CN103968761A - Absolute positioning error correction method of in-series joint type robot and calibration system - Google Patents
Absolute positioning error correction method of in-series joint type robot and calibration system Download PDFInfo
- Publication number
- CN103968761A CN103968761A CN201410231904.5A CN201410231904A CN103968761A CN 103968761 A CN103968761 A CN 103968761A CN 201410231904 A CN201410231904 A CN 201410231904A CN 103968761 A CN103968761 A CN 103968761A
- Authority
- CN
- China
- Prior art keywords
- joint
- robot
- zero
- calibration
- error
- 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
Links
Abstract
The invention provides an absolute positioning error correction method of an in-series joint type robot and a calibration system. The absolute positioning error correction method comprises the following steps: establishing an axis model of a detected joint and an adjacent joint for obtaining and correcting parameters of an arm rod in an upper computer by an optical positioning instrument, outputting a neural network model of a target corner and carrying out zero error correction. The absolute positioning error correction method provided by the invention has the advantages that since the calculation result can reflect actual structure parameters of the robot really and further D-H parameters are corrected, a low-cost optical tracking and positioning test instrument (namely an NDI optical positioning instrument) is adopted for carrying out analysis and error compensation on the absolute positioning accuracy of a robot system from three aspects of a kinematic model, a joint-transmission return difference and zero positioning, so that not only is the accuracy improved, but also the cost is reduced.
Description
Technical field
The present invention relates to a kind of robot calibration method and equipment, be specifically related to a kind of series connection prosthetic robot absolute fix error calibrating method and calibration system.
Background technology
The mechanical arm of series connection prosthetic robot is generally realized various motor functions by the combination of multiple rotary joint series connection armed lever, in the industry spot such as automatic transporting, assembling, welding, spraying, has a wide range of applications.Because series connection prosthetic robot is often operated in accuracy and the higher application of security requirement, this just requires robot to have very high absolute fix precision.But repeatable accuracy is higher, absolute fix precision is lower is well known fact in current robot application, generally absolute fix precision is only 2～3mm, can not finely meet robot practical application needs, therefore the research of robot absolute fix precision analysis be had to very important realistic meaning.
The absolute fix error that affects robot absolute fix precision mainly comprises robot architecture's parameter error (manufacturing and assemble the length of connecting rod scale error, the axis angular error that cause), joint driving error (gap of gear train, return difference) and the error of zero (null pick-up alignment error).
Owing to there is processing and rigging error, can not truly reflect the actual motion situation of robot with the ideal movements model that D-H parametric method is set up.In order to address this problem, in prior art, after robot carries out Precision Machining and assembles, utilize the data such as surveying instrument manual repeatedly robot measurement joint length, axis angle, measurement data is revised robot D-H parameter according to this.The feature that although this manual method has is simple, easy to operate, cost is low, but measurement, computation process complexity, automaticity is not high, inevitably introduces personal error and stochastic error, and the impact of uncertain factor is not unique, precision is low, confidence level is poor because being subject to for measurement data.
The at present demarcation of robot kinematics's model concentrates on for the theoretical method research of the structural parameters of robot upper, often by high-precision testing apparatus as laser trackers such as FARO, Lycras.In calibration process, by the rotation of simple joint axle (fixing along axis direction), gather three point coordinate data of its end spaces planimetric position, joint, calculate axle center coordinate and the joint radius of turn length of this joint shaft in this plane, this radius value is the modified value of rod member length.
But these high-precision testing apparatuss are expensive, unable being also not intended to of common research and development unit bought, therefore, and the concrete staking-out work that cannot be correlated with.Moreover above-mentioned testing apparatus data analysis is comprehensive not, only robot rod member parameter is revised, the axis angle of joint shaft is not carried out to analysis and correction, also joint driving error (gap of gear train, return difference) and the error of zero (null pick-up alignment error) are not analyzed and compensation; In test, get three points as the modified value of calculating rod member length, the computing method of data are rigorous not more.
Summary of the invention
The present invention is directed to problems of the prior art, proposing a kind of while calibrates for error and three aspects of error of zero calibration from correction, the joint transmission return difference of D-H parameter, the absolute fix error of robot system is analyzed and compensation, can reflect more truly the actual structure parameters of robot, effectively improve the series connection prosthetic robot absolute fix error calibrating method of joint transmission accuracy; And the calibration system of use the method.
