CN102445923A - Industrial robot kinematics parameter rapid low-cost calibration device and method thereof - Google Patents
Industrial robot kinematics parameter rapid low-cost calibration device and method thereof Download PDFInfo
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Abstract
The invention discloses an industrial robot kinematics parameter rapid low-cost calibration device and a method thereof. The calibration device comprises two or more PSDs (Position Sensitive Devices), a signal treatment circuit, a signal collection card, a chargeable battery, a wireless digital communication transmission and reception card and an industrial control computer. Two PSDs with given position relationship are used as feedback devices, kinematics parameters of a constrained optimization objective function which can calibrate an industrial robot are established by respectively projecting leaser beams of different postures at the central points of the surfaces of two PSDs for multiple times, wherein the kinematics parameters comprise rod length, rod torsion angle, joint length and joint corner zero position. The main part of the device is a laser locating device based on multiple PSDs. The device has the advantages of small volume, low cost, no wire and cable and easiness for installation and operation. The calibration device can realize automatic location of the robot without manual intervention on the basis of the positions of light spots of the leaser beams fed back by the PSDs and has the characteristics of low cost, portability, high precision, automation, high efficiency and the like.
Description
Technical field
The invention belongs to industrial robot motion mathematic(al) parameter Rapid Calibration Technique, particularly a kind of industrial robot motion mathematic(al) parameter fast and low-cost caliberating device and method thereof.
Background technology
Along with the expansion of industrial robot range of application and the needs of complex task, the bearing accuracy of industrial robot is more and more important.Industrial robot has high repeatable accuracy (0.1mm or higher) at present, however (definitely) bearing accuracy but very low (reaching 1cm or poorer), and the bearing accuracy problem has seriously restricted the application power and the range of application of industrial robot.Although cause the not high factor of robot bearing accuracy to have a lot, like the mechanical deformation of gear error, thermal expansion and robot rod member, topmost factor comes from the parameter error of robot kinematics's model.The robot calibration technique is the most effectual way of eliminating these parameter errors and then improving the robot bearing accuracy, therefore, becomes one of hot issue of robot research.
More than two decades comes, and demarcates the more domestic and international scholars in field in robot and has obtained the achievement in research that attracts people's attention.Conclude and get up to mainly contain two robotlike's scaling methods, wherein class methods need terminal position or the attitude of the accurate robot measurement of high-precision measuring equipment.Three-coordinate measuring method (Coordinate Measurement Machines) (M.R.Driels, L.W.Swayze, and L.S.Potter such as classics; " Full-pose calibration of a robot manipulator using a coordinate measuring machine; " Int.J.Adv.Manuf.Techno., vol.8, no.1; Pp.34-41; 1993) and method (M.Vincze, J.P.Prenninger, and H.Gander such as angle subdivision type Laser Tracking test and the test of spherical coordinates type Laser Tracking; " A laser tracking system to measure position and orientation of robot end effectors under motion; " Int.J.Robot.Res., vol.13, pp.305-314; 1994); The optical theodolite test macro is based on the test macro (B.Preising, T.C.Hsia.Robot Performance Measurement and Calibration Using a 3D Computer Vision System.Proceeding of the 1991IEEE International Conference on Robotics and Automation Sacramen to California.1991:2079-2084) of twin camera.But these method three coordinate measuring machines and Laser Tracking tester equipment are very expensive, and Installation and Debugging and operation more complicated mainly are suitable for manufacturing enterprise of robot laboratory applications, and operating process depends on operating personnel's level and loses time very much.The problem that not only exists binocular camera itself to demarcate based on the visible sensation method of stereo camera, and visible sensation method is because the contradiction of visual field and resolving power is difficult to acquisition than higher measuring accuracy.
Thereby another kind of method is to apply some constraints the robot end to form the kinematics endless chain.Zhuang and Ikits etc. apply a plurality of planes or plane restriction (H.Zhuang, S.H.Motaghedi, an and Z.S.Roth to the robot end; " Robot calibration with planar constraints, " in Proc.IEEE Int.Conf.Robot.Autom., Detroit; MI; 1999, pp.805-810.), these manual manipulation methods are subject to accurate location and the not high problem of efficient.(W.S.Newman and D.W.Osborn such as Newman; " A new method for kinematic parameter calibration via laser line; " In Proc.IEEE Int.Conf.Robot.Autom.; 1993, vol.2 pp.160-165) proposes a kind of method of following the tracks of based on laser rays.The characteristics of this method are that certain terminal point of constrained robot moves along a branch of static any laser rays, but fail to provide feasible, accurate, the automated method of following the tracks of laser rays.Exploitation is fit to the robot working site, be easy to carry and low-cost robot kinematics's parameter calibration equipment has substantial economics and using value.
Summary of the invention
The objective of the invention is to propose a kind ofly realize the demarcation of 18 kinematics parameters of industrial robot based on a plurality of (2 and more than) laser locating apparatus of position sensitive detector (PSD); Can demarcate all rod member parameters of industrial robot; Mainly comprise rod member length, rod member torsional angle, joint length and joint rotation angle, with bottleneck problem such as solve that existing calibration facility is expensive, fitting operation is complicated or bearing accuracy is low.
