52 results about "Robot calibration" patented technology

Robot calibration is crucial in multi-robot cooperative systems where the inaccuracy of robots can add up and cause large errors in the final trajectory of handled parts or process tools. In this work, a two-step calibration approach is proposed based on artificial neural networks (ANNs) and definition of compensated pose for a master-slave cooperative robot system. Measuring the pose of master and slave robots at different locations in their shared workspace is required to create pairs of joint angles and output pose errors as training data. The generated data is used to train two ANN models for compensating the master-slave relative error and the master robot errors. The master-slave relative error is corrected by introducing a compensated pose for the slave robot with respect to the master robot. A neural network is then trained to predict the error parameters of the compensated pose for the joint angles of both robots as the input. The master robot is then corrected individually using another ANN model to address the absolute accuracy of the cooperative system.Measurements and simulations have been performed on a dual-robot cooperative system before and after geometric calibration. The process of cross validation is carried out to find the best network architecture for the optimal performance in correcting the robots'errors. It has been shown that even after pre-existing model-based calibration of each robot, both the absolute accuracy of the master robot and the relative tracking accuracy can be further improved by the proposed implementation of ANN calibration.

The invention discloses an inspection positioning method, device and equipment for an inspection robot of a belt conveyor, relates to the technical field of inspection of belt conveyors, and can solve the technical problem that an existing rail-mounted robot is large in error in high-precision inspection positioning. Comprising the following steps: acquiring image video data of environment and equipment, acquiring initial parameter information of an inspection point according to the image video data, and drawing an inspection environment map model according to the image video data and the initial parameter information of the inspection point based on calibration of the initial parameter information of the inspection point; installing a track system according to the inspection environment map model, setting an inspection mode, and mounting and operating an inspection robot on the track system based on the inspection mode; and calibrating the track mileage to obtain the calibrated track mileage, and positioning the inspection robot to the position of the robot by using the positioning tag reader and the multi-circle absolute value encoder based on the calibrated track mileage so as to monitor whether the equipment to be inspected has a fault or not.

The invention discloses a new energy automobile automatic test method and system, and relates to the technical field of electric automobile detection. A vehicle is fixed to a rotating hub platform, bus connection and robot calibration are completed, a digital twin model is constructed, and initial parameters are configured; decomposing a working condition curve to extract core parameters, and generating a refined control logic table in combination with the virtual model; the lower computer cooperates with the robot and the rotating hub platform to execute test operation according to a protocol; optimal control parameters are fed back based on real-time data and the virtual model; synchronously acquiring various parameters of the vehicle, the robot and the rotating hub; fusing the data and performing simulation comparison to generate a comprehensive test report; adjusting parameters and repeating the test to form a complete closed loop. Through multi-device cooperation, dynamic adaptation and data fusion, the test precision and stability are improved, the vehicle type adaptation capability is enhanced, the scene coverage range is expanded, the test safety is guaranteed, the test efficiency is improved, function extension and flexible operation and maintenance are supported, and the diversified test requirements of the new energy vehicle are met.

The application provides a guided tooth repair method, system and storage medium, which realizes the conversion and unification of the coordinate systems among multiple systems through technical steps such as CBCT data acquisition, CT three-dimensional model creation, robot calibration, matrix conversion relationship analysis, and the like, and then, after a tooth repair scheme is formulated based on the CT three-dimensional model, the matrix conversion relationship among the coordinate systems of the oral cavity reference plate, the CT and the optical positioner is obtained, the cutting tool and the repair tool on the robot are guided through the optical positioner, the real-time pose of the patient is judged in the assistance of the optical positioner by combining the running track data of the cutting tool and the running track data of the repair tool, the cutting and repair are guided in real time, human errors are avoided, the operation precision is improved, and the tooth repair effect is ensured.

The present application relates to the field of robot calibration, and discloses a surgical robot calibration method and device, a surgical robot and a storage medium, the method comprising: controlling the surgical robot to move according to a preset calibration route, so that the surgical robot reaches each calibration pose in turn; the calibration poses include an initial pose, a first translation pose, a second translation pose and at least two rotation poses; a camera device is used to capture a marker point on the surgical robot, and pose data of the surgical robot at each calibration pose is recorded; a first rotation matrix from a base coordinate system to a camera coordinate system is calculated according to the initial pose, the first translation pose and the second translation pose; a first translation matrix from the base coordinate system to the camera coordinate system, a second rotation matrix and a second translation matrix from a flange coordinate system of the surgical robot to a reference coordinate system of the surgical robot are calculated according to the first rotation matrix and the at least two rotation poses.

