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Workpieces reference frame marking method based on relative measurement

A technology of workpiece coordinates and relative measurement, which is applied to measuring devices, instruments, etc., can solve problems such as inaccurate calibration, calibration errors of measurement systems, robot system errors, etc., and achieve the effects of accurate results, improved operation accuracy, and simple operation process

Active Publication Date: 2008-01-02
天津智通信息系统集成有限公司
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Problems solved by technology

The method of absolute measurement can complete the positioning of the workpiece coordinate system pose (Wobj) to a certain extent, but in the process of absolute measurement, there are system errors of the robot and calibration errors of the measurement system, which makes the calibration method in the prior art The calibration of these workpiece positions is not accurate enough

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  • Workpieces reference frame marking method based on relative measurement
  • Workpieces reference frame marking method based on relative measurement
  • Workpieces reference frame marking method based on relative measurement

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Embodiment Construction

[0032] The core idea of ​​the present invention is: calibrate the initial value of the workpiece coordinate system pose (Wobj), and use the transformation matrix between the initial value of Wobj and the actual value to complete the calibration of the workpiece coordinate system.

[0033] Referring to Fig. 1, it is a structural diagram of an embodiment of the present invention;

[0034] As shown in the figure, it includes a robot 10 , a measuring device 11 , and a workpiece 12 , wherein the base 101 of the robot 10 and the measuring device 11 are respectively fixed, for example, in the world coordinate system, and the workpiece 12 is fixed at the end 102 of the robot 10 .

[0035] The measuring device 11 may be a linear displacement sensor (LVDT) or a point laser measuring device.

[0036] Referring to Fig. 2, it is a flowchart of an embodiment of the present invention;

[0037] Step 201, calibrate the positional relationship between the relative zero point of the measuring d...

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Abstract

The invention discloses a workpiece reference frame marking method which is based on relative measurement which is used to mark workpiece reference frame whose precision and work precision are higher; the method controls movement of robot by marking position of measuring device and original value of workpiece reference frame, and generating surface process path on surface of dummy surface, records offset of said object point by measuring coordinate of said object point, by resolving conversion matrix between original value and real value of said workpiece reference frame to accomplish marking of said workpiece reference frame; by the method, measurement can be simplified, system error of robot can be compensated, marking precision of robot reference frame and working precision can be increased.

Description

technical field [0001] The invention relates to the technical field of position and orientation calibration of a workpiece, in particular to a calibration method of a workpiece coordinate system in the field of robotics. Background technique [0002] Coordinate system calibration is a key technology in the field of robotics, and its task is to determine the position of workpieces, tools, etc. in the robotic processing system. The general workpiece calibration algorithm can be called an algorithm based on absolute measurement; this type of algorithm converts the measurement point into the robot end coordinate system (Tool 0 ) coordinates (when the workpiece is fixed at the end of the robot) or converted to coordinates in the world coordinate system (when the workpiece is fixed in the world coordinate system); then, use other algorithms such as the least square method to calibrate the workpiece position . The method of absolute measurement can complete the positioning of the...

Claims

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Application Information

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IPC IPC(8): G01B21/02G01B21/04
Inventor 吴水华汤青甘中学刘平刘华根孙云权
Owner 天津智通信息系统集成有限公司
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