CN105066831A - Calibration method of single or multi-robot system cooperative work coordinate system - Google Patents

Calibration method of single or multi-robot system cooperative work coordinate system Download PDF

Info

Publication number
CN105066831A
CN105066831A CN201510571313.7A CN201510571313A CN105066831A CN 105066831 A CN105066831 A CN 105066831A CN 201510571313 A CN201510571313 A CN 201510571313A CN 105066831 A CN105066831 A CN 105066831A
Authority
CN
China
Prior art keywords
robot
coordinate system
coordinate
world
coordinates
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201510571313.7A
Other languages
Chinese (zh)
Inventor
周蕾
李玉廷
王光能
舒远
李人杰
高云峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Dazu robot Co., Ltd.
Original Assignee
Shenzhen Hans Electric Motor Co Ltd
Han s Laser Technology Industry Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Hans Electric Motor Co Ltd, Han s Laser Technology Industry Group Co Ltd filed Critical Shenzhen Hans Electric Motor Co Ltd
Priority to CN201510571313.7A priority Critical patent/CN105066831A/en
Publication of CN105066831A publication Critical patent/CN105066831A/en
Pending legal-status Critical Current

Links

Landscapes

  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

The invention discloses a calibration method of a single or multi-robot system cooperative work coordinate system. The method includes the following steps that: first step, a world coordinate system XYZ is determined through a calibration block; second step, a robot coordinate system XYZ is determined; third step, the tail end of a robot obtains the coordinate value of a corner point in the calibration block under the robot coordinate system; fourth step, the world coordinate value of a point of the calibration block which can be contacted with the tail end of the robot is obtained; and fifth step, the obtained robot coordinate value is converted into a corresponding world coordinate value, so that a conversion relationship between the robot coordinate system to the world coordinate system can be obtained. According to the calibration method of the invention, the calibration block and robot coordinate feedback are used in combination, so that coordinate conversion relationships between a plurality of robot coordinate systems and the determined world coordinate system and conversion relationships between the determined world coordinate system and the robot coordinate system can be obtained; and coordinate conversion relationships between any two robots can be obtained through feedback. The method is used for determining the point position relationships of cooperative work or series work of robots.