The application relates to the technical field of robot calibration, in particular to a robot body parameter self-calibration method based on a ball center distance constraint, which comprises the following steps: a calibration error model based on a ball center distance constraint is established; a calibration equation of robot body parameter error and distance error is obtained; a constraint ball plate used for calibration is designed to obtain measurement data and establish a constraint equation; an LM algorithm is used for parameter identification of the constraint equation to obtain a robot body parameter compensation value; and the robot body parameter compensation value is compensated to a robot kinematics model for simulation verification. The method can realize simple and efficient calibration of the robot body parameter by means of a self-made calibration ball plate, does not need to rely on external high-price measuring equipment, and can achieve the purpose of improving the absolute positioning accuracy of the robot.

The invention discloses a robot calibration point selection method and system and a storage medium. The robot calibration point selection method comprises the following steps: acquiring an initial point position set; according to a calibration requirement set by a user, determining weights of the plurality of evaluation elements, and performing weighted calculation on the plurality of evaluation elements based on the weights to obtain a weighted evaluation index; screening out a target calibration point set from the initial point position set based on the weighted evaluation index; and utilizing the target calibration point set to calibrate kinematics parameters of the robot. Through a strategy of combining a weighted comprehensive evaluation index and an intelligent point selection algorithm, the problems that selection of a single evaluation index is not comprehensive, an existing point selection method is easily influenced by gross errors, and the stability of calibration precision in space is insufficient are solved.

The invention provides a sub-closed-loop-containing robot kinematics calibration method and device based on constraint relaxation, and relates to the technical field of robot calibration, and the method comprises the steps: carrying out the decomposition of a main kinematic chain under the condition that there are multiple branches in the main kinematic chain of a robot, so as to generate multiple virtual kinematic chains; according to kinematic parameters and closed-loop geometric constraints of virtual joints in each virtual kinematic chain, the theoretical tail end pose of the robot is determined; parameter errors are determined according to the pose deviation between the theoretical tail end pose and the actual tail end pose of the robot; according to the parameter errors and the calibrated kinematics parameters, the corrected pose deviation is determined; and the active joint displacement is updated according to the corrected pose deviation until the corrected pose deviation or the active joint displacement meets the iteration termination condition, the robot is calibrated according to the determined active joint target displacement, and the calibration precision of the robot is improved.

The application discloses a robot calibration point selection method and system and a storage medium. The robot calibration point selection method comprises the following steps: acquiring an initial point set; determining the weights of a plurality of evaluation elements according to a calibration requirement set by a user, and performing weighted calculation on the plurality of evaluation elements based on the weights to obtain a weighted evaluation index; screening a target calibration point set from the initial point set based on the weighted evaluation index; and calibrating the kinematic parameters of a robot by using the target calibration point set. Through a strategy combining a weighted comprehensive evaluation index and an intelligent point selection algorithm, the problems of incomplete selection of a single evaluation index, influence of an existing point selection method on a gross error and insufficient stability of calibration accuracy in space are solved.

The utility model discloses a workbench for calibration of an ASR artificial intelligence storage robot. The workbench comprises a workbench base; a slope plate is installed on one side of the workbench base and used for an ASR robot to climb to the top of the workbench base. According to the working table of the ASR robot, the slope plate is in butt joint with the working table base, the ASR robot can be conveniently and rapidly transferred to the top of the working table base, then the middle wheel positioning wheel is used for positioning the positioning middle wheel, and therefore the working table of the ASR robot is convenient to use. The front moving wheels and the rear moving wheels are ensured to be located at the top of the four-wheel reference table, then the ASR robot is transversely adjusted through the side positioning adjusting rod, it is ensured that the ASR robot is located at the center of the top of the workbench base, the two-dimensional code on the ground code plate is conveniently shot by the ground code camera, and the first detection reference surface and the second detection reference surface are matched. The radar detection rods at the front position and the rear position are used for rapid detection, and efficient and rapid factory detection and calibration are achieved.