Technical scheme of the present invention is as follows:
Series connection prosthetic robot absolute fix error calibrating method, comprising:
The correction of D-H parameter: on the armed lever being connected with tested joint, identification point is set, in host computer, set up the axis model in described tested joint by optical orientator, bee-line between the axis of adjacent segment is the length parameters of described armed lever, and the angle between the axis of adjacent segment is the angle parameter of described armed lever;
Joint transmission return difference calibration: utilize described optical orientator to measure described tested joint taking joint zero-bit as starting point to equate that step-length successively does actual rotational angle that forward and negative sense rotate as sample data on code-disc, neural network model is trained; In the model completing in training using described tested joint with respect to the current location of described joint zero-bit and the sense of rotation of expectation as input quantity, taking the target rotation angle of motor as output quantity, control described motor;
Error of zero calibration: the mathematical model of robot zero-error correction is:
Wherein,
for described tested joint i is with respect to the nominal corner of controlling zero-bit;
for described tested joint i is with respect to the actual rotational angle of controlling zero-bit; Δ q
ifor the error of zero of described tested joint i; ?
in time, reads in the mechanical zero of null pick-up by described optical orientator in the robot coordinate system of described host computer and contrasts with controlling zero-bit, obtains described tested joint i's
and then calculate Δ q
iand be kept in robot control system with the form of calibration constants.
The generation method of the axis model in described joint comprises:
I) the tested joint of independently moving, drives described armed lever successively to rotate one week according to equal angles, uses optical orientator to measure and record the track of described identification point, by the center of circle of identification point described in described track fitting;
Ii) also distinguish the matching center of circle along the described identification point of the axial adjustment position in described tested joint, by the axis in tested joint described in the matching of the described center of circle.
The method of described matching comprises least square method.
Described step I) in angle be 10 °.
Described joint transmission return difference is calibrated and is also comprised, described sample data is carried out dimensional variation before training, and all training datas are all dropped in [0,1] interval.
Neural network model adopts Leven berg Marquardt.
Described tested joint i is with respect to the actual rotational angle of controlling zero-bit
acquisition methods comprise: mechanical zero coordinate in described optical orientator is mapped in described robot coordinate system, obtain the mechanical zero position of described null pick-up in described robot coordinate system, and impact point using this position as robot planning, calculate each joint with respect to the actual rotational angle of controlling zero-bit in conjunction with the anti-solution of inverse kinematics
A kind of calibration system that uses the series connection prosthetic robot absolute fix error calibrating method as described in the claims, it is characterized in that: it comprises interconnective optical orientator and host computer, wherein said optical orientator is constantly adjusted under the control of described host computer, make measuredly within the scope of described optical orientator optimum measurement, and the structural parameters that record are inputted to described host computer; Described host computer is controlled the pose of optical orientator, and uses described series connection prosthetic robot absolute fix error calibrating method to realize the correction of the D-H parameter to robot, the calibration of joint transmission return difference and error of zero calibration.
Described optical orientator is NDI optical guidance instrument.
Technique effect of the present invention is as follows:
This method provides a kind of series connection prosthetic robot absolute fix error calibrating method, sets up for trying to achieve revise the neural network model of the tested joint of armed lever parameter and the axis model of adjacent segment thereof, export target corner and carry out error of zero calibration by optical orientator in host computer.Due to above-mentioned result of calculation can actual response robot actual structure parameters, and then D-H parameter is revised, therefore can adopt optical tracking assignment test instrument-NDI optical orientator cheaply, from kinematics model, joint transmission return difference and zero-bit location three aspects:, absolute fix precision to robot system has been carried out analysis and error compensation, both improve precision, reduced again cost.
The present invention is directed to structural parameters and error of movement variables, adopt the kinematics model of revising, can reflect more truly the actual structure parameters of robot; The joint transmission return difference error that gear drive error and gap are caused has been carried out experiment compensation, can effectively improve joint transmission accuracy; For zero-bit positioning error, go out joint rotation angle in conjunction with robot inverse inverse kinematic and carry out error compensation, make positioning datum more accurate.
Brief description of the drawings
Fig. 1 is that calibration system of the present invention uses view
Fig. 2 is joint of the present invention calibration principle schematic diagram
Fig. 3 is the joints axes location method schematic diagram that solves of the present invention
Fig. 4 is joints axes fitting result schematic diagram of the present invention
Fig. 5 is the schematic flow sheet of error of zero calibration of the present invention
Embodiment
Below in conjunction with accompanying drawing, the present invention will be described.
In the following description, the technician that some details are computer realm provides entirety of the present invention is understood.In an embodiment, show to realize the element of concrete function with the form of schematic diagram or block diagram, so that outstanding technology emphasis, and can be in fuzzy the present invention aspect unnecessary details.Such as, in understanding scope due to those of ordinary skill in the art, contain about details disclosed in this areas such as network service, electromagnetic signal instruction technique, user side interface or I/O technology, common-sense, thereby omitted to the full extent in an embodiment above-mentioned ins and outs, and do not think that these details are to obtain the necessary feature of complete skill scheme of the present invention.
As shown in Figure 1, calibration system of the present invention comprises interconnective optical orientator 1 and host computer 2, when use, target ball hole is set on each armed lever of robot 3 so that target ball to be installed, demarcate the relative position of target ball by optical orientator 1, and then calculate the structural parameters of robot 3.Wherein optical orientator 1 is constantly adjusted under the control of host computer 2, makes measuredly within the scope of optical orientator optimum measurement, and the structural parameters that record is inputted to host computer 2; Host computer 2 is controlled the pose of optical orientator 1, and use absolute fix error calibrating method correction D-H parameter of the present invention, the kinematics model of accurate Calculation robot 3, and joint transmission return difference to calculating robot and the error of zero are analyzed and compensation.The preferred NDI optical guidance instrument of optical orientator 1 of the present embodiment.
