Non-contact high-precision calibration method of tool coordinate system of single robot

Abstract

The invention discloses a non-contact high-precision calibration method of a tool coordinate system of a single robot, comprising the following steps: first, calibrating a fundamental coordinate system of a robot; second, calibrating a workpiece coordinate system of the robot. The calibration employed by the invention is that a tool sleeve can perform a significantly complete calibration on the tool coordinate system of the robot. The calibration is that the tool sleeve can ensure repeatability of each operation, so as to furthest reduce errors generated by man-made calibration. The method provided by the invention, the non-contact high-precision calibration method of the fundamental coordinate system of the robot, and the non-contact high-precision calibration method of a tool coordinate system of the single robot are cooperated for application, so that basic technical basis is provided to realize accurate transformation of the robot pose, parameterization programming of the robot, high-precision coordination work of a robot group and pose transformation of the robot, resettlement of the robot system, multi-station program share of the robot and locus program of the robot and the like.

Description

technical field [0001] The invention relates to a calibration method for an industrial robot, in particular to a non-contact high-precision calibration method for a tool coordinate system of a single robot. Background technique [0002] The flexible processing and production unit based on industrial robots has become the main development direction of the manufacturing industry. Among them, the accurate control of the robot pose, the parametric programming of the robot, the high-precision coordination work of the robot group, the transformation of the robot pose, and the control of the robot system The needs of relocation, robot multi-station program sharing, robot trajectory planning, etc. are gradually becoming the focus of attention. All of the above aspects require the establishment of accurate models of the actual robot and its working environment, as well as other equipment and tools, so the calibration of the robot’s environmental parameters (workpiece coordinate syste...

AI Technical Summary

Problems solved by technology

like figure 1 Shown is the robot’s TCP (Tool Coordinate Point, tool coordinate system) calibration method. The operation of this calibration method is relatively cumbersome, and it also has certain requirements for the space point. When the robot needs to keep the position of the space point unchanged, different The attitude is completed by several points; moreover, the calibration accuracy varies from operator to operator, and there are certain uncontrollable factors, which makes the value obtained after calibration have a large error, usually at the millimeter level, and takes a lot of time

The disadvantages of this calibration method cannot meet the requirements of modern production for higher precision of robots, higher efficiency of calibration operations, and higher calibration accuracy

[0005] Chinese patent 201010545419.7 discloses a robot tool coordinate system automatic calibration device and method based on laser tracking measurement, but it only calibrates the robot tool coordinate system, not the entire robot system, which causes even if the accuracy of the tool coordinate system reaches To a certain extent, but because the accuracy of other coordinate systems cannot match, it will also affect the accurate control of the robot pose, the parametric programming of the robot, the high-precision coordination of the robot group, the transformation of the robot pose, the relocation of the robot system, and the multi-robot Applications in station program sharing, robot trajectory planning, etc.

[0006] Neither the traditional robot tool coordinate system calibration method nor the existing robot tool coordinate system calibration method based on laser tracking measurement can meaningfully and completely calibrate the robot tool body, that is, in general, the expected calibration After the completion, let the Z direction of the tool coordinate system of the tool body be consistent with the direction of the bending section of the front section of the tool body. The calibration accuracy of the Z direction of the tool body directly affects the accurate control of the robot's pose, the parameterized programming of the robot, and the alignment of the robot group. Applications in high-precision coordinated work, robot pose transformation, robot system relocation, robot multi-station program sharing, robot trajectory planning, etc.

Images