The invention relates to a series robot calibration method based on axial optimization and a ball bar. The series robot calibration method comprises the following steps that a series robot self-calibration model based on joint axis direction optimization is established, joint spinor parameters of the series robot self-calibration model are converted into point axis parameters, redundant parameters are removed, and an error model with independent parameters is established; a robot closed-loop kinematic chain is constructed by utilizing the motion characteristic that a ball bar rotates around a fixed point, and error data are obtained by measuring the actual distance between an end effector of the robot and a center point; and inputting error data into an error model, and solving and identifying kinematics parameter errors of the robot through iteration, so as to improve the kinematics precision of the robot. The improved model provided by the invention has higher precision and better stability, and the model does not need to carry out normalization and orthogonalization processing on the spinor parameters of the robot in the parameter iteration process. The calibration method can effectively improve the motion precision of the robot and reduce the distance error.

The utility model discloses a robot positioning calibration device, which belongs to the field of industrial robots and comprises a calibration table. A first linear lead screw module is installed on the upper end face of the calibration table, a bearing table is assembled on the first linear lead screw module, a robot calibration base is installed on the bearing table, a portal frame is installed on the side face of the calibration table, a second linear lead screw module is erected on the portal frame, and a zero returning position adjusting assembly is installed on the side face of the second linear lead screw module. According to the robot positioning and calibrating device, the current position of the robot body can be dynamically updated through data measurement between the laser sensor and the radar sensor, so that positioning and calibrating of the position of the robot body are achieved; through multi-position control of the first linear lead screw module, the second linear lead screw module and the return-to-zero position adjusting assembly, the position of the calibration object can be accurately adjusted, so that the robot body and the calibration object are accurately butted, and positioning errors caused by position deviation are reduced.

The invention discloses a space robot closed-loop on-orbit calibration method and device based on plane constraint, and relates to the technical field of robot calibration. A tail end contact piece is installed on a tail end joint of the space manipulator in the vertical direction, a rigid spherical contact is arranged on the side of the free end of the tail end contact piece, a calibration reference body which is fixed in position and is of a rigid cube structure is arranged in a matched mode, and the on-orbit calibration method comprises the steps that a comprehensive parameter model containing kinematics and joint flexibility parameters is established; performing multi-attitude contact measurement and data collection; calculating a normal distance error of the measurement configuration point; constructing a linear Jacobian matrix and establishing a joint recognition equation; performing parameter joint identification based on an LM algorithm; and updating and calibrating the control model. According to the method, a geometric constraint condition formed by multiple planes is utilized, integrated high-precision identification of kinematics and joint flexibility parameters is achieved only by depending on sensor information of the space manipulator, and the on-orbit calibration requirement under the microgravity environment is met.

The application discloses a kind of reference point acquisition methods of robot base, comprising: the first 3D image of robot base with multiple marks on outer wall is collected;Multiple first feature points of multiple marks in the first 3D image are acquired one by one;The first reference point of base is positioned according to multiple first feature points.This application effectively calculates the position relationship of actual robot and tool after landing deviation;The position of equipment is calibrated by the way of increasing calibration round hole of robot base, which avoids manual teaching of robot and reduces the risk of collision;The problem of robot calibration process lag caused by factors such as power-on, system configuration, cross construction of robot in project site construction process is solved;Compared with previous calibration method, the relative position relationship of robot base and vehicle system is more reliable.

The present specification provides a robot calibration method, system and device. Based on the method, during specific calibration, the target operation type of a target operation can be determined first; then, according to the target operation type of the target operation, a matched target is selected from a preset target set and is respectively arranged on a first mechanical arm and a second mechanical arm as a first target and a second target; wherein the preset target set contains multiple targets with different structural shapes and provided with identification codes; according to a preset calibration rule, a calibration camera and a robot are used for calibration processing to determine the conversion relationship of the key points of a target operation instrument about the second target coordinate system and the conversion relationship of the image coordinate system of an image acquisition end about the first target coordinate system as a calibration result. Thus, the related calibration can be automatically completed accurately, efficiently and pertinently to obtain a calibration result meeting the requirements and reduce calibration errors.

