CN110142755A - A kind of six-joint robot accuracy calibrating method - Google Patents
A kind of six-joint robot accuracy calibrating method Download PDFInfo
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- CN110142755A CN110142755A CN201910246544.9A CN201910246544A CN110142755A CN 110142755 A CN110142755 A CN 110142755A CN 201910246544 A CN201910246544 A CN 201910246544A CN 110142755 A CN110142755 A CN 110142755A
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- arm
- joint
- coordinates system
- coordinate system
- basis coordinates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of six-joint robot accuracy calibrating methods, are calibrated by the calibrating installation of known coordinate system to the mechanical arm of robot, specifically include S01. and convert the ending coordinates system of robot with basis coordinates system；S02. calculate or measure coordinate position of the calibrating installation in basis coordinates system；S03. calibrating installation is clamped using robot end's clamping jaw, calculates position coordinates of the end clamping jaw in basis coordinates system this moment；S04. it compares coordinate position of position coordinates of the end clamping jaw in basis coordinates system and the S02 lieutenant colonel's standard apparatus obtained in S03 in basis coordinates system and obtains error.This method can realize live precision calibration, and method is simple.
Description
Technical field
The present invention relates to a kind of accuracy calibrating method more particularly to a kind of six-joint robot accuracy calibrating methods.
Background technique
Robot is widely used in industrial production and experimental study, and the precision of robot directly influences industrial production efficiency
With the accuracy of experiment, existing calibration method multi-pass crosses computer and establishes model realization, and process is cumbersome, and the used time is long, is not suitable for
Realize calibration immediately in scene.
Summary of the invention
The purpose of the present invention is to provide it is a kind of can execute-in-place calibration method, method is simple, without many and diverse calculating
Process, the technical solution used in the present invention are as follows: a kind of six-joint robot accuracy calibrating method passes through the calibration of known coordinate system
Device calibrates the mechanical arm of robot, specifically includes
S01 converts the ending coordinates system of robot with basis coordinates system；
S02 calculates or measures coordinate position of the calibrating installation in basis coordinates system；
S03 clamps calibrating installation using robot end's clamping jaw, calculates position of the end clamping jaw in basis coordinates system this moment and sits
Mark；
S04 compares position coordinates of the end clamping jaw in basis coordinates system obtained in S03 and S02 lieutenant colonel's standard apparatus in basis coordinates
Coordinate position in system simultaneously obtains error.
Further, the calibrating installation is set on the XOY plane in the basis coordinates system, and the calibrating installation is in institute
The coordinate position stated in basis coordinates system is obtained by measurement.
Further, six-joint robot includes sequentially connected pedestal, the first telescopic arm, the second telescopic arm, rotating arm, pendulum
Swing arm and articulated arm, it is basis coordinates system, first telescopic arm and described second at first telescopic arm that the pedestal, which connects,
The second coordinate system is established at telescopic arm tie point, establishes third coordinate at the rotating arm and the second telescopic arm tie point
System, the rotating arm and the swing arm tie point establish 4-coordinate system, and the swing arm is built with the articulated arm tie point
Vertical Five Axis system, the articulated arm connect and establish ending coordinates system at clamping jaw.
Further, the transforming relationship between the basis coordinates system and ending coordinates system is obtained by following steps:
A obtains the conversion between basis coordinates system and the second coordinate system according to the joint angle in joint between the first telescopic arm and pedestal
Relationship a1；
B according to the joint angle in joint between the second telescopic arm and the first telescopic arm obtain the second coordinate system and third coordinate system it
Between transforming relationship a2；
C is obtained between third coordinate system and the second coordinate system according to the joint angle in joint between rotating arm and the second telescopic arm
Transforming relationship a3；
D obtains the conversion between 4-coordinate system and third coordinate system according to the joint angle in joint between swing arm and rotating arm
Relationship a4；
E obtains the conversion between Five Axis system and 4-coordinate system according to the joint angle in joint between articulated arm and swing arm
Relationship a5；
F calculates the transforming relationship a6 between ending coordinates system and Five Axis system；
G obtains the transforming relationship between basis coordinates system and ending coordinates system according to a1, a2, a3, a4, a5, a6.
