Method for simply and easily calibrating industrial robot

Abstract

The invention relates to a method for simply and easily calibrating an industrial robot. The method comprises the following steps of: establishing an industrial robot kinematics model, and solving a robot kinematics pose transfer matrix; extracting a robot end position component, and calculating an error transfer matrix; operating a robot end clamp to contact four side edges of a standard cube, reading a code disc number of each joint of the robot, and calculating a position coordinate; changing the pose of the standard cube, reading the code disc number of each joint of the robot again, calculating the position coordinate, and repeating the step for many times; and listing position coordinate matrix equations with an identification parameter, and arranging the position coordinate matrix equations in a manner of Ax=b, wherein A is of a matrix type, x is a column vector with the identification parameter, and b is the column vector, and if A is not strange, a parameter to be identified is solved, and the original parameter is corrected by using the identification result. The method disclosed by the invention has the advantages of convenience, practicability, lower cost, more simpleness on operations, capability of reaching a higher precision, and unnecessity of buying high-precision equipment, such as a high-precision laser instrument and a vidicon.

Description

technical field [0001] The invention relates to a robot calibration technology, in particular to a simple calibration method for an industrial robot. Background technique [0002] Robot calibration is one of the key technologies for the practical application of off-line programming technology. The so-called calibration is the process of using advanced measurement methods or geometric constraints and model-based parameter identification methods to identify accurate robot model parameters, thereby improving the absolute accuracy of the robot. [0003] The means of measurement is an extremely important factor in the calibration process. Research work has been started at home and abroad since the 1980s, and a variety of methods have been formed. There are two main categories: one is to measure with a high-precision measurement system, and then use mathematical methods to correct it; the other is robot self-calibration technology. There are usually two types of robot self-calibr...

AI Technical Summary

Problems solved by technology

[0004] The repetitive positioning accuracy of general industrial robots is relatively good, but the positioning accuracy is relatively poor

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