Robot Tool Calibration via Single-Point Reference Alignment
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Solution Overview
Problem
The existing four-point calibration method for tool center points in a robot's flange coordinate system is complex and inefficient, requiring multiple movements to a calibration reference point, which affects the processing efficiency of workpieces.
Innovation Solution
A method and apparatus that acquire the rotation angles of each joint and calibration information of a tool center point in the flange coordinate system, allowing for the completion of calibration with only one movement to the calibration reference point, reducing the number of required movement paths and simplifying operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the four-point calibration method is used to determine the tool center point coordinate, then the calibration accuracy can be ensured, but the calibration operation becomes complicated and time-consuming
Solution Approach 1:
The patent extracts the essential calibration information from the complex four-point method by identifying that only one movement path is needed to obtain the necessary rotation angles and calibration data. The method extracts the core calibration parameters (tool center point coordinate and tool coordinate system) while eliminating the need for multiple repetitive movements to the same reference point.
Solution Approach 2:
Instead of requiring four complete movements to the calibration reference point, the patent uses a partial action approach by performing only one movement to obtain sufficient calibration data. This reduces the calibration operations while still acquiring the necessary rotation angles and coordinate information for accurate tool calibration.
2Reliability
If multiple movement paths are selected for the tool center point to move to the calibration reference point, then the calibration completeness is improved, but the operation complexity increases significantly
Solution Approach 1:
The patent extracts the essential calibration information from the complex four-point method by identifying that only one movement path is needed to obtain the necessary rotation angles and calibration data. The method extracts the core calibration parameters (tool center point coordinate and tool coordinate system) while eliminating the need for multiple repetitive movements to the same reference point.
Solution Approach 2:
Instead of requiring four complete movements to the calibration reference point, the patent uses a partial action approach by performing only one movement to obtain sufficient calibration data. This reduces the calibration operations while still acquiring the necessary rotation angles and coordinate information for accurate tool calibration.
3Measurement precision
If the tool center point moves four times to the calibration reference point in the four-point calibration method, then the calibration accuracy is maintained, but the calibration efficiency is reduced
Solution Approach 1:
The patent extracts the essential calibration information from the complex four-point method by identifying that only one movement path is needed to obtain the necessary rotation angles and calibration data. The method extracts the core calibration parameters (tool center point coordinate and tool coordinate system) while eliminating the need for multiple repetitive movements to the same reference point.
Solution Approach 2:
Instead of requiring four complete movements to the calibration reference point, the patent uses a partial action approach by performing only one movement to obtain sufficient calibration data. This reduces the calibration operations while still acquiring the necessary rotation angles and coordinate information for accurate tool calibration.
Data Source
AI summary
A method and an apparatus for calibrating a tool in a flange coordinate system of a robot are disclosed. The method includes: acquiring a rotation angle of each joint of a robot when a to-be-calibrated tool fasted on an end joint mounting portion of the robot moves to a central point of the to-be-calibrated tool and overlaps with a calibration reference point; acquiring calibration information of a central point of a calibrated tool in a flange coordinate system of the robot; and completing calibration of the central point of the to-be-calibrated tool in the flange coordinate system of the robot according to the calibration information of the central point of the calibrated tool and a rotation angle of the to-be calibrated tool.