Further, the calibrating installation is removably fixed on pedestal.
Further, the calibrating installation coordinate position is obtained by measurement.
Beneficial effect caused by the present invention includes: that the calibration method in the present invention can be directly realized by place at the scene, nothing
Many and diverse model need to be carried out by computer to calculate.
Specific embodiment
Further details of explanation is done to the present invention With reference to embodiment, it should be appreciated that of the invention
Protection scope be not limited by the specific implementation.
Six-joint robot includes sequentially connected pedestal, the first telescopic arm, the second telescopic arm, rotating arm, pendulum in the present invention
Swing arm and articulated arm, it is basis coordinates system, first telescopic arm and described second at first telescopic arm that the pedestal, which connects,
The second coordinate system is established at telescopic arm tie point, establishes third coordinate at the rotating arm and the second telescopic arm tie point
System, the rotating arm and the swing arm tie point establish 4-coordinate system, and the swing arm is built with the articulated arm tie point
Vertical Five Axis system, the articulated arm connect and establish ending coordinates system, six-joint robot accuracy calibrating method, by clamping jaw
Know that the calibrating installation of coordinate system calibrates the mechanical arm of robot, specifically includes
S01 converts the ending coordinates system of robot with basis coordinates system；
Transforming relationship between the basis coordinates system and ending coordinates system is obtained by following steps:
A obtains the conversion between basis coordinates system and the second coordinate system according to the joint angle in joint between the first telescopic arm and pedestal
Relationship a1；
B according to the joint angle in joint between the second telescopic arm and the first telescopic arm obtain the second coordinate system and third coordinate system it
Between transforming relationship a2；
C is obtained between third coordinate system and the second coordinate system according to the joint angle in joint between rotating arm and the second telescopic arm
Transforming relationship a3；
D obtains the conversion between 4-coordinate system and third coordinate system according to the joint angle in joint between swing arm and rotating arm
Relationship a4；
E obtains the conversion between Five Axis system and 4-coordinate system according to the joint angle in joint between articulated arm and swing arm
Relationship a5；
F calculates the transforming relationship a6 between ending coordinates system and Five Axis system；
G obtains the transforming relationship between basis coordinates system and ending coordinates system according to a1, a2, a3, a4, a5, a6.
S02 measures coordinate position of the calibrating installation in basis coordinates system；Calibrating installation is removably fixed on pedestal, is passed through
High-precision tape measure calibrating installation obtains its coordinate in the position of basis coordinates system；
S03 clamps calibrating installation using robot end's clamping jaw, calculates position of the end clamping jaw in basis coordinates system this moment and sits
Mark；
S04 compares position coordinates of the end clamping jaw in basis coordinates system obtained in S03 and S02 lieutenant colonel's standard apparatus in basis coordinates
Coordinate position in system simultaneously obtains error.
The calibrating installation is set on the XOY plane in the basis coordinates system, and the calibrating installation is in the basis coordinates
Coordinate position in system is obtained by measurement.
Lieutenant colonel's standard apparatus of the present invention is removably fixed on pedestal, and fixed point is unique, when needing to calibrate, by calibrating installation
It is mounted on the base, when not needing calibration, is removed.
The above is only a preferred embodiment of the present invention, and the present invention is not limited in the content of embodiment.For in this field
Technical staff for, can have various change and change within the scope of technical solution of the present invention, made any variation and
Change, within that scope of the present invention.
Claims (6)
1. a kind of six-joint robot accuracy calibrating method, it is characterised in that: by the calibrating installation of known coordinate system to robot
Mechanical arm calibrated, specifically include
S01 converts the ending coordinates system of robot with basis coordinates system；
S02 calculates or measures coordinate position of the calibrating installation in basis coordinates system；
S03 clamps calibrating installation using robot end's clamping jaw, calculates position of the end clamping jaw in basis coordinates system this moment and sits
Mark；
S04 compares position coordinates of the end clamping jaw in basis coordinates system obtained in S03 and S02 lieutenant colonel's standard apparatus in basis coordinates
Coordinate position in system simultaneously obtains error.
