer device. The computer-readable storage medium is used to store the computer program and other programs and data required by the computer device. The computer-readable storage medium may also be used to temporarily store data to be output or already output.

[0106] Those skilled in the art should understand that the embodiments of the present invention may be provided as a method, a system, or a computer program product. 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. Moreover, 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.

[0107] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for realizing the functions specified in Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0108] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means realizes the functions specified in Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0109] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one process or multiple processes and / or one block or multiple blocks. Figure 1 One process or multiple processes and / or Figure 1 One block or multiple blocks.

[0110] In a third aspect, based on the same inventive concept, the present invention provides a system for calibrating a robot offline program using a global optimization algorithm, including:

[0111] A process point position calculation module: configured to adjust the position of each process point according to the theoretical reference coordinate system, the theoretical reference coordinate system deviation matrix, the tool coordinate system deviation matrix, and the transformation matrix of each process point, so as to obtain the adjusted position of each process point;

[0112] An optimal deviation matrix calculation module: configured to optimize the position of each adjusted process point using a global optimization algorithm to obtain an optimal theoretical reference coordinate system deviation matrix and a tool coordinate system deviation matrix;

[0113] A calibration module: configured to calibrate the robot theoretical reference coordinate system and the tool coordinate system using the optimal robot theoretical reference coordinate system deviation matrix and the tool coordinate system deviation matrix.

[0114] In one embodiment, the optimal deviation matrix calculation module includes:

[0115] A loss function calculation module: configured to calculate a loss function according to the error between the position of each adjusted process point and the theoretical position of each process point;

[0116] An iterative calculation module: configured to continuously adjust the theoretical reference coordinate system deviation matrix and the tool coordinate system deviation matrix using a global optimization algorithm until both the theoretical reference coordinate system deviation matrix and the tool coordinate system deviation matrix are within a set range, and the minimum value of the loss function is less than a set target value.

[0117] In a fourth aspect, based on the same inventive concept, the present invention provides a computer program product, including a computer program / instructions, which when executed by a processor implement any step of the method for calibrating a robot offline program using a global optimization algorithm.

[0118] Contents not described in detail in this specification belong to the prior art well-known to those skilled in the art.

Claims

1. A method for calibrating a robot offline program using a global optimization algorithm, characterized in that: include: The position of each process point is adjusted according to the theoretical reference coordinate system, the theoretical reference coordinate system deviation matrix, the tool coordinate system deviation matrix and the transformation matrix of each process point to obtain the adjusted position of each process point; The position of each adjusted process point is optimized using a global optimization algorithm to obtain the optimal theoretical reference coordinate system deviation matrix and tool coordinate system deviation matrix; The reference coordinate system and tool coordinate system of the robot are calibrated using the optimal theoretical reference coordinate system deviation matrix and tool coordinate system deviation matrix.

2. The method for calibrating a robot offline program using a global optimization algorithm as claimed in claim 1, characterized in that: The method of obtaining the optimal theoretical reference coordinate system deviation matrix and tool coordinate system deviation matrix includes: A loss function is obtained by calculating the error between the adjusted position of each process point and the theoretical position of each process point; The global optimization algorithm is used to continuously adjust the theoretical reference coordinate system deviation matrix and the tool coordinate system deviation matrix until both the theoretical reference coordinate system deviation matrix and the tool coordinate system deviation matrix are within the set range and the minimum value of the loss function is less than the set target value.

3. The method for calibrating a robot offline program using a global optimization algorithm as claimed in claim 1, characterized in that: The calculation method for obtaining the adjusted position of each process point includes: P i =P Base ×δ Base ×T i ×δ Tool Where: P i : The position of the i-th process point after adjustment; P Base : Robot theoretical reference coordinate system; δ Base : Deviation matrix of robot theoretical reference coordinate system; T i : The transformation matrix of the i-th process point; δ Tool : Tool coordinate system deviation matrix.

4. The method for calibrating a robot offline program using a global optimization algorithm as claimed in claim 2, characterized in that: The calculation method of the loss function includes: Convert the adjusted position of each process point into the Euler coordinate system; Calculate the square value of the distance between the adjusted position of each process point and the theoretical position in the Euler coordinate system; The loss function is calculated according to the square value of the distance.

5. The method for calibrating a robot offline program using a global optimization algorithm as claimed in claim 1, characterized in that: Before adjusting the position of each process point, the theoretical reference coordinate system deviation matrix and the tool coordinate system deviation matrix are initialized as standard matrices.

6. The method for calibrating a robot offline program using a global optimization algorithm as claimed in claim 1, characterized in that: The global optimization algorithm is a basin-hopping algorithm, and the nonlinear optimizer in the basin-hopping algorithm is a sequential least squares method.

7. A system for calibrating a robot offline program using a global optimization algorithm using the method of claim 1, characterized in that: include: Process point position calculation module: used to adjust the position of each process point according to the theoretical reference coordinate system, the theoretical reference coordinate system deviation matrix, the tool coordinate system deviation matrix and the transformation matrix of each process point to obtain the adjusted position of each process point; Optimal deviation matrix calculation module: used to optimize the position of each adjusted process point using a global optimization algorithm to obtain the optimal theoretical reference coordinate system deviation matrix and tool coordinate system deviation matrix; Calibration module: used to calibrate the robot theoretical reference coordinate system and the tool coordinate system using the optimal robot theoretical reference coordinate system deviation matrix and tool coordinate system deviation matrix.

8. The system for calibrating a robot offline program using a global optimization algorithm as claimed in claim 7, characterized in that: The optimal deviation matrix calculation module includes: Loss function calculation module: used to calculate the loss function according to the error between the adjusted position of each process point and the theoretical position of each process point; Iterative calculation module: used to continuously adjust the theoretical reference coordinate system deviation matrix and the tool coordinate system deviation matrix using the global optimization algorithm; until the theoretical reference coordinate system deviation matrix and the tool coordinate system deviation matrix are both within the set range, and the minimum value of the loss function is less than the set target value.

9. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, any step of the method for calibrating a robot offline program using a global optimization algorithm as described in claims 1 to 6 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, any step of the method for calibrating a robot offline program using a global optimization algorithm as described in claims 1 to 6 is implemented.

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