Be that example describes absolute fix error calibrating method of the present invention below by a serial machine people mechanical arm.As shown in Figure 2, the series connection prosthetic robot in the present embodiment is the robot with six degree of freedom mechanical arm, and wherein each joint parameter of mechanical arm is as shown in the table:
| Joint | θ i | d i(mm) | a i(mm) | α i | Joint variable |
| 1 | 0° | d 1 | l 1＝0 | 0° | d 1 |
| 2 | θ 2＝0° | 0 | l 2＝285 | 0° | θ 2 |
| 3 | θ 3＝90° | d 3＝69.5 | l 3＝254 | 135° | θ 3 |
| 4 | θ 4＝0° | d 4＝178 | 0 | -90° | θ 4 |
| 5 | θ 5＝0° | 0 | 0 | 90° | θ 5 |
| 6 | θ 6＝0° | 0 | 0 | 0° | θ 6 |
Wherein, the joint being connected with locating support 4 is linear joint, and other joints are cradle head; Armed lever near registration support 5 is called to large arm, the armed lever near locating support 4 is called to forearm.Absolute fix error calibrating method of the present invention mainly comprises correction, joint transmission return difference error analysis and compensation and three aspects of error of zero calibration of D-H parameter:
1) correction of D-H parameter
The present embodiment is analyzed as example taking large arm l2, and its step comprises:
I) optical orientator in calibration system 1 is fixed on to the 2～3m distant place apart from robot 3; As shown in Figure 2, fixed target ball on the large arm l2 of robot 3, records the now position of target ball by optical orientator 1;
Ii) independently moving joint A, under the motionless condition in all the other joints, makes 10 ° of the every rotations of large arm l2 record once the position coordinates of the upper target ball of large arm l2 by optical orientator 1, simulates center of circle C1;
Iii) in like manner, adjust fixed position and the height of target ball on large arm l2, repeating step ii) can simulate center of circle C2 that should fixed position, and then constantly adjust target ball and can obtain the center of circle set C1, the C2 of the different fixed positions of a series of correspondences and height Afterwards the center of circle is gathered to C1, C2 ... matching, is approximately straight line Z1; Z1 is large-arm joint axis;
Iv) control 3 is got back to initial position, and independently moving joint B, under the motionless condition in all the other joints, makes 10 ° of the every rotations of forearm l3 record the position coordinates of a upper target ball of forearm l3 by optical orientator 1, simulates center of circle C1 ';
V) in like manner, adjust fixed position and the height of target ball on forearm l3, and then constantly adjust target ball and repeat step I v), can obtain the center of circle set C1 ', the C2 ' of the different fixed positions of a series of correspondences and height ..., then simulate forearm joints axes Z2;
Wherein the method for the matching center of circle and matching axis is least square method;
Vi) reflection large arm and the axial location of little shoulder joint and the large arm axle line Z1 of attitude and forearm axis Z2 are calculated in the distance of space line and angle algorithm, can for example, in the hope of the correction armed lever parameter of large arm l2 and forearm l3:
As shown in Figure 4, utilize MATLAB successively large-arm joint axis Z1 and forearm joints axes Z2 to be solved, in space, try to achieve the axial equation about joint A and joint B, then solving its bee-line is the length parameters of actual large arm l2, and the axis angle that solves joint A and joint B is actual angle parameter.
2) joint transmission return difference calibration
On the one hand, the reasons such as gear return difference and gear drive error, code wheel reading can not accurately reflect the actual motion in joint; On the other hand, be nonlinear to the factor that causes joint transmission return difference, carry out accurate modeling more difficult and complicated.Therefore, the Fast Training method that the present invention is based on Leven berg Marquardt numerical optimization technique compensates each joint transmission return difference error, thereby improves the positioning precision of robot.In addition, adopt gear-driven joint of robot, for the different positions of engagement and different direction of motion, joint transmission return difference error can be not identical.
The present invention uses the actual training sample data that record to train Leven berg Marquardt neural network, obtains gear return difference, the current location θ by joint j with respect to joint zero-bit after having trained
jwith the sense of rotation S expecting
jas the input quantity of Leven berg Marquardt neural network, be the target rotation angle θ of motor with respect to the reading of zero-bit by code-disc
mas the output quantity control motor of neural network, realize gear return difference is compensated.Wherein the sense of rotation of joint j is defined as:
The acquisition methods that is used for the training sample that builds Leven berg Marquardt neural network comprises:
I) control joint j and arrive zero-bit position;
II) control joint j and to the forward move by the step-length of 10 degree on code-disc, after each motion finishes, measure and record the actual rotational angle of joint j with the measuring equipment such as optical orientator or laser tracker, until joint j moves to positive extreme position; Record each step-length and corresponding actual rotational angle thereof, as forward training sample set;
III) again control joint j and arrive zero-bit position;
IV) step-lengths that control joint j presses 10 degree on code-disc, toward negative movement, after each motion finishes, are measured and record the actual rotational angle of joint j, until joint j moves to negative extreme position with measuring equipment; Record each step-length and corresponding actual rotational angle thereof, as negative sense training sample set.