The application provides a robot calibration method and device and electronic equipment, obtains standard position coordinate values corresponding to concave points and multiple sets of measured position coordinate values to determine an error matrix; determines a first update matrix from NDI binocular vision to the robot end according to the multiple sets of measured position coordinate values and the error matrix; if the error matrix meets a preset threshold, determines a target update matrix from the robot flange to the robot end according to the first update matrix, a first conversion matrix from the NDI binocular vision to the robot base and a second conversion matrix from the robot base to the robot flange, to calibrate the robot. This method only needs to click the concave points by the probe to quickly collect multiple sets of measured position coordinate values, compares the error matrix with the preset threshold to determine whether the calibration is accurate, and after the preset threshold is met, quickly calibrates the robot through matrix conversion, thereby improving the calibration efficiency of the robot.

A system includes a chamber, a robot within the chamber, the robot including a plurality of links. The system further includes a vertically oriented sensor within the chamber, the vertically oriented sensor to detect a presence of one or more of the plurality of links. The system further includes a controller to execute for each link to cause the robot to move the link through a field of view of the vertically oriented sensor. The controller further determines a zero horizontal position of the link based on a position of the link at which the link is detected by the vertically oriented sensor. The controller further automatically calibrates the robot within the chamber based on the zero horizontal position determined for each of the plurality of links.

The present disclosure provides a method of calibrating a substrate transport apparatus, the substrate transport apparatus comprising: a first substrate support and a second substrate support, a first robotic arm associated with the first substrate support, and a second robotic arm associated with the second substrate support, the first substrate support is provided with a first sensor, the first sensor being an edge sensor for sensing an edge of a substrate, a second sensor, the second sensor being arranged at a predetermined distance from the second substrate support, the second sensor being an optical sensor, the optical sensor being arranged at a predetermined distance from the second substrate support. The method includes a step of calibrating the first robotic arm and the second robotic arm relative to the first substrate support and the second substrate support using the second sensor.

The invention discloses a hybrid robot calibration method and device based on vision measurement and a medium, relates to the field of robot recognition, solves the problem of inaccurate calibration of a hybrid robot, and comprises the following steps: setting a reference calibration target and a vision camera of the hybrid robot, and analyzing the reference calibration target and the vision camera; calculating to obtain a camera internal reference matrix of the visual camera; fixing a visual camera, and constructing a camera coordinate system, an image coordinate system, a pixel coordinate system and a world coordinate system corresponding to the hybrid robot; included angles corresponding to different mechanical arms of the hybrid robot are measured, and the theoretical pose of the corresponding tail end position of the hybrid robot is calculated through a forward motion algorithm of the mechanical arms; an image of the corresponding tail end position of the hybrid robot is collected and analyzed, and the actual pose of the corresponding tail end position of the hybrid robot is obtained; and the actual tail end pose of the hybrid robot is adjusted on the basis of the theoretical pose and the actual pose. According to the method, accurate recognition and calibration of the actual tail end pose corresponding to the hybrid robot are achieved.

The invention provides a double-mechanical-arm synchronous calibration method based on position information, and the method comprises the steps: A, building a double-mechanical-arm calibration system which comprises an upper computer, two mechanical arms, a 3D sensor and a standard ball, and the two mechanical arms are respectively a first mechanical arm and a second mechanical arm; the 3D sensor is mounted on a tail end flange of the first mechanical arm; the standard ball is mounted on a tail end flange of the second mechanical arm; b, measurement configuration planning: during trajectory planning, firstly delimiting a measurement space of the two mechanical arms, then generating poses of the two mechanical arms, and enabling a standard ball to be in a measurement range of a 3D sensor; c, measuring calibration data to obtain a calibration data set; the calibration data set comprises mechanical arm pose data and sphere center coordinates; d, the calibration data set is input into the calibration model E, the calibration model is calculated, and the base, hand eye and tool-flange parameters of the double-mechanical-arm system are obtained. Only position information needs to be measured, the measurement cost is reduced, and meanwhile the selection range of the calibration sensor is widened.

