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A PMPSD-based Absolute Precision Calibration Method for Industrial Robots

An industrial robot and absolute precision technology, which is applied in the field of robot calibration, can solve problems such as the inability to accurately identify geometric parameter errors of industrial robots, and achieve the effects of saving calibration time, avoiding errors, and strong generality of the method

Active Publication Date: 2020-04-14
湖州菱创科技有限公司
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Problems solved by technology

However, the problem with this method is that it is difficult to accurately project the laser beam to the center of the PSD through feedback control for industrial robots with low precision, so the point constraint method cannot be used to accurately construct the correct constraint objective function, and thus cannot accurately identify Geometric parameter errors of industrial robots

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  • A PMPSD-based Absolute Precision Calibration Method for Industrial Robots
  • A PMPSD-based Absolute Precision Calibration Method for Industrial Robots
  • A PMPSD-based Absolute Precision Calibration Method for Industrial Robots

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[0023] 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.

[0024] A PMPSD-based absolute precision calibration method for industrial robots, the operation flow chart is as follows image 3 As shown, the method includes the following steps:

[0025] The first step: establish the robot error kinematics model, including the following steps:

[0026] Step (1), use the D-H rule to build a robot error kinematics model.

[0027] In the D-H rule, the kinematic relationship between two adjacent bars is:

[0028]

[0029] In the formula, is the kinematic relationship between link i and link i-1, where a i is the connecting rod length, Δa i is the connecting rod length error, d i is the connecting rod offset distance, Δd i is the connecting rod offset error, α i is the joint tors...

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Abstract

The invention discloses a method for calibrating the absolute precision of an industrial robot based on a PMPSD. The method is characterized by comprising the following steps: establishing a robot error kinematic model, constructing a space multipoint virtual constraint, and carrying out data sampling by virtue of a PSD (Position Sensitive Detector); correcting a pose of a terminal laser of the robot by virtue of a space vector relation, correcting a joint corner of the robot by virtue of the corrected pose, and replacing a joint corner obtained from a robot demonstrator and a controller; constructing a model constraint target function, and optimizing the model constraint target function by virtue of a minimizing method, so as to obtain parameter errors of the industrial robot; and finally correcting a geometric parameter nominal value by virtue of the parameter errors, so as to finish the kinematic calibration and absolute precision correction of the industrial robot. By virtue of the method for calibrating the absolute precision of the industrial robot based on the PMPSD, the error problems caused by utilizing a PSD feedback control strategy and coordinate conversion are avoided; and the method is applicable to series-connection joint type robots and plant joint type robots.

Description

technical field [0001] The invention relates to the technical field of robot calibration, in particular to a PMPSD (Pose ModifyPosition Sensitive Detector)-based industrial robot absolute precision calibration method. Background technique [0002] With the expansion of the application field of industrial robots and the demand of high-end manufacturing industry, higher requirements are put forward for the performance of industrial robots. Positioning accuracy is an important index reflecting the comprehensive performance of the robot, which can be divided into 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 industries (such as automobile manufacturing, electrical and electronic industries). [0003] The positioning errors of industrial robots are mainly divid...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/17G06F30/20
CPCG06F30/17G06F30/20
Inventor 白瑞林李松洋
Owner 湖州菱创科技有限公司
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