考虑热误差实时动态补偿的机器人误差标定的测量方法
By setting up a composite measurement system on the robot, using a vision measurement system to calibrate the robot's kinematic parameters and compensate for errors in real time, the error problem caused by temperature changes in the robot is solved, achieving high-efficiency and low-cost accuracy assurance.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HEFEI UNIV OF TECH
- Filing Date
- 2025-03-26
- Publication Date
- 2026-07-17
AI Technical Summary
Existing technologies are insufficient to effectively address the error issues in robots caused by temperature changes, especially when changes in ambient temperature or prolonged operation of the robot's motors lead to alterations in structural parameters, making it impossible to guarantee the robot's accuracy requirements.
By setting up a composite measurement system on the robot, including a vision measurement system with binocular cameras and cross-shaped structured light lasers, standard parts and workpieces to be measured are measured. The point cloud data of the standard parts is used to calibrate the robot's kinematic parameters, and the error is dynamically compensated into the kinematic model to achieve real-time dynamic compensation.
It achieves real-time dynamic compensation for robot thermal errors, reduces costs, simplifies sensor installation, enables continuous on-site measurement, and provides effective compensation directly within the space of the workpiece to be measured, thus ensuring robot accuracy.
Smart Images
Figure CN120269550B_ABST