An identification method of geometric parameters of industrial robots based on transformation matrix error model

Abstract

The invention is an identification method of geometric parameters of an industrial robot based on a transformation matrix error model, wherein the structure of the industrial robot includes a robot control cabinet, an industrial robot, an intelligent industrial camera, a camera mounting frame, a control signal communication cable and a transmission signal communication cable. The geometric parameter identification method of industrial robots first establishes the transformation matrix error model of industrial robots, and then obtains the nominal transformation matrix of the end pose of the industrial robot and the actual transformation matrix of the end pose of the industrial robot. Finally, the nominal transformation matrix and the actual transformation matrix The matrix is ​​brought into the transformation matrix error model to obtain the geometric parameter error, and the geometric parameter error is input into the robot control cabinet to adjust the positioning accuracy of the end of the industrial robot. This method does not require expensive external measuring equipment and does not require additional calibration, and can be used to improve the efficiency, production capacity and automation of industrial production lines.

Description

technical field [0001] The invention relates to the technical field of industrial robot parameter calibration, in particular to a method for identifying geometric parameters of industrial robots based on a transformation matrix error model. Background technique [0002] As a representative of intelligent manufacturing equipment, industrial robots are the focus of high-end manufacturing development, and their R&D, manufacturing and application have become an important indicator of a country's technological innovation level. With the rapid development of robot technology, the application fields of industrial robots are also expanding, such as hole making and riveting in the aerospace industry. These applications have higher and higher precision requirements for industrial robots. At present, the repetitive positioning accuracy of industrial robots can reach as high as ±0.02mm, but the absolute accuracy is generally low, generally a few millimeters or even higher. [0003] The...

AI Technical Summary

Problems solved by technology

The above three calibration methods are all offline calibration. The industrial robot needs to stop the current task, and even needs to move the industrial robot from the production line to enter the corresponding calibration procedure, which has a great impact on the production capacity and efficiency of the production line.

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