Robot tail end positioning deviation correction method and system

Abstract

The invention provides a robot tail end positioning deviation correction method and system. The present includes the following steps that: 101, a camera calibration system is set; 102, the relative positions of the tail end of a manipulator and the center of a camera are calibrated; 103, the camera photographs the images of all mark points in a calibration plate and analyzes the images so as to obtain a series of deviation quantity data under the condition that the tail end of the manipulator drives the camera to move and traverse different Z values; and 104, a space deviation distribution table is constructed; and 105, the deviation of the tail end of the robot can be obtained based on the space deviation distribution table. According to the method and system of the invention, the calibration coefficient of the camera is calibrated; the relative positions of the tail end of the manipulator and the center of the camera are calibrated; the camera photographs the images of all the mark points in the calibration plate and analyzes the images so as to obtain deviation quantity under the condition that the tail end of the manipulator drives the camera to move and traverse different Z values, and the deviation correction table is stored; and manipulator positioning is compensated through searching the deviation correction table, and the manipulator can move to a set position.

Description

technical field [0001] The invention is applicable to the fields of robot end calibration, positioning and correction, and in particular relates to a method and system for correcting positioning deviation of a robot end. Background technique [0002] In the field of laser processing, a large number of galvanometers are used for scanning processing. Due to the installation of the galvanometer and various other reasons, the processed image in the scanning area will have various deformations. However, the traditional method of manual measurement is difficult to achieve 0.1 Positioning accuracy below millimeters. [0003] The publication date is August 26, 2009, and the Chinese invention patent application with the application number 200910105786.2 discloses a galvanometer correction system and correction method. The method uses a CCD image acquisition device to locate the matrix target, and uses a correction processing module to output Compensation file for galvo. Compared wi...

AI Technical Summary

Problems solved by technology

Compared with the traditional manual correction method, this method has higher accuracy, but there are still deficiencies.

The disadvantage is that this method directly uses the CCD image acquisition device to collect all the marking points in the galvanometer correction target. Due to the lens distortion of the CCD image acquisition device, the calculation error of the position deviation of each marking point is relatively large, and then the galvanometer correction make an impact

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