Description

A kind of scaling method of single or multi-robot system collaborative work coordinate system
Technical field
The present invention is applicable to single or multirobot coordinate system and demarcates field, and the tandem working field of robot group, refers more particularly to a kind of scaling method of single or multi-robot system collaborative work coordinate system.
Background technology
Current robot applies in the industrial production very widely, and it for some long working that are dull, frequent and that repeat of oblige by doing, along with the continuous expansion of the application of robot, also can become increasingly complex to the requirement of robot.For an independently robot, carrying out by the job procedure of robot demonstrator teaching robot, position and other information, then according to reproduction instruction, deciphering to be taken out one by one in operation process, repeat by the program of teaching in certain accuracy rating, task of finishing the work.Above teaching process has limitation, for the target that fixing and position does not change, this process can meet the demands, but when for the target that can change a lot or multi-robot Cooperation, robot demonstrator then can not meet such complex job requirement, therefore needs to carry out coordinate system and demarcates complicated requirement.
Summary of the invention
The object of the embodiment of the present invention is to realize scaling method that is single or multi-robot system collaborative work coordinate system.
The invention provides a kind of scaling method of single robot system synergistic working coordinate system, comprise the steps: the first step: by a calibrating block, is according to determining world coordinate system XYZ with tag block, and the D coordinates value of the multiple angle point of recording mark block; Second step: determine robot coordinate system XYZ; 3rd step: the end of a robot obtains the coordinate figure of angle point under robot coordinate system in calibrating block; 4th step: the world coordinates value of the point of the calibrating block that the end obtaining this robot touches; 5th step: acquired robot coordinate value and corresponding world coordinates value are changed, obtains the transformational relation that robot coordinate is tied to world coordinate system.
The present invention provides again a kind of scaling method of multiple robot system collaborative work coordinate system, comprises the steps: the first step: the single robot coordinate described in employing is tied to the transformational relation of world coordinate system; Second step: the same position of the end difference contact target object of Liang Ge robot arbitrarily, obtains the position coordinates of same position under different machines people coordinate system in calibrating block respectively; 3rd step: the position relationship obtained according to any Liang Ge robot obtains the ordinate transform relation between any Liang Ge robot.
The present invention provides again a kind of scaling method of multiple robot system collaborative work coordinate system, comprises the steps: step G1: make the end of robot overlap with the angle point in calibrating block in a contact fashion; Step G2: read the position coordinates of angle point in world coordinate system; Step G3: the position coordinates obtaining robot end; Step G4: repeat step G2 and G3 and obtain enough points; Step G5: the coordinate of known corresponding point calculates transformation of coordinates matrix according to homogeneous coordinate transformation relation
The mode that the present invention is combined by hardware and software completes, first the determination of the world coordinate system of worktable is carried out, next utilizes calibrating block to feed back the coordinate conversion relation that obtains between each robot coordinate system and determined world coordinate system and the transformation relation between determined world coordinate system and robot coordinate system in conjunction with robot coordinate, again, calibrating block is utilized to obtain the coordinate conversion relation between any Liang Ge robot in conjunction with the coordinates feedback of any Liang Ge robot, comprising the ordinate transform relation between the ordinate transform relation between robot n to robot m and robot m to robot n, the transformational relation of institute's calibrated and calculated each coordinate system out is finally utilized to obtain the coordinate transform of optional position point in world coordinate system, for the some position relation of the collaborative work and tandem working of determining robot.
Accompanying drawing explanation
The structural representation of Fig. 1 three-dimensional scaling block of the present invention;
The planimetric map schematic diagram that Fig. 2 is the upper surface of calibrating block shown in Fig. 1;
The planimetric map schematic diagram of the first side that Fig. 3 is calibrating block shown in Fig. 1;
The planimetric map schematic diagram of the second side that Fig. 4 is calibrating block shown in Fig. 1;
Fig. 5 is the shift theory figure that robot coordinate of the present invention is tied to world coordinate system;
Fig. 6 is the partial enlargement image that robot end of the present invention contacts with angle point in punctuate block;
Fig. 7 is the schematic diagram of the shift theory figure between any two robot coordinate systems of the present invention;
Fig. 8 is the partial enlarged drawing that the Liang Ge robot of Fig. 7 contacts with same position in calibrating block;
Fig. 9 is the structural representation of multirobot collaborative work of the present invention;
Figure 10 is the schematic diagram that multirobot of the present invention works in coordination with that tandem working completes object refile;
Figure 11 is that multi-robot system collaborative work coordinate system of the present invention demarcates process flow diagram.
Embodiment
The scaling method of multi-robot system collaborative work coordinate system, refer to utilize calibrating block in conjunction with mathematical method by robot independently coordinate system unification in the world coordinate system set up in workplace, set up the coordinate system relation of each adjacent machines people simultaneously, wherein, world coordinate system is the absolute coordinate system of system, before not setting up user coordinate system on picture coordinate be a little all to determine respective position with the initial point of this coordinate system.
The invention provides a kind of scaling method of single robot system synergistic working coordinate system, the conversion between the coordinate system of each self-control robot and world coordinate system, comprises the steps:
The first step: by a calibrating block is according to determining world coordinate system with tag block, and the three-dimensional coordinate of the multiple angle point of recording mark block;
Second step: determine robot coordinate system;
3rd step: the end of a robot obtains the coordinate figure of point under robot coordinate system in calibrating block;
4th step: the world coordinates value of the point of the calibrating block that the end obtaining this robot touches;
5th step: acquired robot coordinate value and corresponding world coordinates value are changed, obtains the transformational relation that robot coordinate is tied to world coordinate system.
The world coordinate system of the described first step is determined according to calibrating block 10, is specifically described as follows:
The structural representation of Fig. 1 three-dimensional scaling block of the present invention, this three-dimensional scaling block 100 for calibrating block be a 3-D solid structure, calibrating block is a square in the present embodiment, this calibrating block 100 is provided with upper surface 11, adjacent with upper surface 11 and meet at the first side 12 and the second side 13 of the first tie point 100 simultaneously, the lower surface (not shown) relative with upper surface 100, the three side (not shown) relative with the first side 12, the four side (not shown) relative with the second side 13, wherein, first side 12 is disposed adjacent with the second side 13, and the first side 12 is positioned at the left side of the second side 13.
Fig. 1 illustrates upper surface 11, first side 12 and second side 13 of calibrating block 100, these three surfaces are divided into multiple lattice, in the present embodiment, three surfaces are divided into 16 lattices, and the length of each grid and width are 5 units, and the intersection point between adjacent two lattices is angle point, each angle point is positioned at the inside of the every one side of calibrating block 100, in the present embodiment, each angle point does not comprise the point crossed with each side, and so every face of calibrating block 100 is provided with 9 angle points
