73 results about "Robot calibration" patented technology

The invention discloses a time stretching sweep frequency interference high-precision distance measurement method and device based on double auxiliary interferometers, and relates to the technical field of non-cooperative target absolute distance measurement. In order to solve the technical defects that in the prior art, due to initial wavelength fluctuation of a light source and frequency sweeping nonlinearity, drift of a ranging result is large, and interference signals are interfered by zero-frequency noise, the technical scheme provided by the invention comprises the following steps: acquiring linear frequency modulation optical signals output by a common-source frequency sweeping laser; the signals are respectively transmitted to a measurement interferometer, an auxiliary interferometer and a resampling auxiliary interferometer to form a homologous three-interference structure; a dispersive medium is introduced through the reference arm, so that the reference light generates time stretching and interferes with the measurement light to form a chirp beat frequency signal; k-domain resampling and cross-correlation processing are carried out on the beat frequency signals, and target distance information is extracted. The method is suitable for high-precision and wide-range non-cooperative target absolute distance measurement work, and is especially suitable for the fields of laser radar three-dimensional modeling, precision industrial detection, robot calibration and the like.

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 relates to a double-robot automatic calibration method based on self-adaptive point location planning in a restricted space, and belongs to the technical field of double-robot calibration, and the method comprises the steps: building a three-dimensional simulation model of a double-robot operation space on an Rviz platform based on an ROS architecture; a collision detection module is used for randomly generating a calibration point composed of collision-free double-robot joint angle vectors; when the robot is driven to move, data of the motion capture camera and positive kinematics Cartesian coordinates of the double robots are synchronously collected, a calibration result is obtained through optimization of a least square method by adopting a hand-eye calibration algorithm, and the effectiveness of the calibration result is judged through the average value of data calibration precision until calibration of the double robots is completed. Simulation modeling, collision detection and a hand-eye calibration technology are fused, a complex calibration problem is converted into a virtual environment parameter optimization process through a self-adaptive sampling strategy and a data synchronous acquisition mechanism, calibration robustness and precision are remarkably improved, and guarantee is provided for high-precision cooperative control of double robots.

The invention relates to a parallel robot calibration method, aims to provide a parallel robot compensation method combining data driving with a few-parameter error model, and aims to solve the problems of difficulty in error modeling of a parallel robot with a complex structure and geometric errors and non-geometric errors of residual parts which cannot be identified after traditional kinematics calibration. According to the technical scheme, the method comprises the steps that 1, a closed-loop vector method is used for conducting kinematics analysis on the parallel robot of the complex structure to obtain an inverse kinematics model; 2, establishing a few-parameter geometric error model for the inverse kinematics model by adopting a vector differential method; 3, selecting a least square method optimization function to carry out parameter identification on the parameters of the small-parameter geometric error model; 4, carrying out a kinematics calibration experiment, and updating a parameter identification result to eliminate part of geometric errors; 5, historical data of a calibration experiment are collected, and a Gaussian process regression machine learning model is used for parameter selection and model training; and 6, carrying out prediction compensation on residual unrecognizable geometric errors and non-geometric errors after 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.

A method for calibrating a robot is disclosed. A working space of the robot at least partly overlaps with a working space of a machining and / or production tool. The robot is moved such that a reference point of the robot is at a first position within the working space of the machining and / or production tool. A first position value for the robot at the first position is compared with a first position value for the machining and / or production tool at the position. If the first position value for the robot differs from the first position value for the machining and / or production tool, the first position value for the robot is corrected or the first position value for the machining and / or production tool is corrected such that the first position value for the robot and the first position value for the machining and / or production tool are the same.

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 present invention discloses a robot calibration method for LM and ARO algorithms, comprising step S1, establishing a robot kinematic error model using an MDH model; step S2, obtaining robot joint data and laser tracker measurement data of sampling points; step S3, calculating the distance values ​​between two points corresponding to the robot end points, and establishing an objective function through the distance difference between the two points; step S4: performing parameter iterative optimization on the objective function of step S3 using the LM‑ARO algorithm to obtain a robot kinematic parameter error value that satisfies the minimum objective function value. The present invention solves the rounding error of high-order terms of the single LM algorithm, and also overcomes the problem of slow search speed and low efficiency caused by the large search range of the single ARO algorithm. No constraints of standard parts are required. At the same time, the calibration cost is low, and the robot kinematic parameter error can be effectively calibrated, significantly improving the accuracy level of the robot.