Can obtain thus forward training sample set and the negative sense training sample set in each joint.Before training, sample data is carried out to change of scale, all training datas are all dropped in [0,1] interval.
3) error of zero calibration
In prior art, realize zero-bit hi-Fix and need to possess a prerequisite, it is exactly the control zero-bit strict conformance that actual null pick-up installation site will be designed with ideal, but robot can not ensure, certainly exist certain installation deviation, therefore after the rod member parameter of robot is revised, also must carry out the error compensation of null pick-up position.
The mathematical model of robot error of zero calibration is:
In formula:
for joint i is with respect to the nominal corner (or displacement) of controlling zero-bit;
for joint i is with respect to the actual rotational angle (or displacement) of controlling zero-bit; Δ q
ifor the error of zero of joint i.
As shown in Figure 5, the step of error of zero calibration comprises:
A) host computer 1 sends small change movement instruction to robot 3, makes each joint arrive mechanical zero position, now, and nominal corner (or displacement)
B) utilize optical orientator 1 to read the position coordinates of the locating support 4 of installing at robot 3 ends in advance, i.e. mechanical zero coordinate in optical orientator 1;
C) according to optical orientator 1 and robot 3 coordinate transformation relations, mechanical zero coordinate in optical orientator 1 is mapped in robot coordinate system, obtain the mechanical zero position (with control zero-bit have deviation) of this locating support 4 in robot coordinate system, and impact point using this position as robot planning, calculate each joint with respect to the accurate corner (or displacement) of controlling zero-bit in conjunction with the anti-solution of inverse kinematics
D) with
calculate error of zero mean value Δ q
i, and set it as the offset of the robot error of zero, be input in robot control system and save with the form of calibration constants.
It should be pointed out that the above embodiment can make the invention of those skilled in the art's comprehend, but do not limit the present invention in any way creation.Therefore; although this instructions has been described in detail the invention with reference to drawings and Examples; but; those skilled in the art are to be understood that; still can modify or be equal to replacement the invention; in a word, all do not depart from technical scheme and the improvement thereof of the spirit and scope of the invention, and it all should be encompassed in the middle of the protection domain of the invention patent.
Claims (9)
1. series connection prosthetic robot absolute fix error calibrating method, comprising:
The correction of D-H parameter: on the armed lever being connected with tested joint, identification point is set, in host computer, set up the axis model in described tested joint by optical orientator, bee-line between the axis of adjacent segment is the length parameters of described armed lever, and the angle between the axis of adjacent segment is the angle parameter of described armed lever;
Joint transmission return difference calibration: utilize described optical orientator to measure described tested joint taking joint zero-bit as starting point to equate that step-length successively does actual rotational angle that forward and negative sense rotate as sample data on code-disc, neural network model is trained; In the model completing in training using described tested joint with respect to the current location of described joint zero-bit and the sense of rotation of expectation as input quantity, taking the target rotation angle of motor as output quantity, control described motor;
Error of zero calibration: the mathematical model of robot zero-error correction is:
Wherein,
for described tested joint i is with respect to the nominal corner of controlling zero-bit;
for described tested joint i is with respect to the actual rotational angle of controlling zero-bit; Δ q
ifor the error of zero of described tested joint i; ?
in time, reads in the mechanical zero of null pick-up by described optical orientator in the robot coordinate system of described host computer and contrasts with controlling zero-bit, obtains described tested joint i's
and then calculate Δ q
iand be kept in robot control system with the form of calibration constants.
2. series connection prosthetic robot absolute fix error calibrating method as claimed in claim 1, is characterized in that: the generation method of the axis model in described joint comprises:
I) the tested joint of independently moving, drives described armed lever successively to rotate one week according to equal angles, uses optical orientator to measure and record the track of described identification point, by the center of circle of identification point described in described track fitting;
Ii) also distinguish the matching center of circle along the described identification point of the axial adjustment position in described tested joint, by the axis in tested joint described in the matching of the described center of circle.
3. series connection prosthetic robot absolute fix error calibrating method as claimed in claim 2, is characterized in that: the method for described matching comprises least square method.
4. the prosthetic robot absolute fix error calibrating method of connecting as claimed in claim 2 or claim 3, is characterized in that: described step I) in angle be 10 °.
5. series connection prosthetic robot absolute fix error calibrating method as claimed in claim 1, it is characterized in that: described joint transmission return difference calibration also comprises, described sample data is carried out dimensional variation before training, and all training datas are all dropped in [0,1] interval.
6. the series connection prosthetic robot absolute fix error calibrating method as described in claim 1 or 5, is characterized in that: neural network model adopts Leven berg Marquardt.
