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Planar constraint based robot calibration method

A technology of plane constraint and calibration method, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as low calibration accuracy, complicated operation, and increased cost

Inactive Publication Date: 2015-05-13
JIANGNAN UNIV
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Problems solved by technology

[0003] 2. However, the traditional calibration method uses expensive measuring instruments during data measurement. This process is complex and requires professional personnel to operate, which increases the cost of calibration. At the same time, this process needs to deal with the relationship between the measurement coordinate system and the robot base coordinate system. The complex conversion relationship between them is easy to introduce external errors, resulting in low calibration accuracy and increased errors.

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Embodiment Construction

[0045] combined with figure 1 , 2 3. Explain and illustrate the technical route proposed by the present invention in detail. The examples applied here are not only applicable to this example, but also applicable to various serial robots.

[0046] refer to figure 1 , the robot calibration method based on plane constraint of the present invention comprises the following steps:

[0047] (1) Establish robot kinematics model

[0048] The establishment of the robot kinematics model is the basis for analyzing the performance of the robot. It mainly expresses the relationship between the various connecting rods in a parametric form. The most common one is expressed by the DH method, that is, four parameters θ, d, α , a to represent the homogeneous transformation relationship between the connecting rods, then the homogeneous transformation matrix between the adjacent connecting rod coordinate system i-1 and the connecting rod coordinate system i is:

[0049] A i =Rot(X,α i-1 )Tra...

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Abstract

The invention relates to a planar constraint based robot calibration method. The planar constraint based robot calibration method specifically comprises the following steps of utilizing a DH and MDH combination method to establish a robot kinematic model, establishing a robot tail end position error model based on a differential conversion principle, establishing a position calibration model of a robot based on planar constraint, setting a calibration block pose position, demonstrating and recording the robot tail end theoretical pose position, calibrating motion parameters of a robot, utilizing a calibration result to perform comparison, and performing re-calibration if the accuracy requirement is not met. The planar constraint based robot calibration method has the advantages of being simple, practical, efficient and low in cost, expensive measurement instruments are not needed, calibration cost is reduced, and positioning accuracy is improved.

Description

technical field [0001] The invention relates to a robot punctuation method based on plane constraints, and relates to the technical field of industrial robot calibration. Background technique [0002] 1. The positioning accuracy of the robot is an important performance index of the tandem robot, the basis of the off-line programming of the robot, and an important guarantee for the robot to complete the task. With the complexity of the robot application environment, the industry has put forward higher requirements for the positioning accuracy of the robot, and the robot is expected to have a high absolute positioning accuracy. However, due to the influence of robot parts processing and assembly errors, robot flexible deformation errors, and errors caused by environmental factors, the absolute positioning accuracy of the robot is only in the range of ±100mm to 0.1mm. The robot kinematics calibration is the most effective way to improve the positioning accuracy of the robot. I...

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Application Information

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IPC IPC(8): B25J9/18B25J19/00
Inventor 平雪良齐飞刘洁蒋毅
Owner JIANGNAN UNIV
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