The utility model relates to a multi-suction-nozzle mechanical arm calibration platform. The multi-suction-nozzle mechanical arm calibration platform is used for calibrating the relative positions of a plurality of suction nozzles of the multi-suction-nozzle mechanical arm. The calibration platform comprises a rack, a movement mechanism arranged on the rack, an insertion calibration plate, a visual inspection mechanism and a fine adjustment mechanism connected to the multiple suction nozzles. The movement mechanism comprises a transverse translation mechanism capable of driving the multiple suction nozzles to move in the first direction, the insertion and matching calibration plate and the visual detection mechanism are sequentially arranged in the first direction, and the multiple suction nozzles are matched with the insertion and matching calibration plate in an insertion mode so as to preliminarily calibrate the relative positions of the multiple suction nozzles. The visual detection mechanism detects the relative coordinate position and the deviation value of each suction nozzle after preliminary calibration of the insertion calibration plate, and the fine adjustment mechanism accurately adjusts the position of the suction nozzle based on the deviation value detected by the visual detection mechanism. According to the multi-suction-nozzle manipulator calibration platform provided by the invention, the calibration accuracy and the calibration efficiency of the suction nozzles can be improved.

The invention relates to the field of robot control, in particular to a mobile operation robot control system and method based on target pose confidence, and the system comprises a machine calibration module, a visual guidance module, a workpiece positioning module, an assembly control module and a contact feedback module, the visual guidance module is used for controlling the robot to enter an operation station, the workpiece positioning module is used for recognizing a workpiece and positioning an assembly contact surface, the assembly control module is used for determining an assembly pose of the workpiece, and the contact feedback module is used for adjusting an online force position. The device adapts to dynamic environment changes, reduces production operation and maintenance cost, improves migration efficiency and adaptability of shaft hole assembly, improves assembly quality, improves assembly efficiency and accuracy of an assembly robot, and meets actual requirements of a production line.

A data collection apparatus for calibration of a robot vision system, according to the present invention, comprises a processor that carries out functions of collecting data for calibration of a robot, the functions comprising: acquiring images of a calibration sheet positioned at an arbitrary position at n reference viewpoints serving as a reference for an operating range of the robot; calculating calibration parameters on the basis of the images; applying the calibration parameters to generate and accumulate n mask images at the n reference viewpoints; calculating the position of a new viewpoint reachable by the robot other than the reference viewpoints; and determining a viewpoint direction for generating a new mask image that minimizes an area overlapping the accumulated mask images at the position of the new viewpoint.

The invention discloses a calibration method for improving absolute positioning precision of a robot by adopting visual image processing, and belongs to the field of industrial robot calibration. Firstly, a three-dimensional measurement model of stereoscopic binocular vision is constructed to obtain point cloud; constructing a robot standard working pose point cloud model and a real working pose point cloud model; and optimizing the point cloud model by adopting an improved point cloud denoising algorithm. And secondly, according to an error between the two point cloud models, a space offset equation of a connecting rod is obtained through calculation, so that tail end offset of the robot caused by a working environment and a load is compensated. Compared with a robot calibration method based on an RGB image, the method can avoid the problem of depth information loss caused by two-dimensional projection, and the calibration precision is remarkably improved.

The application discloses a kind of industrial robot ball bar instrument grading calibration method based on spherical surface and ball center distance error model, belong to industrial robot precision calibration technical field.The application solves the problems that traditional robot calibration relies on laser tracker, cost is high and operation is complex, and traditional ball bar instrument calibration tolerance range is limited, cannot cover large workspace.This method uses high-precision ball bar instrument to obtain the spatial distance data of end effector under different postures, constructs spherical surface and ball center distance error model, without establishing or measuring robot base coordinate system, and eliminates the influence of tool coordinate system in derivation process, realizes the rapid identification and optimization of robot kinematics parameters;At the same time, a grading calibration strategy is proposed, which gradually expands the measurement range by using ball bar instruments with different rod lengths, and realizes the precision improvement of robot full workspace.The application is simple in operation, low in cost and strong in applicability, can significantly improve the absolute positioning accuracy of industrial robot end effector, and has good engineering application value.