7. series connection prosthetic robot absolute fix error calibrating method as claimed in claim 1, is characterized in that: described tested joint i is with respect to the actual rotational angle of controlling zero-bit
acquisition methods comprise: mechanical zero coordinate in described optical orientator is mapped in described robot coordinate system, obtain the mechanical zero position of described null pick-up in described robot coordinate system, and impact point using this position as robot planning, calculate each joint with respect to the actual rotational angle of controlling zero-bit in conjunction with the anti-solution of inverse kinematics
8. the calibration system of the use series connection prosthetic robot absolute fix error calibrating method as described in one of claim 1-7, it is characterized in that: it comprises interconnective optical orientator and host computer, wherein said optical orientator is constantly adjusted under the control of described host computer, make measuredly within the scope of described optical orientator optimum measurement, and the structural parameters that record are inputted to described host computer; Described host computer is controlled the pose of optical orientator, and uses described series connection prosthetic robot absolute fix error calibrating method to realize the correction of the D-H parameter to robot, the calibration of joint transmission return difference and error of zero calibration.
9. a kind of calibration system as claimed in claim 8, is characterized in that: described optical orientator is NDI optical guidance instrument.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410231904.5A CN103968761A (en) | 2014-05-28 | 2014-05-28 | Absolute positioning error correction method of in-series joint type robot and calibration system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410231904.5A CN103968761A (en) | 2014-05-28 | 2014-05-28 | Absolute positioning error correction method of in-series joint type robot and calibration system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103968761A true CN103968761A (en) | 2014-08-06 |
Family
ID=51238566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410231904.5A Pending CN103968761A (en) | 2014-05-28 | 2014-05-28 | Absolute positioning error correction method of in-series joint type robot and calibration system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103968761A (en) |
Cited By (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105573143A (en) * | 2015-11-30 | 2016-05-11 | 珞石（北京）科技有限公司 | Inverse kinematics solving method for 6-DOF (degree of freedom) industrial robot |
| CN105945948A (en) * | 2016-05-25 | 2016-09-21 | 南京工程学院 | TCP online quick calibration method and device applied to industrial robot |
| CN106338990A (en) * | 2016-08-12 | 2017-01-18 | 杭州亿恒科技有限公司 | Industrial robot DH parameter calibration and zero position calibration method based on laser tracker |
| CN106584489A (en) * | 2015-10-15 | 2017-04-26 | 发那科株式会社 | Robot system having function to calculate position and orientation of sensor |
| CN106584464A (en) * | 2016-12-31 | 2017-04-26 | 重庆大学 | Method for compensating transmission chain errors of aircraft model of decoupling mechanism in captive trajectory tests |
| CN106705956A (en) * | 2017-02-28 | 2017-05-24 | 南京工程学院 | Rapid industrial robot tail end pose measuring device and measuring method thereof |
| CN106945049A (en) * | 2017-05-12 | 2017-07-14 | 深圳智能博世科技有限公司 | A kind of method of robot joints zero adjustment |
| CN106989670A (en) * | 2017-02-27 | 2017-07-28 | 上海大学 | A kind of non-contact type high-precision large-scale workpiece tracking measurement method of robot collaboration |
| CN107186710A (en) * | 2017-05-14 | 2017-09-22 | 深圳市华成工业控制有限公司 | A kind of method that manipulator accurately quickly returns original |
| CN107263540A (en) * | 2017-06-15 | 2017-10-20 | 深圳市鸿栢科技实业有限公司 | A kind of aligning tool of industrial robot length parameters and bearing calibration |
| CN107270811A (en) * | 2017-06-22 | 2017-10-20 | 深圳市恒科通机器人有限公司 | Positioning test method and locating test device |
| CN107421442A (en) * | 2017-05-22 | 2017-12-01 | 天津大学 | A kind of robot localization error online compensation method of externally measured auxiliary |
| CN108225239A (en) * | 2018-01-25 | 2018-06-29 | 哈尔滨工业大学 | A kind of computational methods in the extending arm end pose static error domain of satellite antenna |
| CN108369092A (en) * | 2015-10-15 | 2018-08-03 | 微观调控物理光谱公司 | Method and system for the trueness error for compensating six sufficient instrument |