Described first side 12 is provided with the first limit 101 be connected with described first tie point 100, and described second side 13 is provided with the Second Edge 102 be connected with described first tie point 100.The 3rd limit 103 be connected with described first tie point 100 is provided with between described first side 12 and second side 13.
The lower surface central point of setting calibrating block 100 is the initial point 0 of world coordinate system, parallel the first described limit 101, the X-coordinate direction of world coordinate system also extends to the first side 12, the parallel described Second Edge 102 in the Y-coordinate direction of world coordinate system also extends to described second side 12, and parallel described 3rd limit 103 of Z coordinate direction of world coordinate system also extends to described upper surface 11.That is, world coordinate system be using the three-dimensional extension direction of calibrating block 10 as X-coordinate, Y-coordinate and Z coordinate.
By determining that XYZ sits, can search very intuitively and recording arbitrary angle point three-dimensional coordinate position in world coordinate system in calibrating block.
Fig. 2 is the planimetric map schematic diagram of the upper surface 11 of calibrating block 100, the three-dimensional coordinate of 9 angle points in inside of upper surface 11 as Fig. 2 inside stated, 9 angle points divide three rows to arrange, three coordinates of first row three angle points are sequentially from left to right: (-5, 5, 20), (0, 5, 20), (5, 5, 20), three coordinates of second row three angle points are sequentially from left to right: (-5, 0, 20), (0, 0, 20), (5, 0, 20), three coordinates of the 3rd row three angle points are sequentially from left to right: (-5,-5, 20), (0,-5, 20), (5,-5, 20).
The planimetric map schematic diagram of the first side 12 of Fig. 3 calibrating block 100, the three-dimensional coordinate of 9 angle points in inside of the first side 12 as Fig. 2 inside stated, 9 angle points divide three rows to arrange, three coordinates of first row three angle points are sequentially from left to right: (-5,-10, 15), (0,-10,-15), (5,-10, 15), three coordinates of second row three angle points are sequentially from left to right: (-5,-10, 10), (0,-10, 10), (5,-10, 10), three coordinates of the 3rd row three angle points are sequentially from left to right: (-5,-10, 5), (0,-10, 5), (5,-10, 5).
The planimetric map schematic diagram of the second side 13 of Fig. 4 calibrating block 100, the three-dimensional coordinate of 9 angle points in inside of the second side 13 as Fig. 2 inside stated, 9 angle points divide three rows to arrange, three coordinates of first row three angle points are sequentially from left to right: (-10, 5, 15), (-10, 0, 15), (-10,-5, 15), three coordinates of second row three angle points are sequentially from left to right: (-10, 5, 10), (-10, 0, 10), (-10,-5, 10), three coordinates of the 3rd row three angle points are sequentially from left to right: (-10, 5, 5), (-10, 0, 5), (-10,-5, 5).
Fig. 5 is the shift theory figure that robot coordinate is tied to world coordinate system, and wherein, a21 is robot, and a25 is the end of robot, 10 is three-dimensional scaling block, and a23 is robot coordinate system, and a25 is the end of robot, a24 is world coordinate system, i.e. the coordinate system of calibrating block 10, and a26 is worktable.Wherein, the end a25 of robot is used for carrying out work to part to be processed; Robot coordinate system a23 determines according to stationary installation a27 that is fixing and support robot arm, using stationary installation a27 as a three-dimensional devices, determine robot coordinate system a23 according to the bearing of trend of its all directions, the Z axis of robot coordinate system a23 is parallel to the Z axis of world coordinate system a24.
The calibration process being tied to robot coordinate system for world coordinates in order to the calibration process embodying coordinate system is more intuitively described.
Following step 1-7 is the scaling method of single robot system synergistic working coordinate system, and concrete implementation procedure method step is as follows:
Step a1: calibrating block 10 is lain in a horizontal plane in one of worktable a26 on the surface, now the coordinate system of calibrating block 10 is the world coordinate system of this workplace, by observing to select to record calibrating block 10 upper part angular coordinate is: wherein refer to the i-th point in world coordinate system a24, be i-th D coordinates value.
Step a2: utilize the end a25 of robot to contact respectively in calibrating block 10 point (end of robot and the interrelational form of calibrating block associate according to contact method), ensure robot end a25 with the point coincides of the right-angled intersection of point, now feeds back the position coordinates of end a25 in robot coordinate system a23 of robot wherein with point be one to one.
Above-mentioned steps a2 is the process of the specific implementation of described 3rd step.
Step a3: the X of hypothetical world coordinate system a24 to robot coordinate system a23, the translational movement of Y, Z tri-axles is respectively T x, T y, T z, then homogeneous translation transformation matrix is:
T = 1 0 0 T x 0 1 0 T y 0 0 1 T z 0 0 0 1
Homogeneous translation transformation matrix (Homogenouscoordinate) is meant to: the method tieing up array representation n dimension coordinate with [n+1], must make new advances after namely the coordinate of any point takes advantage of transformation matrix coordinate.
Step a4: the hypothetical world coordinate system a24 angle [alpha] rotated around X-axis by coordinate system is to the X-axis of robot coordinate system a23, then the homogeneous coordinate transformation matrix that coordinate system rotates around X-axis is:
R ( X , α ) = 1 0 0 0 0 c o s ( α ) - s i n ( α ) 0 0 s i n ( α ) cos ( α ) 0 0 0 0 1
Step a5: the hypothetical world coordinate system a24 angle beta rotated around Z axis by coordinate system is to the Y-axis of robot coordinate system a23, then the homogeneous coordinate transformation matrix that coordinate system rotates around Z axis is:
R ( Y , β ) = c o s ( β ) 0 s i n ( β ) 0 0 1 0 0 - s i n ( β ) 0 c o s ( β ) 0 0 0 0 1
The Z axis of step a6: the hypothetical world coordinate system a24 angle θ to robot coordinate system a23 rotated around Z axis by coordinate system, then the homogeneous coordinate transformation matrix that coordinate system rotates around Z axis is:
R ( Z , θ ) = c o s ( θ ) - s i n ( θ ) 0 0 s i n ( θ ) cos ( θ ) 0 0 0 0 1 0 0 0 0 1
Step a7: world coordinate system a24 is designated as to the transformation matrix of robot coordinate system a23 then transformation relation is as follows:
p R i = T R W · p W i
x R i y R i z R i 1 = T R W x W i y W i z W i 1
Wherein, T R W = T r a n s ( X , Y , Z ) · R ( X ) · R ( Y ) · R ( Z ) , Trans (X, Y, Z) be the translation transformation matrix of three axles, R (X), R (Y), R (Z) are the rotational transformation matrix of three axles, and the Z axis according to the description known robot coordinate system a23 in Fig. 5 is parallel with the Z axis of world coordinate system a24, namely two coordinate systems convert all without spin in X-axis and Y-axis, therefore
T R W = 1 0 0 T x 0 1 0 T y 0 0 1 T z 0 0 0 1 · c o s ( θ ) - s i n ( θ ) 0 0 s i n ( θ ) cos ( θ ) 0 0 0 0 1 0 0 0 0 1
By known many groups with the coordinate of point bring solving equation group in above formula into and can obtain the transformation matrix of world coordinate system a24 to robot coordinate system a23 value, in like manner can basis obtain the transformation matrix of robot coordinate system a23 to world coordinate system a24 value.
Above-mentioned steps 3-7 is the process of the specific implementation of described 5th step, and many groups with at least 3 groups.
In the present invention self-control robot coordinate system to the effect that world coordinate system is changed be in order to by uncorrelated coordinate system correlations in same coordinate system, set up the incidence relation of coordinate, be beneficial to coordinate calculate and conversion.
Fig. 6 is the partial enlargement image that robot end contacts with angle point in punctuate block, the end a25 of robot is tapered element, 104 is a focus in calibrating block, namely an angle point in world coordinate system a24, coordinate figure is (-5,0,20), the angle point 104 of the end a25 of robot and the Contact of the angle point 104 of the calibrating block end a25 and calibrating block that will meet robot overlaps.
The scaling method of multiple robot system collaborative work coordinate system, the ordinate transform between any Liang Ge robot, comprises the steps:
