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Robot calibration method based on exponent product model

A calibration method and robot technology, applied in the field of robot calibration, to achieve the effect of small introduction error, avoidance of conversion and good stability

Active Publication Date: 2011-04-20
青岛卓信通智能科技有限公司
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Problems solved by technology

[0004] The purpose of the present invention is to provide a robot calibration method based on the exponential product model for the deficiencies of the current calibration method

Method used

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  • Robot calibration method based on exponent product model
  • Robot calibration method based on exponent product model
  • Robot calibration method based on exponent product model

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Embodiment Construction

[0024] see figure 1 , a robot calibration method based on an exponential product model, which provides a robot 1 for industrial use, a measuring instrument 3 independent of the robot, a terminal stereo imaging device 2 and a stereo calibration block 4 . The terminal stereoscopic imaging equipment is installed at the end of the robot in a detachable connection mode, the measuring instrument is installed on the ground support at the calibration site, and the stereoscopic calibration block is located at the position where both the measuring instrument and the terminal stereoscopic imaging equipment can be detected at the calibration site.

[0025] combine figure 2 , {W} indicates the world coordinate system, which is established on the measuring instrument, and {T} indicates that the tool coordinate system is established on the terminal stereoscopic imaging device. The purpose of robot positioning is to determine the coordinates of the space point P in the world coordinate syst...

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Abstract

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.

Description

technical field [0001] The invention relates to the field of robot calibration, and mainly studies the calibration method of industrial robots to improve the absolute positioning accuracy of industrial robots. Background technique [0002] Robot calibration includes body calibration and external calibration. Body calibration is the calibration of each joint parameter, and external calibration is the calibration of the transformation relationship between the robot coordinate system and the world coordinate system. Due to the many parameters involved in robot calibration, the difficulty of model establishment, and the difficulty in accurately measuring the robot coordinate system, it is difficult to give a good calibration method, but this part is the main factor affecting the final positioning accuracy of the robot. Therefore, the key issue to improve the absolute positioning accuracy of the robot is to provide a good robot calibration method. [0003] There are two main fac...

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Application Information

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IPC IPC(8): G01B21/00G01B21/22B25J19/00
Inventor 王海霞卢晓张志献林青
Owner 青岛卓信通智能科技有限公司
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