205 results about "Robot calibration" patented technology

A robot calibration method, which includes the steps of: providing a camera independent of the robot body and a plane calibration board, using the camera to take images of the plane calibration board, calibrating and storing the internal parameters and external parameters of the camera, and calculating the imaging coordinate system The conversion relationship with the coordinate system of the calibration board; set three feature corners on the plane calibration board, fix the calibration tool on the robot body, and the robot body drives the calibration tool to translate from one feature corner point to the other two features Corner points, storing the movement trajectory of the calibration tool in the robot base coordinate system, and calculating the conversion relationship between the robot base coordinate system and the calibration plate coordinate system according to the positional relationship of the three characteristic corner points and the movement trajectory of the calibration tool; Calculate the transformation relationship between the imaging coordinate system and the robot base coordinate system. The above robot calibration method has the advantages of simplicity and quickness. The present invention also provides a robot calibration system applying the above calibration method.

An improved system (20) for the calibration of a robot system. The system (20) comprising a linear displacement measurement device (32) in conjunction with a robot calibration system. The linear displacement measurement device (32) comprising an elongated member (34), a drum, a shaft, a drum displacement mechanism and a drum rotation sensor. The drum is displaced axially upon the shaft as the drum rotates when the elongated member (34) is moved. The drum rotation sensor provides accurate information regarding the distance the elongated member (34) travels. The displacement measuring device (32) is used in an iterative manner with the calibration system (20) for the purpose of the calibration of a robotic device (22).

A robot calibration system includes a robot, a calibration tool, a plane calibration board, a camera, and a controller. The calibration tool is assembled to the robot and is controlled by the robot to move along a preset trajectory. The plane calibration board is located under the calibration tool and has a plurality of characteristic corner points on one surface thereof. The camera is configured for capturing an image of the plane calibration board. The controller electrically connects with the robot and the camera respectively, the controller predefines a preset control program for controlling the robot and the camera to operate, and the controller is configured for calibrating the robot. The disclosure also discloses a method for calibrating a robot for use with a robot calibration system.

The invention relates to a planar constraint based robot calibration method. The planar constraint based robot calibration method specifically comprises the following steps of utilizing a DH and MDH combination method to establish a robot kinematic model, establishing a robot tail end position error model based on a differential conversion principle, establishing a position calibration model of a robot based on planar constraint, setting a calibration block pose position, demonstrating and recording the robot tail end theoretical pose position, calibrating motion parameters of a robot, utilizing a calibration result to perform comparison, and performing re-calibration if the accuracy requirement is not met. The planar constraint based robot calibration method has the advantages of being simple, practical, efficient and low in cost, expensive measurement instruments are not needed, calibration cost is reduced, and positioning accuracy is improved.

An encoded calibrating plate is fixed on the working environment of the robot arm and has a chessboard pattern with each square in the chessboard pattern being an encoding. The encoding indicates direction or position on the encoded calibration plate. A visual system of the robot arm captures an image of the encoded calibrating plate, calculates the coordinates encoding of the encoded calibration plate, and positions the visual system to calibrate a positioning error of the robot arm and the visual system.

The invention discloses an automatic calibration method for a line structured optical visual system of an arc welding robot. The method comprises the steps of: 1, placing a calibration plate at any position in a working area of the robot according to a predetermined constraint limit; 2, manually manipulating the robot to ensure that the position of the calibration plate is in a rectangular frame in the middle of a collected image and updating the position component of each collection point in a robot calibration program on the basis; 3, collecting 15 calibration plate images in 15 positions and calibration plate images in other 4 positions and the corresponding laser stripe images; and 4, calculating internal parameters of a camera and hand-eye relationship parameters through the collectedprevious 15 images and calculating structured light plane parameters through the collected latter four images. The method disclosed by the invention has the advantages that image positioning is onlycarried out on the first collection position of the calibration plate and the subsequent positions are automatically updated through translation transformation with no need for human operation, so that the calibration method is convenient and quick, the flexibility and the rapidity are greatly increased and the method can meet the needs of actual production environments.

The invention provides a full-automatic hand-eye calibration method and device and relates to the technical field of robot calibration. The full-automatic hand-eye calibration method comprises the steps that the current pose of a mechanical arm is obtained; the next pose of the mechanical arm is obtained according to the current pose of the mechanical arm and the preset movement path; calibration board data under all the poses of the mechanical arm are obtained; and according to the poses of the mechanical arm and the calibration board data, the hand-eye calibration result of a camera and the mechanical arm is obtained. According to the full-automatic hand-eye calibration method and device, a simpler, more accurate and collisionless automatic calibration scheme is provided for hand-eye calibration of a robot; a calibration system does not need extra auxiliary hardware equipment except a calibration board, and inner reference of the camera and calibration of a transformation matrix of the camera and the mechanical arm can be simultaneously completed only by automatically controlling the mechanical arm to move with the calibration board or the camera as the center.

