Automatic calibrating system and method for industrial robot

Abstract

The invention relates to an automatic calibrating system for an industrial robot. The automatic calibrating system for the industrial robot comprises the to-be-calibrated industrial robot connected with a robot electrical control cabinet, and is characterized by further comprising a T-Mac device from the Leica company at the tail end of the industrial robot, a laser tracker from the Leica companyis arranged right in front of the industrial robot, the T-Mac device is connected with a controller of the laser tracker, the automatic calibrating system for the industrial robot further comprises anI / O communication box, an I / O module of the robot electrical control cabinet is connected with the I / O communication box, the I / O communication box is then connected to an upper computer, and the upper computer is in wireless communication with the laser tracker. The invention further relates to an automatic calibrating method for the industrial robot.

Description

technical field [0001] The present invention relates to a system and method for distinguishing between manual programming teaching calibration and non-posture participation calculation, especially an industrial robot automatic calibration system based on I / O communication box, Leica laser tracker and T-Mac and adopting the automatic calibration system. Automated calibration method for calibration system. Background technique [0002] The absolute positioning accuracy of industrial robots is an important index to measure the performance of industrial robots. Points are collected by laser tracker and reflective ball, and the DH parameters or MDH parameters are corrected by iteratively calculating the extreme value of the function. This method has high calibration accuracy and strong adaptability. Various structures and various DH parameter values Industrial robots can be calibrated, which is suitable for prototype development and verification stages, as well as individual cas...

AI Technical Summary

Problems solved by technology

[0003] The common laser tracker plus reflective ball calibration method usually only measures the X, Y, and Z coordinates of the reflective ball at the end of the industrial robot, not the attitude angle R of the end. x , R y , R z measurement, so its calibration effect is not very high

Moreover, the common laser tracker plus reflective ball calibration method takes a few seconds to stabilize after the industrial robot runs a program, so the laser tracker occasionally refuses to collect points because the reflective ball is not stable, and the robot is waiting for a few seconds. The next action will be executed after 2 seconds, so the laser tracker will occasionally miss the opportunity to collect points

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