2. six-joint robot accuracy calibrating method according to claim 1, it is characterised in that: the calibrating installation is set to
On XOY plane in the basis coordinates system, coordinate position of the calibrating installation in the basis coordinates system is obtained by measurement.
3. six-joint robot accuracy calibrating method according to claim 1, it is characterised in that: six-joint robot includes successively
The pedestal of connection, the first telescopic arm, the second telescopic arm, rotating arm, swing arm and articulated arm, the pedestal connection described first are stretched
It is basis coordinates system at contracting arm, establishes the second coordinate system, the rotation at first telescopic arm and the second telescopic arm tie point
Establish third coordinate system at pivoted arm and the second telescopic arm tie point, the rotating arm and the swing arm tie point establish the
4-coordinate system, the swing arm and the articulated arm tie point establish Five Axis system, establish at the articulated arm connection clamping jaw
Ending coordinates system.
4. the accuracy calibrating method of six-joint robot according to claim 3, it is characterised in that: the basis coordinates system and end
Transforming relationship between the coordinate system of end is obtained by following steps:
A obtains the conversion between basis coordinates system and the second coordinate system according to the joint angle in joint between the first telescopic arm and pedestal
Relationship a1；
B according to the joint angle in joint between the second telescopic arm and the first telescopic arm obtain the second coordinate system and third coordinate system it
Between transforming relationship a2；
C is obtained between third coordinate system and the second coordinate system according to the joint angle in joint between rotating arm and the second telescopic arm
Transforming relationship a3；
D obtains the conversion between 4-coordinate system and third coordinate system according to the joint angle in joint between swing arm and rotating arm
Relationship a4；
E obtains the conversion between Five Axis system and 4-coordinate system according to the joint angle in joint between articulated arm and swing arm
Relationship a5；
F calculates the transforming relationship a6 between ending coordinates system and Five Axis system；
G obtains the transforming relationship between basis coordinates system and ending coordinates system according to a1, a2, a3, a4, a5, a6.
5. the accuracy calibrating method of six-joint robot according to claim 1, it is characterised in that: the calibrating installation is removable
It unloads and is fixed on pedestal.
6. the accuracy calibrating method of six-joint robot according to claim 1, it is characterised in that: the calibrating installation coordinate
Position is obtained by measurement.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910246544.9A CN110142755A (en) | 2019-03-29 | 2019-03-29 | A kind of six-joint robot accuracy calibrating method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910246544.9A CN110142755A (en) | 2019-03-29 | 2019-03-29 | A kind of six-joint robot accuracy calibrating method |
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| Publication Number | Publication Date |
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| CN110142755A true CN110142755A (en) | 2019-08-20 |
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Citations (6)
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| 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 |
| EP2818283A1 (en) * | 2013-06-28 | 2014-12-31 | Robotkonsult AB | Method for robot calibration |
| CN105690423A (en) * | 2014-11-11 | 2016-06-22 | 沈阳新松机器人自动化股份有限公司 | Robot zero position calibrating device and method |
| CN107643064A (en) * | 2016-07-20 | 2018-01-30 | 发那科株式会社 | The origin position calibrating installation and method of robot |
| CN107650144A (en) * | 2017-09-16 | 2018-02-02 | 埃夫特智能装备股份有限公司 | The demarcation calibration system and its method of a kind of industrial robot workpiece coordinate system |
| 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 |
-
2019
- 2019-03-29 CN CN201910246544.9A patent/CN110142755A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| EP2818283A1 (en) * | 2013-06-28 | 2014-12-31 | Robotkonsult AB | Method for robot calibration |
| CN105690423A (en) * | 2014-11-11 | 2016-06-22 | 沈阳新松机器人自动化股份有限公司 | Robot zero position calibrating device and method |
| CN107643064A (en) * | 2016-07-20 | 2018-01-30 | 发那科株式会社 | The origin position calibrating installation and method of robot |
| 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 |
| CN107650144A (en) * | 2017-09-16 | 2018-02-02 | 埃夫特智能装备股份有限公司 | The demarcation calibration system and its method of a kind of industrial robot workpiece coordinate system |
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Application publication date: 20190820 |
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