Described herein is a method and apparatus for performing calibrations on robotic components. In one embodiment, a method for performing robotic calibrations includes moving the calibrating device across a target (e.g., a wafer chuck). Next, the method includes measuring distances between light spots from the sensors and a perimeter of the target using the sensors located on the calibrating device. Next, the method includes determining a displacement of the calibrating device relative to a center of the target. Then, the method includes determining a rotation angle of the calibrating device relative to a system of coordinates of the target. Next, the method includes calibrating a robot position of the robot based on the displacement and rotation angle of the calibrating device with respect to the target.

The invention belongs to the technical field of automatic welding, and provides an intelligent three-dimensional weld joint autonomous tracking method which comprises the following steps: S1, camera calibration: a camera shoots and acquires image information of calibration plates at different spatial positions, establishes a corresponding equation set according to the shot image information, and obtains an internal parameter matrix and an external parameter matrix through analysis; s2, line laser plane calibration; s3, hand-eye calibration; s4, determination of a welding seam starting point and a welding seam ending point; and s5, welding seam track planning. According to the intelligent three-dimensional autonomous welding seam tracing method, any type of weld grooves is identified by utilizing an image algorithm; a linear laser triangulation method and a vision and robot calibration algorithm are adopted to autonomously plan a motion path, so that autonomous tracking of a welding line in any three-dimensional space is realized, three-dimensional orientation information of a welding line groove is obtained, and tracking of a right-angle or acute-angle inflection point is realized in a self-adaptive pre-swing manner.

The invention provides a laser distance measuring sensor calibration method and belongs to the field of robot calibration. Devices employed by the method include a laser tracker, an industrial mechanical arm, a flange plate, a hole making end effector, a calibration rod, a planar calibration plate and an installing rack. The hole making end effector mainly comprises a feeding module, an electric spindle, an electric spindle installing base, a big target ball seat, a small target ball seat, a pressing head and four laser distance measuring sensors. The method comprises the steps of firstly calibrating an included angle between a laser beam and an electric spindle feeding direction; building a tool coordinate system and a work piece coordinate system by means of the laser tracker and moving the hole making end effector to a place in front of the planar calibration plate and performing rotation for multiple times; calculating the coordinates under the coordinate systems in different states of each laser point according to geometrical relationships, transforming the coordinates of all the points to the same coordinate system and obtaining a space equation of the laser beam through fitting. The method can calibrate transmitting point positions and laser beam vector orientations of laser distance measuring sensors and make normal detection results more accurate.

The invention discloses a robot calibration method capable of achieving an automatic trajectory correction and resolves the problems of not only consuming time and labor but also having low correction precision caused by an artificial correction trajectory in prior art. The method comprises the following steps of: (1) shooting a robot clamp and a workpiece by a vidicon, and calibrating the shot image, so as to obtain a newest position relation between the robot clamp and the workpiece; (2) performing an image processing algorithm analysis on the shot image, so as to obtain the position informations of the workpiece and the end effector of the robot clamp; (3) according to the position informations, calculating the moving data required by keeping the consistent positions of the workpiece and the end effector of the robot clamp; and (4) automatically loading the moving data into an original motion trajectory program, thereby automatically obtaining a new motion trajectory program aiming at the new position of the workpiece or the robot, so as to finish the trajectory correction.

The invention relates to a high-precision polishing system for a robot and a control method of the high-precision polishing system for the robot. The system is provided with a technology expert system and a calibration system. The technology expert system performs database management on technology parameters and a user input explanation, obtains effective data output according to data reasoning, then is connected to the calibration system in a communication mode and transmits data to the calibration system. The calibration system is connected to the technology expert system in the communication mode and can receive the data from the technology expert system and comprises a robot calibration system, a polished workpiece calibration system and a polishing equipment calibration system. The robot calibration system is used for calibrating robot kinematics parameters and robot kinetic parameters. The polished workpiece calibration system is used for calibrating installing positions and gestures of workpieces. The polishing equipment calibration system is used for calibrating the installing position of polishing equipment. Through function execution of the several units, the workpieces can be polished in a high-precision, high-efficiency and high-quality mode, and a systematic solution scheme is provided for the polishing industry.