| WO2018170931A1 (en) * | 2017-03-24 | 2018-09-27 | 深圳配天智能技术研究院有限公司 | Method and device for robot calibration |
| CN108943024A (en) * | 2018-08-16 | 2018-12-07 | 北京航空航天大学 | A kind of Six-DOF industrial robot absolute position error estimation method |
| CN109176488A (en) * | 2018-09-28 | 2019-01-11 | 哈尔滨工业大学（深圳） | A kind of flexible robot's Kinematic Calibration method and system |
| CN109176487A (en) * | 2018-09-28 | 2019-01-11 | 哈尔滨工业大学（深圳） | A kind of cooperating joint section scaling method, system, equipment, storage medium |
| CN109605344A (en) * | 2019-01-09 | 2019-04-12 | 北京精密机电控制设备研究所 | A kind of multiple degrees of freedom open loop stepping series connection mechanical arm and its control method |
| CN109968347A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | A kind of Zero positioning method of seven axis robot |
| CN110757459A (en) * | 2019-11-04 | 2020-02-07 | 广州视源电子科技股份有限公司 | Joint test method, device, equipment and storage medium |
| CN111216136A (en) * | 2020-03-11 | 2020-06-02 | 集美大学 | Multi-degree-of-freedom mechanical arm control system, method, storage medium and computer |
| CN111319034A (en) * | 2018-12-14 | 2020-06-23 | 日本电产株式会社 | Calibration device and calibration method |
| WO2020237407A1 (en) * | 2019-05-24 | 2020-12-03 | 深圳配天智能技术研究院有限公司 | Method and system for self-calibrating robot kinematic parameter, and storage device |
| CN112362032A (en) * | 2020-09-14 | 2021-02-12 | 成都飞机工业（集团）有限责任公司 | Part axis extraction method based on photogrammetry technology |
| CN112545652A (en) * | 2020-12-02 | 2021-03-26 | 哈尔滨工业大学 | High-precision control method for minimally invasive surgery robot flexible wire transmission surgical instrument |
| CN112589800A (en) * | 2020-12-11 | 2021-04-02 | 深圳市越疆科技有限公司 | Desktop mechanical arm calibration method and device |
| CN114700953A (en) * | 2022-04-29 | 2022-07-05 | 华中科技大学 | Particle swarm hand-eye calibration method and system based on joint zero error |
| CN114872025A (en) * | 2022-06-14 | 2022-08-09 | 上海捷勃特机器人有限公司 | Multi-joint robot and zero calibration method, device and readable medium thereof |
| CN115824051A (en) * | 2023-01-10 | 2023-03-21 | 江苏智慧优视电子科技有限公司 | Heavy truck battery visual positioning method and system capable of achieving rapid iterative convergence |
| CN117124336A (en) * | 2023-10-26 | 2023-11-28 | 佛山科学技术学院 | Two-step absolute positioning error compensation method and system for serial robots |
| WO2023225939A1 (en) * | 2022-05-26 | 2023-11-30 | Abb Schweiz Ag | Method and apparatus for calibrating thermal drift of robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6321137B1 (en) * | 1997-09-04 | 2001-11-20 | Dynalog, Inc. | Method for calibration of a robot inspection system |
| CN101231749A (en) * | 2007-12-20 | 2008-07-30 | 昆山华恒工程技术中心有限公司 | Method for calibrating industry robot |
| CN102607552A (en) * | 2012-01-11 | 2012-07-25 | 南京航空航天大学 | Industrial robot space grid precision compensation method based on neural network |
| CN102679925A (en) * | 2012-05-24 | 2012-09-19 | 上海飞机制造有限公司 | Method for measuring positioning error of robot |
| CN102692873A (en) * | 2012-05-07 | 2012-09-26 | 上海理工大学 | Industrial robot positioning precision calibration method |
| CN103433924A (en) * | 2013-07-26 | 2013-12-11 | 无锡信捷电气股份有限公司 | High-accuracy position control method for serial robot |
-
2014
- 2014-05-28 CN CN201410231904.5A patent/CN103968761A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6321137B1 (en) * | 1997-09-04 | 2001-11-20 | Dynalog, Inc. | Method for calibration of a robot inspection system |
| CN101231749A (en) * | 2007-12-20 | 2008-07-30 | 昆山华恒工程技术中心有限公司 | Method for calibrating industry robot |
| CN102607552A (en) * | 2012-01-11 | 2012-07-25 | 南京航空航天大学 | Industrial robot space grid precision compensation method based on neural network |
| CN102692873A (en) * | 2012-05-07 | 2012-09-26 | 上海理工大学 | Industrial robot positioning precision calibration method |
| CN102679925A (en) * | 2012-05-24 | 2012-09-19 | 上海飞机制造有限公司 | Method for measuring positioning error of robot |
| CN103433924A (en) * | 2013-07-26 | 2013-12-11 | 无锡信捷电气股份有限公司 | High-accuracy position control method for serial robot |
Non-Patent Citations (1)
| Title |
|---|
| 王东署: "《工业机器人标定技术研究》", 《中国优秀博硕士学位论文全文数据库（博士）信息科技辑》 * |
Cited By (48)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584489A (en) * | 2015-10-15 | 2017-04-26 | 发那科株式会社 | Robot system having function to calculate position and orientation of sensor |
| CN108369092A (en) * | 2015-10-15 | 2018-08-03 | 微观调控物理光谱公司 | Method and system for the trueness error for compensating six sufficient instrument |