The first step: the single robot coordinate described in employing is tied to the transformational relation of world coordinate system;
Second step: the same position of the end difference contact target object of Liang Ge robot arbitrarily, obtains the position coordinates of same position under different machines people coordinate system in calibrating block respectively;
3rd step: the position relationship obtained according to any Liang Ge robot obtains the ordinate transform relation between any Liang Ge robot.
Fig. 7 is the schematic diagram of the shift theory figure between any two robot coordinate systems, Fig. 8 is the partial enlarged drawing that the Liang Ge robot of Fig. 7 contacts with same position in calibrating block, wherein, a31 is robot A, a32 is robot B, 10 is three-dimensional scaling block, a34 is the coordinate system of robot A, a35 is the coordinate system of robot B, a26 is working face, a36 is the end of robot A, a37 is the end of robot B, the end of Liang Ge robot is all tapered element, 104 is an angle point in calibrating block, coordinate figure is (-5, 0, 20), the end a36 of robot A overlaps when contacting with the angle point 104 of calibrating block respectively with the end a37 of robot B completely, what describe in Fig. 8 is that two robot ends contact angle point simultaneously, in an actual situation, need to contact respectively, to avoid interfering and fully overlapping.
In the computation process of the transformation matrix between arbitrary system and Fig. 5, process is similar, and the process of the second step of the scaling method of above-mentioned multiple robot system collaborative work coordinate system is as follows:
Step b1: robot A to contact the same angle point in calibrating block 10 respectively with robot B, feed back identical angle point respectively at different machines people coordinate system a34, the coordinate figure under a35 is with
Step b2: according to and obtain the mutual coordinate conversion relation of robot A and robot B.
The effect of setting up the coordinate relation between adjacent machines people in the present invention has been that the position between adjacent machines people switches.
Fig. 9 is the structural representation of multirobot collaborative work, in the present embodiment, multirobot collaborative work comprises: 4 robot a11, a12, a13, a14, worktable a16 and the target object a15 be positioned on worktable a16, Tu Zhong a11 robot is numbered 1, a12 robot is numbered 2, a13 robot be numbered 3, a14 robot be numbered 4.4 artificial examples of machine illustrate the step of robot collaborative work:
Step c1: the transformation relation that setting world coordinates is tied to four robot coordinate systems is respectively
Step c2: known target object a15 has 4 some positions P1, P2, P3, P4, it is respectively at the coordinate in world coordinate system
Step c3: by the transformation relation of above-mentioned steps a1 to step a7, the world coordinates of corresponding P1, P2, P3, P4 tetra-points in target object a15 is transformed in a11, a12, a13, a14 tetra-robot coordinate systems respectively, obtain the new coordinate figure Q1 of target object point position in robot coordinate system, Q2, Q3, Q4, namely
Q 1 = T 1 W · P 1
Q 2 = T 2 W · P 2
Q 3 = T 3 W · P 3
Q 4 = T 4 W · P 4.
Step c4: four robots can move to the operation corresponding some position being carried out other actions such as crawl to target object a15 according to new coordinate figure.
The present invention, in order to realize the collaborative work of multirobot, proposes multi-robot system collaborative work coordinate system scaling method.
Figure 10 is the schematic diagram that multirobot works in coordination with that tandem working completes object refile, multirobot collaborative work comprises: 6 robot b11, b12, b13, b14, b15, b16, a worktable b18 and the target object b17 be positioned on worktable b18, wherein relative Liang Ge robot (b11 and b12, b13 and b14, b15 and b16) mode of operation be collaborative work, robot (the b11 of the same side, b13, b15 and b12, b14, b16) mode of operation is tandem working, target object b17 has two gauge point P1 and P2, P1 and P2 is the some position that robot captures, the position of its gauge point in world coordinate system is known, i.e. P 1(x1, y1, z1), P 2(x2, y2, z2).
Concrete job step is:
Steps d 1: make world coordinates be tied to b11, the transformation relation of b12, b13, b14, b15 and b16 robot coordinate system is respectively: (the first matrix conversion), the transformation relation that b11, b12, b13, b14, b15 and b16 robot coordinate is tied to world coordinate system is respectively: (the second matrix conversion), the transformation relation between adjacent machines people coordinate system is: (the 3rd matrix conversion), wherein represent that m robot coordinate is tied to the transformation matrix of n robot coordinate system.
Steps d 2: by P1 and P2 point coordinate foundation respectively (the first matrix conversion) transition matrix converts in the coordinate system of robot 11 and robot 12 and goes, namely (the first kinematic relation formula), robot according to (the first kinematic relation formula) moves to the crawl that object is carried out in corresponding position.
Steps d 3: robot b11 and robot b12 moves target object b17 and is placed on worktable b18 to certain position.
Steps d 4: next group robot b13 and b14 moves carrying out relay to the target object b17 on this position, there are two kinds of modes the crawl position now obtaining robot b13 and robot b14: the first is when first group of robot b11 and b12 drop target object b17, obtain the coordinate of two gauge point P1 and P2 respectively under this Liang Ge robot b11 and b12 on now target object b17, the coordinate conversion relation between recycling robot these two point P1 with P2 are transformed to next and organize in the coordinate system of two relative robot b13 and b14 by (the 3rd matrix conversion), and robot b13 and b14 captures object according to the motion of new coordinate figure and transmit; It two is the conversion carrying out twice coordinate system, is when first group of two relative robot b11 and b12 drop target object b17 equally, the coordinate of acquisition point position in corresponding machine people, by the coordinate foundation obtained (the second matrix conversion), is transformed in world coordinate system, then basis these two points are transformed into next and organize in the coordinate system of relative amount robot b13 and b14 by (the first matrix conversion), this next organize two relative robot b13 and b14 and move and capture objects and transmit, concrete account form is determined according to actual conditions.
Steps d 5: repeat the refile that steps d 4 completes object in this way.
Figure 11 is that multi-robot system collaborative work coordinate system demarcates process flow diagram, and its step is as follows:
Step e1: make the end of robot overlap with the angle point in calibrating block in a contact fashion.
Step e2: read the position coordinates of angle point in world coordinate system.
Step e3: the position coordinates obtaining robot end.
Step e4: repeat step e2 and e3 and obtain enough points.
Step e5: the coordinate of known corresponding point calculates transformation of coordinates matrix according to homogeneous coordinate transformation relation.
In the present invention, first the determination of the world coordinate system of worktable is carried out, next utilizes calibrating block to feed back the coordinate conversion relation that obtains between each robot coordinate system and determined world coordinate system and the transformation relation between determined world coordinate system and robot coordinate system in conjunction with robot coordinate, again, calibrating block is utilized to obtain the coordinate conversion relation between any Liang Ge robot in conjunction with the coordinates feedback of any Liang Ge robot, comprising the ordinate transform relation between the ordinate transform relation between robot n to robot m and robot m to robot n, the transformational relation of institute's calibrated and calculated each coordinate system out is finally utilized to obtain the coordinate transform of optional position point in world coordinate system, for the some position relation of the collaborative work and tandem working of determining robot.
Above specific embodiments of the invention have been described in detail, but content being only the preferred embodiment of the invention, the practical range for limiting the invention can not being considered to.All equalizations done according to the invention application range change and improve, and all should still belong within patent covering scope of the present invention.

