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Precise Measurement Method of Structural Parameters of Multi-axis Robots Based on Axis Invariants

A technology for multi-axis robots and structural parameters, applied in the field of robots, can solve the problems of large measurement errors of multi-axis robots' structural parameters.

Active Publication Date: 2019-11-01
居鹤华
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Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a method for precise measurement of structural parameters of multi-axis robots based on axis invariants, so as to avoid the problem of excessive measurement errors of structural parameters of multi-axis robots caused by taking the Cartesian Cartesian coordinate system as a reference

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  • Precise Measurement Method of Structural Parameters of Multi-axis Robots Based on Axis Invariants
  • Precise Measurement Method of Structural Parameters of Multi-axis Robots Based on Axis Invariants
  • Precise Measurement Method of Structural Parameters of Multi-axis Robots Based on Axis Invariants

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[0067] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.

[0068] Definition 1 Natural coordinate axis: The unit reference axis that is coaxial with the motion axis or measurement axis and has a fixed origin is the natural coordinate axis, also known as the natural reference axis.

[0069] Definition 2 natural coordinate system: such as figure 1 As shown, if the multi-axis system D is at zero position, all Cartesian body coordinate systems have the same direction, and the origin of the body coordinate system is located on the axis of the motion axis, then the coordinate system is a natural coordinate system, referred to as the natural coordinate system.

[0070] The advantages of the natural coordinate system are: (1) the coordinate system is easy to d...

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Abstract

An axis-invariant-based accurate multi-axis robot structure parameter measurement method, comprising: building a multi-axis robot system, wherein the multi-axis robot system includes a link sequence and a joint sequence, and converting the joint sequence in a tree chain to a corresponding axis sequence and a parent axis sequence thereof, an axis in the axis sequence being a translation axis or a rotation axis; using an axis set to correspondingly describe the multi-axis robot system and taking a natural coordinate system as a basis, wherein a natural joint space takes the natural coordinate system for reference, the origin of the natural coordinate system is located on a joint axis, and the directions of coordinate systems are consistent during system reset; forming a fixed axis invariant by means of an axis invariant and a position vector of the origin on an axis; and using a laser tracker or the other measurement devices to measure measuring points on links, wherein a measurement process is always carried out from a root link to a leaf link in sequence. The accuracy of modeling is ensured.

Description

technical field [0001] The invention relates to a method for precisely measuring structural parameters of a multi-axis robot, which belongs to the technical field of robots. Background technique [0002] Multi-axis system modeling needs to realize the complete parameterization of system topology, coordinate system, structural parameters and mass inertia, so as to ensure the accuracy, reliability and real-time performance of the system. Fully parametric kinematics and dynamics models are an important aspect of machine intelligence and the basis for system adaptability and inheritance. For multi-axis robot systems, errors in design structural parameters will inevitably occur during machining and assembly. Therefore, it is necessary to solve the problem of accurate measurement of Engineering Structure Parameters of multi-axis robot systems. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a precise measurement metho...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00B25J9/02
CPCB25J9/023B25J19/0095
Inventor 居鹤华
Owner 居鹤华
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