An autonomous calibration method for manipulator based on vision measurement

A calibration method and visual measurement technology, applied to manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve high efficiency and low cost

Active Publication Date: 2021-11-23
SHENYANG JIANZHU UNIVERSITY
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AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a method for autonomous calibration of a mechanical arm based on visual measurement, which solves the problem of a certain temperature difference in the movement of the mechanical arm to be calibrated in the prior art

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  • An autonomous calibration method for manipulator based on vision measurement
  • An autonomous calibration method for manipulator based on vision measurement
  • An autonomous calibration method for manipulator based on vision measurement

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Embodiment 1

[0112] refer to Figure 1-8 , an autonomous calibration method for a robotic arm based on visual measurement, comprising the following steps:

[0113] Step 1: Build an unsteady multi-sensor manipulator vision system;

[0114] Taking the life science glove box robotic arm of China Space Station as the research platform, in order to obtain higher positioning accuracy and improve the fit between the model and the actual geometric configuration of the robotic arm, a more stringent improved DH model was established, and a Group of angles, to represent the error angle of the connecting rod rotating around the y-axis, preferably, all angle values ​​are zero; axis 1 is an arc guideway, in the mechanical model, it is abstracted as a rotation axis with a virtual link, the The length of the connecting rod is equal to the radius of the arc guide rail. During the preparation process, the positions of the three two-dimensional code marking points in the base coordinate system are respectiv...

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Abstract

The invention discloses an autonomous calibration method of a manipulator based on visual measurement, which comprises the following steps: Step 1: Construct an unsteady multi-sensor manipulator vision system; Step 2: Establish a calibration model according to the Gaussian motion method; Step 3: According to the extended Kalman filter to measure multiple identification points; Step 4: Correct the motion trajectory according to the linear quadratic regulator; Step 5: Screen the optimal measurement point based on the Monte Carlo method; Step 6: Approximate the model parameters using the DH augmented model. In the present invention, through the EKF algorithm filtering process, the LQR method correction process and the calibration data selection process based on the error distribution, the optimal calibration accuracy can be obtained under the condition that the mechanical arm motion error and the measurement error exist at the same time; and the cost of the present invention is Low cost, high efficiency, and more convenient, it can be widely used in the long-term and frequent calibration and maintenance of mechanical arm equipment.

Description

technical field [0001] The invention relates to an autonomous calibration method of a mechanical arm based on vision measurement. Background technique [0002] The calibration of robot positioning accuracy has always been the focus of attention in the industry. Existing research shows that 90% of positioning errors come from the geometric model error of the mechanism. The mechanical structure of the robot is affected by system vibration, overload, collision and wear, and the positioning error will continue to increase. The positioning accuracy of the manipulator can be improved by applying precision measurement tools such as laser trackers and offline calibration algorithms. However, in special environments such as aerospace, nuclear industry, and deep sea, the improvement of positioning accuracy of unmanned autonomous robotic arms is still a technical problem that still plagues the industry, mainly due to two reasons. First of all, there is bound to be a certain error in ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/04B25J9/16
CPCB25J9/16B25J9/1664B25J9/1692B25J19/04
Inventor 祁若龙张珂邵健铎毛新元邢运隆
Owner SHENYANG JIANZHU UNIVERSITY
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