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An Efficient and Convenient Simple Robot Calibration Method

A calibration method and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of poor practicability and convenience of zero-position calibration, low robot control accuracy, high cost, etc., to reduce the cost of measuring equipment, Improve practicality and convenience, avoid costly effects

Active Publication Date: 2021-02-12
CHENGDU CRP ROBOT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is: the present invention provides an efficient and convenient simple robot calibration method, which solves the problem of poor practicability and convenience of zero calibration due to the complicated process and high cost of the existing zero calibration using a calibration instrument and software combination method, As a result, the problem of low control precision of the robot has been achieved, and the effect of pure software to achieve zero calibration and improve practicability to achieve precise control

Method used

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  • An Efficient and Convenient Simple Robot Calibration Method
  • An Efficient and Convenient Simple Robot Calibration Method
  • An Efficient and Convenient Simple Robot Calibration Method

Examples

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Embodiment 1

[0037] An efficient and convenient simple robot calibration method, comprising the following steps:

[0038] Step 1: After installing the measuring tool at the end of the robot and the fixed point, keep the sharp points of the two measuring tools facing each other and teach the robot manually, and record the robot zero position and the rotation angle, joint data and joint axis data corresponding to the N point in different postures;

[0039] Step 1 includes the following steps:

[0040] Step 1.1: Install measuring tool 1 on the end flange of the robot, and install measuring tool 2 at a fixed point within the robot’s motion range;

[0041] Step 1.2: Always keep the cusp of measuring tool 1 and measuring tool 2 facing each other, manually teach the robot, and record the robot zero position and the rotation angle, joint data and joint axis data corresponding to point N in different postures.

[0042] Step 2: Construct the homogeneous matrix of each axis according to the joint ax...

Embodiment 2

[0058] Take a robot with six degrees of freedom as an example:

[0059]Step 1: Install measurement tool 1 on the end flange of the robot, and install measurement tool 2 at a fixed point within the robot’s motion range; always keep the sharp point of measurement tool 1 and measurement tool 2 facing each other, and manually teach the robot to obtain different postures The next 20 corresponding N points are any fixed point in the reachable space of the manual teaching robot, and the 20 corresponding N points are the same fixed point under 20 postures.

[0060] The rotation angle θ corresponding to point N 1 ,θ 2 ,θ 3 ,θ 4 ,θ 5 ,θ 6 , joint data and joint axis data f(θ 1 ,θ 2 ,θ 3 ,θ 4 ,θ 5 ,θ 6 ) and record the zero value;

[0061] Step 2: Construct a homogeneous matrix for each axis, such as 1 axis for Abbreviation for joint J 1 Coordinate system rotation θ 1 The homogeneous coordinate system matrix relative to the Cartesian coordinate system after degrees, w...

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Abstract

The invention discloses an efficient and convenient simple robot calibration method, which relates to the field of robot zero calibration; it comprises the following steps: 1) After installation, always keep the point of the measurement tool facing each other, manually teach the robot, and record the joints corresponding to N points data and joint axis data; 2) Construct a homogeneous matrix of each axis according to the joint axis data and then multiply them in sequence to obtain the overall homogeneous matrix; 3) Given the basic data, construct a forward motion homogeneous matrix based on the overall homogeneous matrix; 4 ) by adding the given error parameters to the joint data to obtain the joint angle matrix, and substituting it into the positive motion homogeneous matrix to obtain the error, and compensating it to the zero position of the robot to complete the calibration; The combination of instruments and software is complicated and costly, which leads to poor practicability of zero calibration, which leads to the problem of low robot control accuracy. It achieves zero calibration with pure software, improves practicability and achieves precise control.

Description

technical field [0001] The invention relates to the field of robot zero calibration, in particular to an efficient and convenient simple robot calibration method. Background technique [0002] Since the motion of each axis of the joint robot is a rotational motion, to make the end perform a linear motion or run a specific trajectory in a certain coordinate system, the coordinate conversion of the rotary joint and the linear motion must be carried out; the rotational motion is converted into a linear motion as the forward motion of the robot The linear motion is transformed into joint motion to solve the inverse kinematics of the robot; when the control algorithm design is completed, the end value of the robot's current joint and the joint value under the current end value can be obtained in real time; if the theoretical algorithm is required for the actual body Control needs to ensure three parameters that affect the accuracy of the end position of the robot. The three param...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1692B25J19/0095
Inventor 谷菲朱路生
Owner CHENGDU CRP ROBOT TECH CO LTD
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