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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 avoid conversion, introduce small errors, and achieve simple effects

Active Publication Date: 2012-03-21
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 the exponential product model, providing industrial robots 1, robot-independent measuring instruments 3, terminal stereo imaging equipment 2 and stereo calibration blocks 4. The terminal stereo imaging equipment is installed at the end of the robot in a detachable connection mode, the measuring instrument is installed on the ground bracket of the calibration site, and the stereo calibration block is located in the part that can be detected by both the calibration field measuring instrument and the terminal stereo imaging equipment.

[0025] Combine figure 2 , {W} represents the world coordinate system, which is established on the measuring instrument, {T} represents the tool coordinate system is established on the terminal stereo imaging device. The purpose of robot positioning is to determine the coordinates of the space point P in the world coordinate system, and its homogeneous coordinates are expressed as X w , And th...

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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. It is difficult to provide a good calibration method due to the many parameters involved in robot calibration, the difficulty of model establishment, and the difficulty of precise measurement of the robot coordinate system. However, this part is the main factor that affects 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 mai...

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Application Information

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Patent Type & Authority Patents(China)
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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