Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Robot calibration method based on measuring head

A calibration method and robot technology, applied in the field of robot calibration, can solve problems such as expensive data measurement and complex calibration models, and achieve the effects of improving absolute positioning accuracy, obvious calibration effect, and low cost

Inactive Publication Date: 2015-08-12
JIANGNAN UNIV
View PDF9 Cites 18 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the previous calibration process, the established calibration model was complex, and data measurement required expensive measuring instruments, and at the same time, it was necessary to deal with complex conversion operations between the measurement coordinate system and the robot base coordinate system

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Robot calibration method based on measuring head
  • Robot calibration method based on measuring head
  • Robot calibration method based on measuring head

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0031] refer to figure 1 , 2 , 3, 4, a method for calibration of a robot based on a measuring head, comprising the following steps:

[0032] A. Establish robot kinematics model

[0033] Establishing the robot kinematics model is the basis for analyzing the performance of the robot, and the robot motion model is established by the traditional D-H method. The D-H method is to use four parameters θ, d, α, a to represent the homogeneous transformation relationship between the robot linkages, θ represents the robot joint x i-1 and x i Angle around the z axis; d stands for x i-1 and x i The distance to translate along the z-axis; α represents z i-1 and z i Rotation angle around the x-axis; a represents z i-1 and z i The distance translated along the x-axis transforms the link coordinate system i to the homogeneous transformation matrix A of the link coordinate system i-1 i for:

[0034] A i =Rot(X,α i-1 )Trans(X,a i-1 )Rot(Z,θ i )Trans(Z,d i )

[0035] Then the tota...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a robot calibration method based on a measuring head. The robot calibration method comprises the following steps: establishing a robot kinematic model; arranging the measuring head on an end of a flange disc of the robot; carrying out tool parameter calibration of the measuring head; disposing a calibration block in the robot working space; carrying out the demonstration and the measurement of the calibration block; carrying out the kinematic parameter calibration of the robot; and identifying the calibration experiment results. The measuring head is used for the technology field of the robot calibration, and the robot calibration method is simple, practical, and effective, and is suitable for any serial connection robots, and therefore the universality is strong, and at the same time, the absolute positioning precision of the robots can be improved.

Description

technical field [0001] The invention relates to a robot calibration method based on a measuring head, belonging to the technical field of robot calibration. Background technique [0002] 1. With the development of industrial technology and the sharp rise in labor costs, domestic industrial robots have been rapidly developed and applied. Generally speaking, the repeated positioning accuracy of industrial robots is very high (up to 0.01 mm), while its absolute positioning accuracy is low, generally ranging from a dozen millimeters to several millimeters, which has a great impact on the performance of the robot, so it is necessary to The robot performs parameter calibration to identify the actual parameters of the robot and improve the absolute positioning accuracy. [0003] 2. Robot calibration is an integrated process of modeling, measurement, parameter identification and error compensation. Firstly, the robot error identification model is established, and then the experime...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G01B21/00
CPCG01B21/00
Inventor 平雪良齐飞刘洁蒋毅
Owner JIANGNAN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com