The invention discloses a robot calibration method based on exponent product model, comprising the following steps: providing an industrial robot, a measuring instrument independent of the robot, an end three-dimensional imaging device and a three-dimensional calibration block; building a robot kinematics model according to the mode of combination of spinor theory and exponent product; giving closed-form solution of all joint parameters; directly solving the joint spinor parameters by utilizing a linear method; compensating the nominal value of joint angle of the robot, thus avoiding the conversion of a coordinate system and a measuring coordinate system of the robot. In addition, the calibration process is simple, and calibration can be realized through the method that all joints rotate once and the coordinate values of n numbered mark points (n is more than or equal to 3) are measured simultaneously. The robot calibration method in the invention is realized simply, has good stability, and low introduced external error.

Disclosed are methods adapted to aid in a calibration of a robotic end effector. The method includes providing a robotic component having an end effector and a light beam sensor provided in a fixed orientation to the end effector fingers, rotating a light beam of the light beam sensor relative to a geometrical calibration feature of a teach tool mounted in an approximately known orientation to an article, and determining a precise location (e.g., center) of the geometrical calibration feature based upon engagement of the light beam with edges of the geometrical calibration feature. In another aspect, a rotational orientation of the fingers of the end effector are calibrated using the teach tool. A novel teach tool and a robot calibration system including the teach tool are disclosed, as are other aspects.

A robot calibrating apparatus calibrating a command value for a robot body 2 whose position and orientation is controlled based on the command value, includes an operating unit configured to calculate a calibrating function of calibrating the command value, based on the difference between an ideal position and orientation of the robot body 2 and an actual position and orientation of the robot body 2. The ideal position and orientation is operated based on a command value RHTcom for calibration used during calibration or on a control result value which is a result of control according to the command value. The actual position and orientation is operated based on a measurement value RHT′meas for calibration acquired by a camera 3 arranged at a prescribed relative position and orientation with respect to the robot body 2 during the robot body 2 being controlled according to the command value for calibration.

The invention discloses a mechanical arm tool coordinate system self-calibration method, and belongs to the field of correlation technique of robot calibration. The method is applicable to an XYZR cartesian coordinate robot, and comprising the steps of utilizing a self point position of the robot for calibrating a tool center point; and through adjusting multiple points and corresponding multipleposition data of a tool fixedly arranged on a rotary shaft at the tail end of a mechanical arm and a top until the required points are recorded, circle fitting the recorded point position data to obtain a center coordinate, and obtaining a tool coordinate according to a coordinate geometry relationship. According to the mechanical arm tool coordinate system self-calibration method provided by theinvention, no external measurement tool is required, the tool coordinate system can be identified relative to a pose of a terminal coordinate system by utilizing self conditions, so that the method issimple and convenient for field application of the equipment party.

Disclosed are methods to aid in a calibration of a vertical orientation of a nozzle tip to a sample container in a processing or testing system. The method includes positioning the nozzle over a calibration target at a home height location (HM), moving the nozzle downward a distance (D) until contact with the calibration target is sensed, positioning the nozzle over the sample rack and moving the nozzle downward until contact with a registration location is sensed, imaging the sample rack and calibration target to determine a height (H) between the registration location and calibration target, and calculating a translation ratio (TR) between the height (H) measured in pixel space and the distance (D) measured in machine space. The translation ratio (TR) may be used to drive the nozzle tip to a predetermined depth. A robot calibration system is disclosed, as are other aspects.

The invention belongs to the technical field of robot calibration, and provides a robot hand-eye calibration method and device and a robot. The method comprises the steps: controlling an end effectorof the robot to be aligned with the circle center of a calibration plate after rotating for a preset angle each time in a posture that a flange plane of the robot is parallel to a base plane, and recording the position information and angle information of the end effector during alignment; obtaining the offset of the tool center of the end effector and the flange center on the plane; controlling the end effector to drive a shooting device to move so as to shoot the circle center of the calibration plate, and simultaneously sampling the coordinate position of the end effector and the pixel coordinates of the circle center of the calibration plate in the image shot by the shooting device for N times according to a preset rule; obtaining a point location mapping relationship between a coordinate system of the robot and an image coordinate system of a shooting device; and correcting a tool coordinate system of the robot according to the offset and the point location mapping relationship. According to the embodiment of the invention, the problem of large manual calibration error is solved.

