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An Iekf-based Absolute Precision Calibration Method for Industrial Robots

An industrial robot and calibration method technology, applied in the field of robot calibration, can solve the problems of truncation error, poor robot identification accuracy, time-consuming, etc., and achieve the effects of reducing linearization error, high accuracy, and improving identification accuracy.

Active Publication Date: 2019-04-16
湖州菱创科技有限公司
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Problems solved by technology

Some scholars have proposed the EKF method to make up for the low accuracy of least squares identification and the time-consuming identification process. However, EKF linearizes the nonlinear system model through Taylor series expansion and ignores high-order terms, which cannot be avoided. The ground will introduce truncation error, resulting in poor accuracy of robot parameter error identification

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  • An Iekf-based Absolute Precision Calibration Method for Industrial Robots
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  • An Iekf-based Absolute Precision Calibration Method for Industrial Robots

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Embodiment Construction

[0021] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the embodiments and with reference to the accompanying drawings.

[0022] An IEKF-based absolute precision calibration method for industrial robots, the operation flow chart is as follows figure 2 As shown, the method includes the following steps:

[0023] The first step: establish a robot kinematics model, including the following steps:

[0024] Step (1), using the D-H rule to build a robot kinematics model.

[0025] In the D-H rule, the kinematic relationship between two adjacent bars is:

[0026]

[0027] In the formula, it is the movement of connecting rod i and connecting rod i-1 learning relationship, a i is the connecting rod length, d i is the connecting rod offset, α i is the joint torsion angle, θ i is the joint rotation angle.

[0028] Step (2), each homogeneous transf...

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Abstract

The invention discloses an industrial robot absolute accuracy calibrating method based on IEKF. The method is characterized by comprising the following steps: a parameter error model is built, and a laser tracking system is used for sampling data in a robot terminal position in a Cartesian space to obtain position errors under different coordinates; geometric parameter nominal values are used for building a kinetic model of a robot, and parameter vectors to be identified are built by combining with a vector product method to obtain a parameter Jacobian matrix; and parameter errors in the parameter error model are identified by using an IEKF algorithm, and parameter errors of the robot are obtained through iterative computation. Finally, the parameter errors are used for correcting the geometric parameter nominal values to finish kinematic calibration of the industrial robot so as to realize absolute accuracy calibration of the robot. The robot absolute accuracy calibrating method based on IEKF, provided by the invention, is suitable for any serial joint robot and any plane joint robot.

Description

technical field [0001] The invention relates to the technical field of robot calibration, in particular to an IEKF (Iterative Extended Kalman Filter)-based industrial robot absolute precision calibration method. Background technique [0002] The high-end manufacturing industry urgently needs high-performance industrial robots, which is also an important link to improve the productivity of the entire manufacturing system, reduce production costs, and improve product quality. The positioning accuracy of the robot is an important indicator reflecting the comprehensive performance of the robot, mainly including repeat positioning accuracy and absolute positioning accuracy. At present, the repeated positioning accuracy of industrial robots is relatively high, but its absolute positioning accuracy is low, which makes it difficult to meet the production needs of high-precision industrial sites. [0003] The positioning error of the robot is caused by a variety of factors, which ar...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1692
Inventor 白瑞林李松洋
Owner 湖州菱创科技有限公司
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