Claims (17)

1. a scaling method for single robot system synergistic working coordinate system, is characterized in that, comprises the steps:
The first step: by a calibrating block is according to determining world coordinate system XYZ with tag block, and the D coordinates value of the multiple angle point of recording mark block;
Second step: determine robot coordinate system XYZ;
3rd step: the end of a robot obtains the coordinate figure of angle point under robot coordinate system in calibrating block;
4th step: the world coordinates value of the point of the calibrating block that the end obtaining this robot touches;
5th step: acquired robot coordinate value and corresponding world coordinates value are changed, obtains the transformational relation that robot coordinate is tied to world coordinate system.
2. scaling method according to claim 1, is characterized in that: the Z axis of described robot coordinate system is parallel to the Z axis of world coordinate system.
3. scaling method according to claim 2, it is characterized in that: described calibrating block is a 3-D solid structure, multiple angle point is provided with in this calibrating block, described world coordinate system be using the three-dimensional extension direction of calibrating block as X-coordinate, Y-coordinate and Z coordinate, and the initial point of world coordinate system is the central point of calibrating block one side.
4. according to the arbitrary described scaling method of claim 1-3, it is characterized in that: the end of robot of described 3rd step associates according to contact method with the interrelational form of calibrating block, overlap with the angle point in calibrating block by observing mobile robot, robot feeds back current position and obtains the position coordinate value of contact point in robot coordinate system.
5. scaling method according to claim 4, is characterized in that: described 4th step is by directly reading the angular coordinate value marked in calibrating block.
6., according to the arbitrary described scaling method of claim 1-4, it is characterized in that: described 5th step comprises the steps:
Steps A 1: the coordinate figure obtaining 3 group points one to one according to the 3rd step and the 4th step;
Steps A 2: build homogeneous coordinates system of equations according to homogeneous coordinates translation, rotational transformation matrix;
Steps A 3: obtain final coordinate system transformation matrix by solving equations, the transformation matrix now obtained is the transformation matrix that robot coordinate is tied to world coordinate system, and calculates the transformation matrix that world coordinates is tied to robot coordinate system.
7. scaling method according to claim 7, is characterized in that: described 5th step comprises the steps:
Step B1: hypothetical world coordinate is tied to the X of robot coordinate system, the translational movement of Y, Z tri-axles is respectively T x, T y, T z, then homogeneous translation transformation matrix is:
T = 1 0 0 T x 0 1 0 T y 0 0 1 T z 0 0 0 1
Step B2: the angle [alpha] that hypothetical world coordinate system is rotated around X-axis by coordinate system is to the X-axis of robot coordinate system, then the homogeneous coordinate transformation matrix that coordinate system rotates around X-axis is:
R ( X , α ) = 1 0 0 0 0 c o s ( α ) - s i n ( α ) 0 0 s i n ( α ) cos ( α ) 0 0 0 0 1
Step B3: the angle beta that hypothetical world coordinate system is rotated around Z axis by coordinate system is to the Y-axis of robot coordinate system, then the homogeneous coordinate transformation matrix that coordinate system rotates around Z axis is:
R ( Y , β ) = c o s ( β ) 0 s i n ( β ) 0 0 1 0 0 - s i n ( β ) 0 c o s ( β ) 0 0 0 0 1
Step B4: the angle θ that hypothetical world coordinate system is rotated around Z axis by coordinate system is to the Z axis of robot coordinate system, then the homogeneous coordinate transformation matrix that coordinate system rotates around Z axis is:
R ( Z , θ ) = c o s ( θ ) - s i n ( θ ) 0 0 s i n ( θ ) cos ( θ ) 0 0 0 0 1 0 0 0 0 1
Step B5: the transformation matrix that world coordinates is tied to robot coordinate system is designated as then transformation relation is as follows:
p R i = T R W · p W i
x R i y R i z R i 1 = T R W x W i y W i z W i 1
Wherein, T R W = T r a n s ( X , Y , Z ) · R ( X ) · R ( Y ) · R ( Z ) , Trans (X, Y, Z) is the translation transformation matrix of three axles, obtains:
T R W = 1 0 0 T x 0 1 0 T y 0 0 1 T z 0 0 0 1 · c o s ( θ ) - sin ( θ ) 0 0 s i n ( θ ) cos ( θ ) 0 0 0 0 1 0 0 0 0 1
By known many groups with the coordinate of point bring solving equation group in above formula into and can obtain the transformation matrix that world coordinates is tied to robot coordinate system value, and according to obtain the transformation matrix that robot coordinate is tied to world coordinate system value.
8. a scaling method for multiple robot system collaborative work coordinate system, is characterized in that, comprise the steps:
The first step: adopt the arbitrary described single robot coordinate of claim 1-7 to be tied to the transformational relation of world coordinate system;
Second step: the same position of the end difference contact target object of Liang Ge robot arbitrarily, obtains the position coordinates of same position under different machines people coordinate system in calibrating block respectively;
3rd step: the position relationship obtained according to any Liang Ge robot obtains the ordinate transform relation between any Liang Ge robot.
9. scaling method according to claim 8, it is characterized in that: described second step comprises the steps: that the position coordinates of angle point in robot coordinate system that the end of any Liang Ge robot obtains in calibrating block is identical with the 3rd step of claim 1, obtains the coordinate figure mode of contact point in world coordinate system identical with the 4th step of claim 1.
10. scaling method according to claim 8 or claim 9, is characterized in that: suppose there is Liang Ge robot and contact same angle point in calibrating block respectively, its process is as follows:
Step C1: the coordinate figure of identical angle point under these two robot coordinate systems is respectively with
Step C2: according to and obtain the mutual coordinate conversion relation of robot A and robot B.
11. scaling methods according to claim 8 or claim 9, is characterized in that: suppose there is four robots and contact same angle point in calibrating block respectively, its process is as follows:
Step D1: the transformation relation that setting world coordinates is tied to four robot coordinate systems is respectively
Step D2: known calibration block has four some positions P1, P2, P3, P4, it is respectively at the coordinate in world coordinate system
Step c3: by the transformation relation of the 5th step according to claim 1, is transformed into the world coordinates of P1, P2, P3, P4 point corresponding in calibrating block respectively in corresponding robot coordinate system, obtains the new coordinate figure Q1 of target object point position in robot coordinate system, Q2, Q3, Q4, namely
Q 1 = T 1 W · P 1
Q 2 = T 2 W · P 2
Q 3 = T 3 W · P 3
Q 4 = T 4 W · P 4
Step D4: four robots can move to the operation corresponding some position being carried out other actions such as crawl to calibrating block according to new coordinate figure.
12. scaling methods according to claim 10, is characterized in that: the mode of operation of relative Liang Ge robot is collaborative work, and the mode of operation of the robot of the same side is tandem working.
13. scaling methods according to claim 8, it is characterized in that: suppose there is the collaborative work of multiple robots, the mode of operation of relative Liang Ge robot is collaborative work, and the mode of operation of the robot of the same side is tandem working, and its concrete job step is:
Step e 1: make world coordinates be tied to corresponding multiple robot coordinate systems and carry out the first matrix conversion, multiple robot coordinate is tied to corresponding world coordinate system and carries out the second matrix conversion, carries out the 3rd matrix conversion between adjacent machines people coordinate system;
Step e 2: two point coordinate on target object are converted to according to the first matrix conversion respectively in the coordinate system of first group of relative Liang Ge robot and go, obtain the first kinematic relation formula, relative Liang Ge robot moves to according to the first kinematic relation formula the crawl that object is carried out in corresponding position;
Step e 3: relative Liang Ge robot moves target object and is placed on worktable to certain position;
Step e 4: next is organized adjacent relative Liang Ge robot and moves carrying out relay to the target object on this position;
Step e 5: repeat the refile that step e 4 completes object in this way.
14. scaling methods according to claim 14, it is characterized in that: the mode of the crawl position of described step e 4 is: during first group of relative two machine drop target object, obtain two gauge points on now target object respectively at the coordinate of this first group relative two robots, recycle (the 3rd matrix conversion between this first group relative two robots, these two point transformation are organized in two relative robot coordinate systems to next, this next organize two relative robots and capture object according to the motion of new coordinate figure and transmit.
15. scaling methods according to claim 13, it is characterized in that: the mode of the crawl position of described step e 4 is: when first group of relative two robot drop target object, the coordinate of acquisition point position in corresponding machine people, by coordinate foundation the second matrix conversion obtained, be transformed in world coordinate system, then according to the first matrix conversion, these two points being transformed into next organizes in the coordinate system of two relative robots, and these two relative robot motions capture object and transmit.
16. scaling methods according to claim 14, is characterized in that: described 3rd step comprises the steps:
Step F 1: the coordinate figure obtaining 3 group points one to one according to second step;
Step F 2: according to homogeneous coordinates translation T, rotate R transformation matrix structure homogeneous coordinates system of equations;
Step F 3: obtain final coordinate system RT transformation matrix by solving equations, the RT transformation matrix now obtained is the coordinate system matrix between any Liang Ge robot, the transformation matrix of coordinates of robot n to robot m can be obtained, and obtain the transformation matrix of coordinates of robot m to robot n.
The scaling method of 17. 1 kinds of multiple robot system collaborative work coordinate systems, is characterized in that, comprise the steps:
Step G1: make the end of robot overlap with the angle point in calibrating block in a contact fashion;
Step G2: read the position coordinates of angle point in world coordinate system;
Step G3: the position coordinates obtaining robot end;
Step G4: repeat step G2 and G3 and obtain enough points;
Step G5: the coordinate of known corresponding point calculates transformation of coordinates matrix according to homogeneous coordinate transformation relation.
CN201510571313.7A 2015-09-09 2015-09-09 Calibration method of single or multi-robot system cooperative work coordinate system Pending CN105066831A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510571313.7A CN105066831A (en) 2015-09-09 2015-09-09 Calibration method of single or multi-robot system cooperative work coordinate system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510571313.7A CN105066831A (en) 2015-09-09 2015-09-09 Calibration method of single or multi-robot system cooperative work coordinate system

