Transformation calibration method and system for mechanical arm coordinate system

Abstract

The invention provides a transformation calibration method and system for a mechanical arm coordinate system. The transformation calibration method comprises the steps that S1, based on a tracking measurement device arranged in the working range of a target mechanical arm, the coordinate rotation transformation relation of a tail end tool coordinate system relative to a measurement reference coordinate system is obtained through a tail end coordinate system translational movement method; S2, the coordinate homogeneous transformation relation of the tail end tool coordinate system relative to amechanical arm base coordinate system is obtained through a single-axial rotation method based on the tail end tool coordinate system and kinematic transformation relative to the mechanical arm basecoordinate system; and S3, based on coordinates of selected calibration sampling points, the coordinate homogeneous transformation relation of the mechanical arm base coordinate system and the measurement reference coordinate system is obtained through a multipoint gravity center solution method, a gravity center processing method and a Roderick matrix transformation solution method. The calibration procedure is simple, the calibration algorithm is free of the iterative process, the consumed time of coordinate calibration can be effectively reduced, and the calibration precision of the coordinate systems is improved.

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 converting and calibrating a mechanical arm coordinate system. Background technique [0002] Industrial manipulators usually use the tool coordinate system to represent the position of the Tool Center Point (TCP) of the end tool and the attitude of the end tool. The pose control of the tool at the end of the manipulator depends on the kinematic transformation relationship of the robot relative to the base coordinate system. However, in the external measurement process, the measured value of the end tool pose is relative to the measurement reference coordinate system, and the conversion calibration between the measurement reference coordinate system and the relevant coordinate system of the manipulator must be carried out to obtain the end tool coordinate system of the manipulator and the base coordinate system of the ...

AI Technical Summary

Problems solved by technology

The single-axis rotation motion method uses three single-axis periodic rotations, combined with the space geometry vector and the coordinate system transformation equation to solve the problem. The translation vector of the end tool coordinate system depends on the measurement accuracy of the single point of the spatial intersection point, and does not consider the relative position of the current end tool TCP point. The position error of the base coordinate system, so the reliability of the calibration accuracy of the coordinate system cannot be guaranteed

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