| CN106584489B (en) * | 2015-10-15 | 2018-11-30 | 发那科株式会社 | The robot system for having the function for the position and direction for calculating sensor |
| CN105573143B (en) * | 2015-11-30 | 2019-05-31 | 珞石（北京）科技有限公司 | The inverse kinematics method of industrial robot for six degree of freedom |
| CN105573143A (en) * | 2015-11-30 | 2016-05-11 | 珞石（北京）科技有限公司 | Inverse kinematics solving method for 6-DOF (degree of freedom) industrial robot |
| CN105945948A (en) * | 2016-05-25 | 2016-09-21 | 南京工程学院 | TCP online quick calibration method and device applied to industrial robot |
| CN106338990A (en) * | 2016-08-12 | 2017-01-18 | 杭州亿恒科技有限公司 | Industrial robot DH parameter calibration and zero position calibration method based on laser tracker |
| CN106338990B (en) * | 2016-08-12 | 2018-12-14 | 杭州亿恒科技有限公司 | Industrial robot DH parameter calibration and Zero positioning method based on laser tracker |
| CN106584464B (en) * | 2016-12-31 | 2019-11-12 | 重庆大学 | The dummy vehicle transmission chain error compensation method of decoupling mechanism in a kind of captive trajectory testing |
| CN106584464A (en) * | 2016-12-31 | 2017-04-26 | 重庆大学 | Method for compensating transmission chain errors of aircraft model of decoupling mechanism in captive trajectory tests |
| CN106989670A (en) * | 2017-02-27 | 2017-07-28 | 上海大学 | A kind of non-contact type high-precision large-scale workpiece tracking measurement method of robot collaboration |
| CN106989670B (en) * | 2017-02-27 | 2019-06-04 | 上海大学 | A kind of non-contact type high-precision large-scale workpiece tracking measurement method of robot collaboration |
| CN106705956A (en) * | 2017-02-28 | 2017-05-24 | 南京工程学院 | Rapid industrial robot tail end pose measuring device and measuring method thereof |
| WO2018170931A1 (en) * | 2017-03-24 | 2018-09-27 | 深圳配天智能技术研究院有限公司 | Method and device for robot calibration |
| CN106945049A (en) * | 2017-05-12 | 2017-07-14 | 深圳智能博世科技有限公司 | A kind of method of robot joints zero adjustment |
| CN106945049B (en) * | 2017-05-12 | 2019-08-06 | 深圳智能博世科技有限公司 | A kind of method of robot joints zero adjustment |
| CN107186710B (en) * | 2017-05-14 | 2020-04-07 | 深圳市华成工业控制有限公司 | Method for accurately and quickly returning manipulator to original position |
| CN107186710A (en) * | 2017-05-14 | 2017-09-22 | 深圳市华成工业控制有限公司 | A kind of method that manipulator accurately quickly returns original |
| CN107421442A (en) * | 2017-05-22 | 2017-12-01 | 天津大学 | A kind of robot localization error online compensation method of externally measured auxiliary |
| CN107421442B (en) * | 2017-05-22 | 2019-12-17 | 天津大学 | Robot positioning error online compensation method assisted by external measurement |
| CN107263540A (en) * | 2017-06-15 | 2017-10-20 | 深圳市鸿栢科技实业有限公司 | A kind of aligning tool of industrial robot length parameters and bearing calibration |
| CN107270811A (en) * | 2017-06-22 | 2017-10-20 | 深圳市恒科通机器人有限公司 | Positioning test method and locating test device |
| CN109968347B (en) * | 2017-12-28 | 2022-01-14 | 沈阳新松机器人自动化股份有限公司 | Zero calibration method of seven-axis robot |
| CN109968347A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | A kind of Zero positioning method of seven axis robot |
| CN108225239A (en) * | 2018-01-25 | 2018-06-29 | 哈尔滨工业大学 | A kind of computational methods in the extending arm end pose static error domain of satellite antenna |
| CN108943024A (en) * | 2018-08-16 | 2018-12-07 | 北京航空航天大学 | A kind of Six-DOF industrial robot absolute position error estimation method |
| CN109176487A (en) * | 2018-09-28 | 2019-01-11 | 哈尔滨工业大学（深圳） | A kind of cooperating joint section scaling method, system, equipment, storage medium |
| CN109176488A (en) * | 2018-09-28 | 2019-01-11 | 哈尔滨工业大学（深圳） | A kind of flexible robot's Kinematic Calibration method and system |
| CN109176488B (en) * | 2018-09-28 | 2021-09-10 | 哈尔滨工业大学（深圳） | Flexible robot kinematics calibration method and system |
| CN111319034A (en) * | 2018-12-14 | 2020-06-23 | 日本电产株式会社 | Calibration device and calibration method |
| CN109605344B (en) * | 2019-01-09 | 2021-02-09 | 北京精密机电控制设备研究所 | Multi-degree-of-freedom open-loop stepping series mechanical arm and control method thereof |
| CN109605344A (en) * | 2019-01-09 | 2019-04-12 | 北京精密机电控制设备研究所 | A kind of multiple degrees of freedom open loop stepping series connection mechanical arm and its control method |
| WO2020237407A1 (en) * | 2019-05-24 | 2020-12-03 | 深圳配天智能技术研究院有限公司 | Method and system for self-calibrating robot kinematic parameter, and storage device |
| CN110757459A (en) * | 2019-11-04 | 2020-02-07 | 广州视源电子科技股份有限公司 | Joint test method, device, equipment and storage medium |