Publications (1)

Publication Number Publication Date
CN105066831A true CN105066831A (en) 2015-11-18

Family

ID=54496261

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510571313.7A Pending CN105066831A (en) 2015-09-09 2015-09-09 Calibration method of single or multi-robot system cooperative work coordinate system

Country Status (1)

Country Link
CN (1) CN105066831A (en)

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105698678A (en) * 2016-02-24 2016-06-22 浙江大学 Base coordinate system calibration method of aircraft panel horizontal automatic drill riveter
CN105865825A (en) * 2016-06-16 2016-08-17 芜湖润众机器人科技有限公司 Mechanical arm test platform
CN105945909A (en) * 2016-05-13 2016-09-21 大族激光科技产业集团股份有限公司 Error correction method and system for three-degree-of-freedom parallel robot
CN106124233A (en) * 2016-06-16 2016-11-16 芜湖润众机器人科技有限公司 A kind of mechanical hand test platform
CN106920262A (en) * 2017-03-07 2017-07-04 湖南科技大学 A kind of machine vision 3D four-wheel aligners instrument target binding method
CN108064197A (en) * 2016-12-30 2018-05-22 深圳配天智能技术研究院有限公司 Determine the method, apparatus and robot of stacking dot position information
CN108280853A (en) * 2018-01-11 2018-07-13 深圳市易成自动驾驶技术有限公司 Vehicle-mounted vision positioning method, device and computer readable storage medium
CN108326837A (en) * 2017-01-17 2018-07-27 发那科株式会社 Offline programming device and location parameter bearing calibration
CN108562226A (en) * 2017-12-27 2018-09-21 歌尔股份有限公司 Establishment of coordinate system device and method
CN108733082A (en) * 2017-04-25 2018-11-02 深圳市裕展精密科技有限公司 The calibration method of robot tooling center points
CN108994830A (en) * 2018-07-12 2018-12-14 上海航天设备制造总厂有限公司 System calibrating method for milling robot off-line programing
CN109961479A (en) * 2017-12-25 2019-07-02 大族激光科技产业集团股份有限公司 Localization method and welding streamline applied to battery modules bus welding streamline
CN110091325A (en) * 2018-01-29 2019-08-06 广明光电股份有限公司 The method of copy machine arm operation point
CN110238851A (en) * 2019-06-14 2019-09-17 苏州大学 A kind of mobile robot and its quick calibrating method and system
CN110370319A (en) * 2019-08-07 2019-10-25 江苏汇博机器人技术股份有限公司 A kind of dual robot calibration system and method for real training
CN110549319A (en) * 2019-09-25 2019-12-10 中科新松有限公司 Obstacle marking method based on robot terminal pointing teaching
WO2020051748A1 (en) * 2018-09-10 2020-03-19 深圳配天智能技术研究院有限公司 Calibration method and calibration apparatus
CN111578829A (en) * 2020-04-17 2020-08-25 季华实验室 Device and method for calibrating multi-robot cooperative work coordinate system
CN113021348A (en) * 2021-03-23 2021-06-25 深圳群宾精密工业有限公司 Method applied to point position high-precision conversion among different robots
CN113618253A (en) * 2020-05-08 2021-11-09 大族激光科技产业集团股份有限公司 Laser processing method, laser processing system, laser processing controller and storage medium
CN114211483A (en) * 2021-11-17 2022-03-22 合肥联宝信息技术有限公司 Robot tool center point calibration method, device and storage medium
CN114536339A (en) * 2022-03-03 2022-05-27 深圳市大族机器人有限公司 Method and device for controlling cooperative robot, cooperative robot and storage medium
CN114833825A (en) * 2022-04-19 2022-08-02 深圳市大族机器人有限公司 Cooperative robot control method and device, computer equipment and storage medium
CN117589063A (en) * 2024-01-18 2024-02-23 宁德时代新能源科技股份有限公司 Dimension detection method and dimension detection system
CN114536339B (en) * 2022-03-03 2024-05-31 深圳市大族机器人有限公司 Control method and device for cooperative robot, cooperative robot and storage medium

Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1468792A2 (en) * 2003-04-16 2004-10-20 VMT Bildverarbeitungssysteme GmbH Method for robot calibration
CN101666619A (en) * 2009-09-27 2010-03-10 长沙长泰输送包装设备有限公司 Method for calculating absolute coordinates of work piece
CN102015221A (en) * 2008-04-30 2011-04-13 Abb技术有限公司 A method and a system for determining the relation between a robot coordinate system and a local coordinate system located in the working range of the robot
CN102226677A (en) * 2011-01-26 2011-10-26 东南大学 Calibration method for multi-robot system base coordinate system possessing cooperation relation
CN102230783A (en) * 2011-05-04 2011-11-02 南京航空航天大学 Three-dimensional grid precision compensation method for industrial robot
CN102554595A (en) * 2012-01-13 2012-07-11 清华大学 Skin manufacturing assembly system for airplane
CN103322953A (en) * 2013-05-22 2013-09-25 北京配天大富精密机械有限公司 Method and device for calibration of workpiece coordinate system, and method and device for workpiece processing
EP1722935B1 (en) * 2004-03-03 2014-07-16 LEONI Kabel Holding GmbH Method for calibration of a working point for tools on industrial robots
CN104019751A (en) * 2014-06-25 2014-09-03 吉林大学 Three-dimensional calibrating target for laser scanning plane of active vision measurement of automobile morphology
CN104165584A (en) * 2013-05-17 2014-11-26 上海三菱电梯有限公司 Non-contact high-precision calibration method and application of base reference coordinate system of robot
CN104215206A (en) * 2014-09-28 2014-12-17 东南大学 Base coordinate calibration method of two-robot collaboration system
CN104299184A (en) * 2014-10-29 2015-01-21 西南科技大学 Method for establishing robot coordinate transformation system
CN104457640A (en) * 2014-09-05 2015-03-25 合肥工业大学 Common virtual geometrical characteristic standard component used for calibration of joint-class coordinate measuring machine
CN104608129A (en) * 2014-11-28 2015-05-13 江南大学 Planar constraint based robot calibration method
CN204584869U (en) * 2015-04-10 2015-08-26 深圳市圆梦精密技术研究院 The process equipment of curved surface part

Patent Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1468792A2 (en) * 2003-04-16 2004-10-20 VMT Bildverarbeitungssysteme GmbH Method for robot calibration
EP1722935B1 (en) * 2004-03-03 2014-07-16 LEONI Kabel Holding GmbH Method for calibration of a working point for tools on industrial robots
CN102015221A (en) * 2008-04-30 2011-04-13 Abb技术有限公司 A method and a system for determining the relation between a robot coordinate system and a local coordinate system located in the working range of the robot
CN101666619A (en) * 2009-09-27 2010-03-10 长沙长泰输送包装设备有限公司 Method for calculating absolute coordinates of work piece
CN102226677A (en) * 2011-01-26 2011-10-26 东南大学 Calibration method for multi-robot system base coordinate system possessing cooperation relation
CN102230783A (en) * 2011-05-04 2011-11-02 南京航空航天大学 Three-dimensional grid precision compensation method for industrial robot
CN102554595A (en) * 2012-01-13 2012-07-11 清华大学 Skin manufacturing assembly system for airplane
CN104165584A (en) * 2013-05-17 2014-11-26 上海三菱电梯有限公司 Non-contact high-precision calibration method and application of base reference coordinate system of robot
CN103322953A (en) * 2013-05-22 2013-09-25 北京配天大富精密机械有限公司 Method and device for calibration of workpiece coordinate system, and method and device for workpiece processing
CN104019751A (en) * 2014-06-25 2014-09-03 吉林大学 Three-dimensional calibrating target for laser scanning plane of active vision measurement of automobile morphology
CN104457640A (en) * 2014-09-05 2015-03-25 合肥工业大学 Common virtual geometrical characteristic standard component used for calibration of joint-class coordinate measuring machine
CN104215206A (en) * 2014-09-28 2014-12-17 东南大学 Base coordinate calibration method of two-robot collaboration system
CN104299184A (en) * 2014-10-29 2015-01-21 西南科技大学 Method for establishing robot coordinate transformation system
CN104608129A (en) * 2014-11-28 2015-05-13 江南大学 Planar constraint based robot calibration method
CN204584869U (en) * 2015-04-10 2015-08-26 深圳市圆梦精密技术研究院 The process equipment of curved surface part

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
肖南峰: "《服务机器人》", 31 January 2013 *