A robot calibration method, a robot, and a computer-readable storage medium are provided. The method includes: obtaining operation space information of the execution end of the robot; obtaining operation space points after gridding an operation space of the robot by gridding the operation space based on the operation space information; obtaining calibration data by controlling the execution end to move to the operation space points meeting a preset requirement; and calibrating the hand and the image detection device of the robot based on the obtained calibration data. In this manner, the operation space points are determined by gridding the operation space based on the operation space information, and the execution end can be automatically controlled to move to the operation space points that meet the preset requirements so as to obtain the calibration data in an automatic and accurate manner, thereby simplifying the calibration process and improving the efficiency.

This application relates to the fields of robot calibration and computer vision, and discloses a robust calibration method for a line laser robot vision system based on model reconstruction. The method includes: fixing a line laser sensor and initializing a hand-eye matrix; installing a freeform surface calibration object on the robot's end effector to acquire surface point clouds and end effector pose data in multiple poses; transforming the point cloud to the robot's end effector coordinate system based on the initial hand-eye matrix to obtain a reconstructed point cloud; searching for the nearest point from the reconstructed point cloud to the calibration object surface and calculating the point-to-surface distance residual; deriving the Jacobian matrix of the residual with respect to the current hand-eye matrix using a Lie algebra right-multiplication perturbation model; establishing an optimization function with residual minimization as the objective and introducing adaptive weights; solving for the hand-eye matrix error vector; and performing manifold updates on the hand-eye matrix until convergence. This application eliminates the dependence on standard parts, removes intermediate fitting errors, and suppresses measurement posture interference through a robust weighting mechanism, thereby improving calibration accuracy and robustness.

This invention discloses a calibration device for a reactor pressure vessel inspection robot, comprising a nozzle area calibration component and a cylinder area calibration component that work together to perform remote ultrasonic calibration. This reactor pressure vessel inspection robot calibration device enables remote in-situ ultrasonic calibration, replacing the traditional equipment effluent calibration mode. It avoids the cumbersome process of equipment effluent, calibration, and re-entry, significantly shortening the critical path duration of nuclear power reactor pressure vessel overhauls and improving overall overhaul efficiency. The nozzle area calibration component is fixed to the inspection robot's support legs via a connecting backplate and can be hoisted into and out of the water along with the robot. This eliminates the need for separate scheduling of hoisting resources for the nozzle area test block and eliminates the need for personnel to perform long-pole remote operations on the reactor pool bridge platform, significantly reducing the time spent on hoisting and re-entry of hoisting and bridge resources. The auxiliary installation components of the cylinder area calibration component can adapt to multiple operating conditions, expanding the device's applicability.

The invention provides a robot calibration method, a robot calibration device and a computer storage medium. The robot calibration method comprises the steps that the positions of all mechanical arm motor encoders of a robot and the position of a first marker at the tail end of the robot are read; according to the position of a motor encoder, the joint angle of each mechanical arm is obtained; the joint angle is substituted into the kinematics positive solution of the tail end mechanical arm, and the calibration position of the tail end of the robot is obtained; acquiring the position of a second marker according to the tool position and the calibration position of the marker for the tail end coordinate system of the robot; and solving the distance error model by utilizing a plurality of teaching positions, and calibrating identification parameters of the robot. Through the robot calibration method, the distance error model is constructed by using the direct measurement result and the kinematics operation result of the robot tail end marker, the identification parameters of the robot are solved, a large number of coordinate system conversion operation processes are not needed, the calibration process can be effectively simplified, and the calibration efficiency is improved.

The embodiment of the specification provides a robot calibration method, device and embodied robot, wherein the robot calibration method is applied to a target robot, the target robot is provided with a mechanical arm, a first image acquisition device and a second image acquisition device, wherein the end of the mechanical arm is provided with an adjustable hybrid calibration plate, and the method comprises the following steps: in response to a calibration instruction triggered for the target robot, determining a motion instruction sequence associated with the mechanical arm; driving the mechanical arm to drive the hybrid calibration plate to move in a common field of view area of the first image acquisition device and the second image acquisition device according to the motion instruction sequence; acquiring calibration images of the mechanical arm in the motion state through the first image acquisition device and the second image acquisition device to obtain a calibration image sequence; determining sub-pixel corner point information corresponding to the hybrid calibration plate according to the calibration image sequence, and generating target calibration parameters corresponding to the target robot based on the sub-pixel corner point information.