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Method for realizing zero point calibration in laser self-calibration

A zero-point calibration and self-calibration technology, applied in the direction of using optical devices, measuring devices, instruments, etc., can solve the problem that the actual position of the laser target point deviates from the expected position.

Active Publication Date: 2019-04-16
合肥中控智科机器人有限公司
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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 to provide a method for laser self-calibration to achieve zero point calibration, so as to solve the problem of the robot's internal kinematics model proposed in the background technology to drive the joint motor to obtain the position of the end effector, the actual position of the laser target point obtained will be Deviating from expected location issues

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0023] A method for laser self-calibration to achieve zero point calibration. The laser tracking length measuring instrument is a single-frequency laser interferometer installed on the center of the mechanism with two mutually perpendicular rotation degrees of freedom. The reflective target of the tracker is an internally installed The sphere of the pyramid reflector, the apex of the pyramid coincides with the center of the sphere, the laser tracker can track the target moving in space and measure the polar coordinates of the center of the target in the polar coordinate system where the center of rotation of the tracker is the origin, that is, the origin The distance to the center of the target and the two orientation angles of the line connecting the two points.

Embodiment 2

[0025] A method for laser self-calibration to achieve zero point calibration, comprising the following steps:

[0026] a. Measure the position of the hinge point on the moving platform. Fix a rod of the parallel machine tool so that it neither stretches nor rotates around any axis, that is, fixes the position of the hinge point of the rod on the moving platform in space. Put the measuring platform in front of the moving platform, and install the laser tracker on one of the positioning holes. Place three target mirrors on the measuring moving platform, and set one of them as target mirror A. Make the moving platform move to a certain position and stay still, and use the laser tracker to detect the distances of the three target mirrors on the three positioning holes respectively. From the obtained data, the measurement coordinates of the midpoints of the three target mirrors on the moving platform can be calculated. coordinates in the system. Repeat the above process several ...

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Abstract

The invention discloses a method for realizing zero point calibration in laser self-calibration. The laser tracking length measuring instrument is an instrument formed by installing a single-frequencylaser interferometer at the center of a mechanism with two mutually perpendicular rotational degrees of freedom. The reflecting target of the tracking instrument is a sphere with a pyramid reflectorinside, and the vertex of the pyramid coincides with the center of the sphere. The laser tracking instrument can track a target moving in the space and measure polar coordinates of the center of the target in a polar coordinate system taking the rotating center of the tracking instrument as an origin, namely, the distance from the origin to the center of the target and two direction angles of a connecting line of the two points. The method enables the actual position of a laser target point to be exactly on the anticipated position, thereby realizing zero point calibration of laser self-calibration.

Description

technical field [0001] The invention relates to the technical field of zero point calibration, in particular to a method for realizing zero point calibration by laser self-calibration. Background technique [0002] Generally, the repetitive positioning accuracy of the laser is very high (up to 0.01mm), but the absolute positioning accuracy is very poor (only a few millimeters). If you want to use the off-line programming method of the machine wall or perform high-precision measurement, the laser target point position accuracy will be a very concern. The position of the robot end effector is generally described in its work space, but these positions are obtained by driving the joint motors, and the whole process is carried out in the angular space. Due to some reasons (such as: machining accuracy, assembly error, wear, transmission error, load change and environmental influence, etc.), the kinematics model used by the robot controller is inconsistent with the real kinematics...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00
CPCG01B11/002
Inventor 谢之凤
Owner 合肥中控智科机器人有限公司
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