Cited By (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105698678A (en) * 2016-02-24 2016-06-22 浙江大学 Base coordinate system calibration method of aircraft panel horizontal automatic drill riveter
CN105945909A (en) * 2016-05-13 2016-09-21 大族激光科技产业集团股份有限公司 Error correction method and system for three-degree-of-freedom parallel robot
CN105865825A (en) * 2016-06-16 2016-08-17 芜湖润众机器人科技有限公司 Mechanical arm test platform
CN106124233A (en) * 2016-06-16 2016-11-16 芜湖润众机器人科技有限公司 A kind of mechanical hand test platform
CN108064197B (en) * 2016-12-30 2021-04-06 深圳配天智能技术研究院有限公司 Method and device for determining position information of stacking point and robot
CN108064197A (en) * 2016-12-30 2018-05-22 深圳配天智能技术研究院有限公司 Determine the method, apparatus and robot of stacking dot position information
WO2018120210A1 (en) * 2016-12-30 2018-07-05 深圳配天智能技术研究院有限公司 Method and device for determining position information about stacking point, and robot
DE102018100420B4 (en) 2017-01-17 2022-02-17 Fanuc Corporation Off-line programming facility and position parameter correction method
CN108326837A (en) * 2017-01-17 2018-07-27 发那科株式会社 Offline programming device and location parameter bearing calibration
CN106920262A (en) * 2017-03-07 2017-07-04 湖南科技大学 A kind of machine vision 3D four-wheel aligners instrument target binding method
CN108733082A (en) * 2017-04-25 2018-11-02 深圳市裕展精密科技有限公司 The calibration method of robot tooling center points
CN109961479A (en) * 2017-12-25 2019-07-02 大族激光科技产业集团股份有限公司 Localization method and welding streamline applied to battery modules bus welding streamline
CN108562226A (en) * 2017-12-27 2018-09-21 歌尔股份有限公司 Establishment of coordinate system device and method
CN108562226B (en) * 2017-12-27 2020-05-22 歌尔股份有限公司 Coordinate system establishing device and method
CN108280853A (en) * 2018-01-11 2018-07-13 深圳市易成自动驾驶技术有限公司 Vehicle-mounted vision positioning method, device and computer readable storage medium
CN110091325A (en) * 2018-01-29 2019-08-06 广明光电股份有限公司 The method of copy machine arm operation point
CN108994830A (en) * 2018-07-12 2018-12-14 上海航天设备制造总厂有限公司 System calibrating method for milling robot off-line programing
WO2020051748A1 (en) * 2018-09-10 2020-03-19 深圳配天智能技术研究院有限公司 Calibration method and calibration apparatus
CN110238851A (en) * 2019-06-14 2019-09-17 苏州大学 A kind of mobile robot and its quick calibrating method and system
CN110370319A (en) * 2019-08-07 2019-10-25 江苏汇博机器人技术股份有限公司 A kind of dual robot calibration system and method for real training
CN110549319A (en) * 2019-09-25 2019-12-10 中科新松有限公司 Obstacle marking method based on robot terminal pointing teaching
CN110549319B (en) * 2019-09-25 2021-11-02 中科新松有限公司 Obstacle marking method based on robot terminal pointing teaching
CN111578829A (en) * 2020-04-17 2020-08-25 季华实验室 Device and method for calibrating multi-robot cooperative work coordinate system
CN111578829B (en) * 2020-04-17 2021-11-02 季华实验室 Device and method for calibrating multi-robot cooperative work coordinate system
CN113618253B (en) * 2020-05-08 2023-06-23 大族激光科技产业集团股份有限公司 Laser processing method, system, laser processing controller and storage medium
CN113618253A (en) * 2020-05-08 2021-11-09 大族激光科技产业集团股份有限公司 Laser processing method, laser processing system, laser processing controller and storage medium
CN113021348B (en) * 2021-03-23 2021-10-15 深圳群宾精密工业有限公司 Method applied to point position high-precision conversion among different robots
CN113021348A (en) * 2021-03-23 2021-06-25 深圳群宾精密工业有限公司 Method applied to point position high-precision conversion among different robots
CN114211483A (en) * 2021-11-17 2022-03-22 合肥联宝信息技术有限公司 Robot tool center point calibration method, device and storage medium
CN114536339A (en) * 2022-03-03 2022-05-27 深圳市大族机器人有限公司 Method and device for controlling cooperative robot, cooperative robot and storage medium
CN114536339B (en) * 2022-03-03 2024-05-31 深圳市大族机器人有限公司 Control method and device for cooperative robot, cooperative robot and storage medium
CN114833825A (en) * 2022-04-19 2022-08-02 深圳市大族机器人有限公司 Cooperative robot control method and device, computer equipment and storage medium
CN117589063A (en) * 2024-01-18 2024-02-23 宁德时代新能源科技股份有限公司 Dimension detection method and dimension detection system
CN117589063B (en) * 2024-01-18 2024-05-14 宁德时代新能源科技股份有限公司 Dimension detection method and dimension detection system

Similar Documents

Publication Publication Date Title
CN105066831A (en) Calibration method of single or multi-robot system cooperative work coordinate system
Ong et al. Augmented reality-assisted robot programming system for industrial applications
Zhang et al. Stereo vision based autonomous robot calibration
CN102226677B (en) Calibration method for multi-robot system base coordinate system possessing cooperation relation
CN102848389B (en) Realization method for mechanical arm calibrating and tracking system based on visual motion capture
CN102566577B (en) Method for simply and easily calibrating industrial robot
CN109483516A (en) A kind of mechanical arm hand and eye calibrating method based on space length and epipolar-line constraint
CN106003034B (en) A kind of robot controller control system and control method
CN105945909A (en) Error correction method and system for three-degree-of-freedom parallel robot
CN111267073B (en) Industrial robot teaching system and method based on augmented reality technology
CN106595474A (en) Double-robot base coordinate system calibration method based on laser tracker
CN104942808A (en) Robot motion path off-line programming method and system
CN109079780A (en) Distributed mobile mechanical arm task hierarchy optimization control method based on generalized coordinates
CN110148187A (en) A kind of the high-precision hand and eye calibrating method and system of SCARA manipulator Eye-in-Hand
CN103646377B (en) Coordinate conversion method and device
CN105180962B (en) A kind of cooperating robot's basis coordinates system scaling method based on the spot projection of space two
CN107097203A (en) Mix the working space mapping method of principal and subordinate's heterogeneous teleoperation robot of switching
CN102991724A (en) Butt-joint method for large-size parts of airplane by work space measuring and positioning system
Andersen et al. Task space HRI for cooperative mobile robots in fit-out operations inside ship superstructures
Borràs et al. Architectural singularities of a class of pentapods
CN105573143A (en) Inverse kinematics solving method for 6-DOF (degree of freedom) industrial robot
CN114161425A (en) Error compensation method of industrial robot
TWI708667B (en) Method and device and system for calibrating position and orientation of a motion manipulator
Wang et al. Design and implementation of five-axis transformation function in CNC system
She et al. Development of a five-axis postprocessor system with a nutating head

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20180620

Address after: 518000 No. 9988 Shennan Road, Nanshan District, Shenzhen, Guangdong

Applicant after: HANS LASER TECHNOLOGY INDUSTRY GROUP CO., LTD.

Applicant after: Shenzhen Dazu robot Co., Ltd.

Address before: 518000 No. 9988 Shennan Road, Nanshan District, Shenzhen, Guangdong

Applicant before: HANS LASER TECHNOLOGY INDUSTRY GROUP CO., LTD.

Applicant before: Shenzhen Hans Electric Motor Co., Ltd.

RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20151118