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Coordinate system calibration and positioning method, system and equipment of robot and medium

A calibration method and positioning method technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of insufficient absolute positioning calibration accuracy and complicated calibration process

Active Publication Date: 2020-01-03
SHANGHAI ELECTRICGROUP CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a robot coordinate System calibration and positioning methods, systems, equipment, media

Method used

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  • Coordinate system calibration and positioning method, system and equipment of robot and medium
  • Coordinate system calibration and positioning method, system and equipment of robot and medium
  • Coordinate system calibration and positioning method, system and equipment of robot and medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0066] A method for calibrating the coordinate system of a robot, such as figure 1 As shown, the flange at the end of the mechanical arm of the robot is provided with an end tool, and a first target ball and a second target ball are respectively set on the base of the end tool and the robot. The coordinate system calibration method include:

[0067] Step 11. Obtain the first transformation matrix of the flange coordinate system of the flange and the base coordinate system of the base in multiple poses respectively; it should be noted that the first transformation matrix can be directly read from the robot system , and it changes with different poses of the manipulator.

[0068] Step 12, obtaining a second transformation matrix of the first target ball coordinate system of the first target ball and the second target ball coordinate system of the second target ball;

[0069] Step 13. Obtain the first position data of the end point of the end tool in the flange coordinate syste...

Embodiment 2

[0079] A positioning method for a robot, such as image 3 As shown, the positioning method is realized by using the coordinate system calibration method of the robot as described in Embodiment 1, which specifically includes:

[0080] Step 21. Obtain the third transformation matrix between the base coordinate system and the second target ball coordinate system according to the coordinate system calibration method;

[0081] Step 22. Obtain the current first transformation matrix of the flange coordinate system of the flange and the base coordinate system of the base under the current pose;

[0082] Step 23, obtaining the fourth transformation matrix of the second target ball coordinate system and the positioning coordinate system;

[0083] Step 24, obtain the current position data of the end point of the end tool in the flange coordinate system; it should be noted that once the end tool is set, the current position data is a fixed value, which can be obtained by the robot itsel...

Embodiment 3

[0094] A robot coordinate system calibration system, such as Figure 5 As shown, the flange at the end of the mechanical arm of the robot is provided with an end tool, and a first target ball and a second target ball are respectively set on the base of the end tool and the robot, and the coordinate system calibration system Including a first conversion matrix acquisition module 1, a second conversion matrix acquisition module 2, a position data acquisition module 3 and a third conversion matrix calculation module 4;

[0095] The first transformation matrix acquisition module 1 is used to respectively acquire the first transformation matrices of the flange coordinate system of the flange and the base coordinate system of the base in multiple poses; it should be noted that the first The transformation matrix can be read directly from the robot system, and it changes with different poses of the manipulator.

[0096] The second transformation matrix acquisition module 2 is used t...

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Abstract

The invention discloses a coordinate system calibration and positioning method, system and equipment of a robot and a medium. The coordinate system calibration method comprises the steps that first conversion matrixes of flange coordinate systems of a flange under multiple poses and a base coordinate system of a base are acquired respectively; a second conversion matrix of a first target sphere coordinate system of a first target sphere and a second target sphere coordinate system of a second target sphere is obtained; first position data of a tail end point of a tail end tool in the flange coordinate systems and second position data of the end point in the first target sphere coordinate system are obtained; and a third conversion matrix of the base coordinate system and the second targetsphere coordinate system is calculated according to the first position data, the second position data, the first conversion matrix and the second conversion matrix. Through setting of the target spheres, the calibration process is simple and easy to operate, after calibration is completed, robot space positioning is achieved through the second target sphere on a mechanical arm base, the positioning precision is improved, and the moving space of a mechanical arm is enlarged.

Description

technical field [0001] The invention belongs to the technical field of robot vision calibration, and in particular relates to a robot coordinate system calibration and positioning method, system, equipment and medium. Background technique [0002] With the widespread use of robots in various industries, the industry has strict requirements on the repetitive positioning accuracy and absolute positioning accuracy of robots in space. Nowadays, the repetitive positioning accuracy of robots is relatively high, but the absolute positioning accuracy is very low. The absolute positioning accuracy of the robot is determined by two aspects: one is the calibration of the robot tool coordinate system. The calibration of the tool coordinate system is the identification process of the position and attitude parameters of the installed tool end coordinate system relative to the industrial robot linkage end coordinate system. The second is the positioning accuracy of the robot at the target ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 李丹潘昕荻周朝政付亚波
Owner SHANGHAI ELECTRICGROUP CORP
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