The invention provides a serial robot kinematics parameter calibration method based on vision. The optical axis of a camera serves as virtual straight line constraint, and a kinematics error model based on straight line constraint is built; a fixed point is selected from a calibration plate fixed to the tail end of a robot to serve as a feature point, motion of a mechanical arm is controlled through a visual control method based on images, and the feature point is made to arrive at the optical axis; according to joint angular data of the robot, the forward kinematics is used for calculating the nominal position of the feature point and the alignment error matrix; and the kinematics parameter error is estimated through the iterative least squares algorithm, and the actual kinematics parameter is calculated according to the nominal kinematics parameter. According to the serial robot kinematics parameter calibration method based on vision, the optical axis of the camera serves as virtualconstraint, calibration can be completed through only the joint angular data of the robot, the cost is low, operation is easy, expensive high-precision measuring equipment is not needed, and the method has the universality for serial robot calibration and can be widely applied to industrial, space and underwater environments to improve the absolute positioning precision of the mechanical arm.

A robot calibration apparatus and a robot calibration method. The robot calibration apparatus includes:a measurement jig including a plurality of reference points of which positions are pre-known, one or more reference lines of which linear equations are pre-known, and one or more reference planes of which plane equations are pre-known relative to a reference coordinate system of the measurement jig, wherein arbitrary points from among the plurality of reference points, the plurality of arbitrary points on the one or more reference line, and the plurality of arbitrary points on the one or more reference plane are set as measurement points;a sensor coupled to a robot and measuring positions of a plurality of measurement points selected from among the measurement points on the measurement jig;and a control unit controlling the calibrated robot after calibrating the robot based on a plurality of pieces of calibration data including position information of the plurality of measurement points measured by the sensor, wherein at least one measurement point from among the plurality of measurement points is arranged on the reference line or the reference plane. Accordingly, the robot can be calibrated by using information of measuring an arbitrary position on the reference line or reference plane on the measurement jig, and thus limitation to the measurement posture of the robot can be remarkably reduced while measuring the positions of the measurement points, the position information of the measurement point can be easily obtained, and the robot calibration apparatus can be easily applied to a production line.

The invention relates to a robot calibration system, a two-dimensional plane motion calibration method and a three-dimensional space motion calibration method. The system comprises an industrial robotand an upper computer, and further comprises a target, measuring assemblies and a calibration assembly. The target is fixedly installed at the tail end of the industrial robot. The measuring assemblies are arranged on the periphery of the industrial robot, and each measuring assembly comprises a prism assembly and a camera. The prism assemblies are arranged between the target and the cameras, andthe visual axis of each camera and the optical axis of the corresponding prism assembly are kept coaxial. The calibration assembly is arranged in the view field of the measuring assemblies and does not interfere with the industrial robot. The upper computer is connected with the cameras and the prism assemblies. Compared with the prior art, the robot calibration system has the advantages that theupper computer can control the prism assemblies and adjust the visual axes of the cameras matched with the prism assemblies, the real-time dynamic measurement of the center position of the target isachieved, an error response equation of nominal coordinates and measurement coordinates of current geometrical parameters of the robot is constructed, the corresponding current geometrical parametersof the robot in the process that the error is minimum are sought, and the online calibration of the robot can be achieved.

The invention discloses a dead weight and load deformation compensation based robot calibration method and a system. The method comprises the following steps that original nominal joint angles corresponding to each calibration point position are compensated to obtain compensation joint angles on the basis of joint angle deformation caused by the dead weight and load of the robot; according to theactual measured position obtained when a tool installed the tail end of the robot reaches each calibration point position at the tail end and compensation joint angles, to-be-identified parameters arecorrected. According to the method and the system, the original nominal joint angles corresponding to each calibration point position are compensated based on the joint angle deformation caused by the dead weight and load of the robot, the compensation joint angles are adopted instead of the non-original nominal joint angles in the calibration process, so that the calibration process reduces theinfluence on absolute positioning precision caused by the dead weight and load of the robot; and compared with a kinematic calibration algorithm, the absolute positioning precision of the robot can begreatly improved, and the absolute positioning precision of an industrial robot can be greatly improved.

The invention relates to a robot calibration method based on a measuring head. The robot calibration method comprises the following steps: establishing a robot kinematic model; arranging the measuring head on an end of a flange disc of the robot; carrying out tool parameter calibration of the measuring head; disposing a calibration block in the robot working space; carrying out the demonstration and the measurement of the calibration block; carrying out the kinematic parameter calibration of the robot; and identifying the calibration experiment results. The measuring head is used for the technology field of the robot calibration, and the robot calibration method is simple, practical, and effective, and is suitable for any serial connection robots, and therefore the universality is strong, and at the same time, the absolute positioning precision of the robots can be improved.