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 application provides a robot calibration method based on a feature difference learning neural network model, which calibrates a robot work reference object through a trusted feature discrimination convolutional neural network, a feature difference learning strategy and a three-dimensional bounding box prediction network based on a view cone-link dynamic graph. The application combines multi-modal visual information data to construct a trusted feature discrimination convolutional neural network, a feature difference learning strategy and a three-dimensional bounding box prediction network based on a view cone-link dynamic graph, solves the problem that existing robot calibration methods are easily affected by multi-form reference objects and random noise, and improves the robot calibration precision in a large-scale production environment.

The application is a kind of method for large thin-walled cylinder component machine tool and robot collaborative processing, characterized in that it comprises the following steps: step one, establishing the hardware configuration of the system; step two, calibrating the system; step three, based on the above matrix transformation relationship, the relative position and posture in the component coordinate system {PF} and the robot coordinate system {BF} are calculated by formula; step four, after obtaining the calibration result, the component is milled. Therefore, the positioning accuracy of robot offline programming is improved by relying on the accuracy of the machine tool, and the processing efficiency is improved. In addition, by calibrating the position relationship between the robot and the component through the machine tool, the limitations during robot calibration are avoided.

The present application relates to the field of robot calibration, and specifically to a robot end-tool calibration method, apparatus, device, and computer-readable storage medium. The method includes: determining whether a preset calibration component and a laser rangefinder to be calibrated satisfy the conditions that the calibration component and the laser rangefinder are connected, and the position of the spot formed by the laser emitted by the laser rangefinder on the calibration component is located within the target area of ​​the calibration component; if so, when the calibration component is located at each target position, controlling the target robot to complete contact between the target area and the preset fixed position in multiple different postures; calibrating the relative position relationship between the laser rangefinder and the robot end based on the posture coordinates of the robot end and the distance measurement value output by the laser rangefinder when the calibration component is located at the target position and the target robot is located at each posture. The present application can improve the accuracy and efficiency of the relative position calibration between the laser rangefinder at the robot end and the robot end.

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.

Embodiments of the present invention provide a robot calibration method, apparatus, electronic device, and storage medium, relating to the field of robot calibration. The method includes: acquiring a first pose transformation matrix, determining a second pose transformation matrix and a third pose transformation matrix, acquiring a docking tool size information matrix, calculating a docking error matrix based on the first pose transformation matrix, the second pose transformation matrix, the third pose transformation matrix, and the docking tool size information matrix, obtaining new second pose transformation matrices and new third pose transformation matrices based on the second pose transformation matrix, the third pose transformation matrix, and the docking error matrix, returning to the step of calculating the docking error matrix until the docking error matrix converges to obtain a target docking error matrix, and calibrating a dual-robot device based on the target docking error matrix. The above calibration method does not rely on external measuring equipment, which can significantly reduce equipment costs and eliminates the space occupied by external equipment.

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.

The application belongs to the technical field of robot calibration, and discloses an auxiliary calibration device for a grinding wheel tool coordinate system and a method thereof. The auxiliary calibration device comprises a posture measuring device and a position calibration device. The posture measuring device comprises a motor-driven screw rod lifting platform arranged on a base through two guide rails, a laser imager and a first convex lens are installed side by side on the lifting platform, and a display and two laser ranging sensors are installed on the base. In addition, the position calibration device comprises mechanical clamps installed on both sides of a bottom plate through two connecting rods, a point light source, an electronic level, a limiting frame and a second convex lens are installed on the bottom plate through a support frame. The application adopts an optical-electric calibration method to avoid contact between a robot tool and a calibration cone, which can not only reduce damage to the tool, but also improve the calibration accuracy, and effectively solves the calibration problem of the grinding wheel tool for the tool coordinate system of the industrial 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.