| CN111216136A (en) * | 2020-03-11 | 2020-06-02 | 集美大学 | Multi-degree-of-freedom mechanical arm control system, method, storage medium and computer |
| CN112362032A (en) * | 2020-09-14 | 2021-02-12 | 成都飞机工业（集团）有限责任公司 | Part axis extraction method based on photogrammetry technology |
| CN112545652A (en) * | 2020-12-02 | 2021-03-26 | 哈尔滨工业大学 | High-precision control method for minimally invasive surgery robot flexible wire transmission surgical instrument |
| CN112545652B (en) * | 2020-12-02 | 2022-07-19 | 哈尔滨工业大学 | High-precision off-line control method for flexible wire transmission surgical instrument of minimally invasive surgical robot |
| CN112589800A (en) * | 2020-12-11 | 2021-04-02 | 深圳市越疆科技有限公司 | Desktop mechanical arm calibration method and device |
| CN112589800B (en) * | 2020-12-11 | 2022-08-30 | 深圳市越疆科技有限公司 | Desktop mechanical arm calibration method and device |
| CN114700953A (en) * | 2022-04-29 | 2022-07-05 | 华中科技大学 | Particle swarm hand-eye calibration method and system based on joint zero error |
| CN114700953B (en) * | 2022-04-29 | 2023-09-08 | 华中科技大学 | Particle swarm hand-eye calibration method and system based on joint zero error |
| WO2023225939A1 (en) * | 2022-05-26 | 2023-11-30 | Abb Schweiz Ag | Method and apparatus for calibrating thermal drift of robot |
| CN114872025A (en) * | 2022-06-14 | 2022-08-09 | 上海捷勃特机器人有限公司 | Multi-joint robot and zero calibration method, device and readable medium thereof |
| CN114872025B (en) * | 2022-06-14 | 2022-11-15 | 上海捷勃特机器人有限公司 | Multi-joint robot and zero calibration method, device and readable medium thereof |
| CN115824051A (en) * | 2023-01-10 | 2023-03-21 | 江苏智慧优视电子科技有限公司 | Heavy truck battery visual positioning method and system capable of achieving rapid iterative convergence |
| CN117124336A (en) * | 2023-10-26 | 2023-11-28 | 佛山科学技术学院 | Two-step absolute positioning error compensation method and system for serial robots |
| CN117124336B (en) * | 2023-10-26 | 2023-12-22 | 佛山科学技术学院 | Two-step absolute positioning error compensation method and system for serial robots |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103968761A (en) | Absolute positioning error correction method of in-series joint type robot and calibration system | |
| RU2605393C2 (en) | Method of calibrating and programming robot | |
| CN107639635B (en) | Method and system for calibrating pose error of mechanical arm | |
| CN107972071B (en) | A kind of industrial robot link parameters scaling method based on distal point plane restriction | |
| CN110815206B (en) | Kinematics calibration method for Stewart parallel robot | |
| CN107175660B (en) | A kind of six-freedom degree robot kinematics scaling method based on monocular vision | |
| Lee et al. | Industrial robot calibration method using denavit—Hatenberg parameters | |
| EP2997428B1 (en) | Robot positioning | |
| CN109773786A (en) | A kind of industrial robot plane precision scaling method | |
| CN107042528A (en) | A kind of Kinematic Calibration system and method for industrial robot | |
| CN100484725C (en) | Method for robot-assisted measurement of measurable objects | |
| CN108297101A (en) | The position and attitude error detection of multi-joint arm serial manipulator end and dynamic compensation method | |
| US20110087360A1 (en) | Robot parts assembly on a workpiece moving on an assembly line | |
| CN104858870A (en) | Industrial robot measurement method based on tail end numbered tool | |
| CN109176531A (en) | A kind of tandem type robot kinematics calibration method and system | |
| CN107717993A (en) | A kind of efficient easily Simple robot scaling method | |
| CN104408299B (en) | Robot location's error compensating method based on distance identification redundancy kinematics parameters | |
| CN113618738B (en) | Mechanical arm kinematics parameter calibration method and system | |
| CN107053216A (en) | The automatic calibration method and system of robot and end effector | |
| CN107457785A (en) | A kind of robot location's compensation method based on joint feedback | |
| CN109062139B (en) | Robot linear axis positioning error compensation method based on data driving | |
| Santolaria et al. | Self-alignment of on-board measurement sensors for robot kinematic calibration | |
| CN106671080A (en) | Correction method and correction device | |
| CN106671081B (en) | A kind of lower-mobility robot kinematics calibration method based on monocular vision | |
| US20200108506A1 (en) | Device for acquiring a position and orientation of an end effector of a robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140806 |