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Mechanical arm calibration method, device, equipment and computer-readable storage medium

A calibration method and technology of a robotic arm, applied in the field of robotics, can solve the problems of low accuracy of the robotic arm, and achieve the effect of improving the positioning accuracy of the end and reducing the deviation

Active Publication Date: 2021-10-29
SHENZHEN YUEJIANG TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The main purpose of the present invention is to provide a mechanical arm calibration method, device, equipment and computer-readable storage medium, aiming to solve the technical problem of low precision of the end length of the mechanical arm in the existing mechanical arm model

Method used

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  • Mechanical arm calibration method, device, equipment and computer-readable storage medium
  • Mechanical arm calibration method, device, equipment and computer-readable storage medium
  • Mechanical arm calibration method, device, equipment and computer-readable storage medium

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Embodiment Construction

[0050] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0051] Such as figure 1 as shown, figure 1It is a schematic diagram of the structure of the manipulator calibration equipment in the hardware operating environment involved in the solution of the embodiment of the present invention.

[0052] The robot arm calibration device in this embodiment of the present invention may be a robot or a PC. Such as figure 1 As shown, the robotic arm calibration device may include: a processor 1001 , such as a CPU, a network interface 1004 , a user interface 1003 , a memory 1005 , and a communication bus 1002 . Wherein, the communication bus 1002 is used to realize connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a ...

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Abstract

The invention discloses a method for calibrating a mechanical arm, comprising: acquiring a first actual arm length and a first actual angle, and acquiring a second actual arm length and a second actual angle; acquiring a first joint angle and a first external ordinate; Symmetrically rotate the base; obtain the second joint angle and the second external ordinate; based on the first actual arm length, the first actual angle, the second actual arm length, the second actual angle, the first joint angle, the second joint angle, the first The first external ordinate and the second external ordinate determine the length of the end of the mechanical arm. The invention also discloses a mechanical arm calibration device, equipment and a computer-readable storage medium. The present invention determines the length of the end of the manipulator through the parameters of the first manipulator and the second manipulator and the external coordinate system, reduces the physical positioning and the deviation between the manipulator model and the actual manipulator model, and improves the end of the manipulator. positioning accuracy.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a method, device, equipment and computer-readable storage medium for calibrating a mechanical arm. Background technique [0002] With the rapid development of existing technologies, robots have begun to enter the lives of ordinary people. Robots are used in a wide range of fields. Taking the service industry as an example, robots can be engaged in catering, maintenance, repair, transportation, cleaning, rescue or guardianship. , can complete the service work that is beneficial to human health, and bring great convenience to people's lives. [0003] The kinematics model is involved when the manipulator moves. The kinematics model is used to convert the motor movement to the position and attitude of the end of the manipulator. The calculation process needs to determine the angle mapping relationship between the current motor angle of the manipulator and the manipulator model...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1628
Inventor 刘培超陈俊同郎需林刘主福
Owner SHENZHEN YUEJIANG TECH CO LTD
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