Method and system for calibrating pose error of mechanical arm

Abstract

The invention provides a method and system for calibrating the pose error of a mechanical arm. The method includes: performing equivalent differential transformation on the pose error of the tail endof the mechanical arm to obtain an equivalent differential motion vector, decomposing the equivalent differential motion vector into the equivalent differential motion vector of each joint shaft, during independent motion, of the mechanical arm, and performing calibration and decoupling transformation on the pose error of each joint shaft, during independent rotation sampling, of the mechanical arm to calibrate the pose error of the tail end of the mechanical arm. The method and system has the advantages that equivalent different transformation description is performed on the pose error at thetail end of the mechanical arm to obtain the equivalent differential motion vector, the equivalent differential motion vector is decomposed into the equivalent differential motion vector of each connecting rod coordinate system, and decoupling calculation and transformation are performed on the connecting rod coordinate systems and joint motion coupling relations to achieve high-precision and high-reliability synchronous calibration of the absolute pose error of the mechanical arm in a full working space range.

Description

technical field [0001] The present invention relates to the technical field of robot control and application, and more specifically, to a method and system for calibrating the pose error of a mechanical arm. Background technique [0002] With the development of the robot industry and the needs of modern manufacturing processes, the requirements for the working precision of the robot are getting higher and higher. The mechanical arm of the articulated robot generally realizes various motion functions through the combination of multiple rotating joints in series. , assembly, welding, spraying and other industrial sites have a wide range of applications. Since serial articulated robots often work in applications that require high precision and safety, this requires the robot to have high absolute positioning accuracy. Among them, the error calibration of the manipulator is the premise and necessary means to improve the absolute positioning accuracy and carry out high-precision...

AI Technical Summary

Problems solved by technology

[0004] However, in practical applications, the manipulator will be affected by various error factors. The single optimal value of the calibrated kinematic parameters cannot satisfy the law of large workspace, multi-configuration and complex working conditions. The measurement points obtained during the calibration process fit In the uncalibrated space range, the calibration error increases significantly and the reliability of the compensation accuracy is not high.

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