The invention provides an optimized robot calibration method and device. The optimized robot calibration method comprises the following steps that a target trajectory is determined according to configuration information of a to-be-calibrated robot; calibrating of a coordinate system is conducted based on a standardizing trajectory, and a mapping relationship of a laser tracker coordinate system and a to-be-calibrated robot coordinate system is obtained; calibration measurement is conducted according to a calibration trajectory, and calibration measurement data are obtained; and calibration calculation is conducted according to the mapping relationship and the calibration measurement data, and calibration results are obtained. According to the optimized robot calibration method, the standardizing trajectory and the calibration trajectory can be provided for users, custom setting of the users is not required, the calibration results can be automatically calculated, the to-be-calibrated robot and a laser tracker can be controlled simultaneously through test system software, operation is easy, the technical requirement for the users is reduced, the calibration efficiency is improved, and the technical problems that an existing robot calibration method is complex in operation, high in requirement for testers and low in efficiency are relieved.

The invention relates to a quick zero point calibration method for a six-axis robot. The quick zero point calibration method comprises the following steps: fixing a level meter to a first reference plane, perpendicular to a first joint axis , of the robot; after the completion of the calibration of the first joint axis, fixing a first reference plane of the level meter to a second reference plane of the robot to complete calibration of a second joint axis; fixing the first reference plane of the level meter to a third reference plane of the robot to complete calibration of a third joint axis, a fourth joint axis, a fifth joint axis and a sixth joint axis, wherein the calibration of the third, fourth, fifth and sixth joint axes can be automatically completed by using a robot controller to collect indicating values of a first horizontal sensor and a second horizontal sensor. Through the adoption of the quick zero point calibration method, zero point calibration for the six-axis industrial robot can be completed through the three reference planes, so that processing requirements on robot parts are reduced, the calibration time is saved, and the cumbersome robot calibration work can be simple and convenient relatively.

The invention relates to a calibration system and method of a robot and belongs to the field of robot calibration. The calibration system comprises a calibration device, the robot, a computer, a robot cable and a calibration device cable. The calibration device is connected with the computer for communication through the calibration device cable. The robot is connected with the computer for communication through the robot cable. The computer is used for collecting data of the calibration device and joint rotation angles of the robot and calculating the distance of tail ends of the robot between two points in the space according to the two times of continuously collected data of the calibration device. The data of the calibration device comprises the length of a wire drawing sensor, the angle of an angle sensor I, and the angle of an angle sensor II. According to the calibration system and method of the robot, data support with higher robustness is provided for structure parameter calculation, and meanwhile, calibration operation is more flexible, easy and convenient; the reliability and precision of structure parameter calculation are improved; coordinate values of the tail end of the robot do not need to be measured, so that operation steps are simplified, and the calibration efficiency is improved.

The invention relates to a robot calibration system and method based on incomplete end coordinate information and belongs to the field of robot calibration. A magnetic gauge stand of the robot calibration system based on the incomplete end coordinate information is mounted on a fixed platform by means of magnetic force; the magnetic gauge stand is also connected with a tie wire sensor by means of a connecting rod; an end of a tie wire of the tie wire sensor is mounted on a universal joint; a tilt angle sensor is attached on and moves along with the universal joint that is mounted on a robot; the tie wire sensor and the tile angle sensor are in connection communication with a computer via a tie wire sensor cable and a tilt angle sensor cable, respectively, while the robot is in connection communication via a robot cable; and the computer is used for acquiring a tie wire length of the tie wire sensor, an angle of the tilt angle sensor and a joint turn angle of the robot. The robot calibration system and method based on the incomplete end coordinate information have the advantages of improving the reliability and accuracy of structural parameter calculation, and improving the calibration efficiency while simplifying operation steps.

A method and system for calibration of an augmented reality (AR) device's position and orientation based on a robot's positional configuration. A conventional visual calibration target is not required for AR device calibration. Instead, the robot itself, in any pose, is used as a three dimensional (3D) calibration target. The AR system is provided with a CAD model of the entire robot to use as a reference frame, and 3D models of the individual robot arms are combined into a single object model based on joint positions known from the robot controller. The 3D surface model of the entire robot in the current pose is then used for visual calibration of the AR system by analyzing images from the AR device camera in comparison to the surface model of the robot in the current pose. The technique is applicable to initial AR device calibration and to ongoing device tracking.

A robot positioning method includes the following steps. A optical sensing device is configured at a front end of a robot. Then, the optical sensing device captures a calibration plate image, and a relative position of the optical sensing device with respective to a calibration plate is calculated according to a Bundle Adjustment. A robot calibration method includes the following steps. An optical sensing device is driven to rotate around a reference axis of a calibration plate, so as to calculate a translation matrix between the calibration plate and the robot, and the optical sensing device is driven to translate along three orthogonal reference axes of the calibration plate, so as to calculate a rotation matrix between the calibration plate and the robot.