The technical solution that realizes the object of the invention is: a kind of industrial robot motion mathematic(al) parameter fast and low-cost caliberating device; Comprise two or more position sensitive detectors PSD, signal processing circuit, data acquisition card, rechargeable battery, wireless digital communication transmission card and receiving card, industrial control computer; Receiving card is arranged in the industrial control computer; The central point of PSD is the laser positioning impact point, and is fixed on the device case surface, and the distance and position between each PSD is known; Each PSD, signal processing circuit, data acquisition card, wireless digital communication transmission card and rechargeable battery are integrated; Be that PSD, signal processing circuit, data acquisition card, wireless digital communication transmission card connect successively, form laser locating apparatus, this device gathers powered battery through chargeable lithium; Each PSD output signal provides the two-dimensional position coordinate analogue value of laser facula on the PSD surface through signal processing circuit, and these analogues value convert digital quantity into through data acquisition card, send through the wireless digital communication transmission card then; Receiving card sends the information that receives to industrial control computer, and industrial control computer provides the motion command of industrial robot through calculating; Industrial control computer is connected with robot controller through network interface; Receive the motion command instruction of industrial robot and the industrial machine human body joint angles request of reading that the response industrial control computer sends, robot controller is connected with the industrial machine human body; A laser instrument is fixedly mounted on the robot body end.
A kind of industrial robot motion mathematic(al) parameter fast and low-cost scaling method, step is following:
The first step; Each PSD, signal processing circuit, data acquisition card, wireless digital communication transmission card and rechargeable battery are integrated; Be that PSD, signal processing circuit, data acquisition card, wireless digital communication transmission card connect successively, form laser locating apparatus, place the reached work space of laser locating apparatus at industrial robot; This position is arbitrarily, and particular location need not known;
In second step, the industrial machine robot end carries laser instrument projects laser beam one of them PSD with different attitudes central point; The industrial machine human body is incident upon a PSD surface through laser instrument with the laser facula any direction; Hot spot detects through laser locating apparatus in the exact position of PSD and feeds back to industrial control computer; This industrial control computer is sent out the correction order to robot controller based on this position feedback and laser positioning target; This robot controller control robot body moves the drive laser instrument laser facula is accurately navigated to impact point, i.e. the centre of surface of PSD point; Then, read the joint angles value of industrial robot through the network service of industrial control computer and robot controller; Change the direction of laser beam through the pose that changes the industrial machine robot end, the hot spot of same locating laser bundle reads the joint angles value of industrial robot equally to the centre of surface point of same PSD;
In the 3rd step, the industrial machine robot end carries laser instrument projects laser beam other PSD with different attitudes central point; Based on vision or manual type, control robot moves to laser beam spot the surface of PSD cursorily, accomplishes laser beam then automatically and accurately projects the central point of this PSD with different attitudes, and other processes are with second step;
The 4th step; Calculate the center position of each PSD; Promptly set up the D-H model of the robot comprise the rod member parameter error, the industrial robot joint angle value that reads in when substitution navigates to same PSD centre of surface point, acquisition robot end's pose; Because laser instrument and robot end are rigidly connected, so calculate the straight-line equation of laser beam; If there is not the rod member parameter error, these straight-line equations all should intersect at same PSD centre of surface point so, promptly calculate the center position of each PSD;
The 5th step; Demarcate the kinematics parameters of industrial robot; Because the existence of robot kinematics's parameter error, causing the center position of the same PSD that step 4 calculates is not same point, sets up the error objective function with the relation between each PSD central point and the known PSD; The optimization aim function is to minimum value; Converge to actual same point up to the PSD center position of calculating, and the relation between each PSD converges to known position relation, thereby draw the calibration result that industrial robot motion is learned the rod member parameter.
The present invention compared with prior art; Its remarkable advantage: the device of (1) industrial robot motion mathematic(al) parameter demarcation at present mainly is coordinate measuring machine and laser tracking system; So these devices mainly are suitable for the place, laboratory because Installation and Debugging are complicated and influenced by operant level, and cost an arm and a leg; This device critical piece is based on the laser locating apparatus of a plurality of PSD, and this device volume is little, and cost is not high, and wireless no cable, is easy to install and operation; (2) this caliberating device realizes that based on the position of PSD feedback laser bundle hot spot robot locatees automatically, does not need manual intervention, and is simple to operate, has low cost, portable, high precision, robotization, characteristics such as efficient; (3) this caliberating device can be demarcated the kinematics parameters of industrial robot, mainly comprises rod member length, rod member torsional angle, joint length and joint rotation angle (robot zero-bit).
Below in conjunction with accompanying drawing the present invention is described in further detail.
Description of drawings
Fig. 1 is based on the laser positioning robot caliberating device synoptic diagram of a plurality of position sensitive detectors (PSD).
Fig. 2 is an industrial robot calibration system structural representation.
Fig. 3 is based on the PSD center position of line and calculates synoptic diagram.
Embodiment
In conjunction with Fig. 1; Industrial robot motion mathematic(al) parameter fast and low-cost caliberating device of the present invention; Comprise two or more position sensitive detectors PSD1, signal processing circuit 2, data acquisition card 3, rechargeable battery 5, wireless digital communication transmission card 4 and receiving card 6, industrial control computer 7, receiving card 6 is arranged in the industrial control computer 7, and the central point of PSD1 is the laser positioning impact point; And be fixed on device case 8 surfaces; Distance and position between each PSD is known, and each PSD1, signal processing circuit 2, data acquisition card 3, wireless digital communication transmission card 4 and rechargeable battery 5 are integrated, and promptly PSD1, signal processing circuit 2, data acquisition card 3, wireless digital communication transmission card 4 connect successively; Form laser locating apparatus; This device gathers battery 5 power supplies through chargeable lithium, and the power supply of realizing the PSD device is from supplying with, and this has guaranteed the portability of caliberating device; Each PSD1 output signal provides the two-dimensional position coordinate analogue value of laser facula on the PSD surface through signal processing circuit 2, and these analogues value convert digital quantity into through data acquisition card 3, send through wireless digital communication transmission card 4 then; Receiving card 6 sends the information that receives to industrial control computer 7, and industrial control computer 7 provides the motion command of industrial robot through calculating; Industrial control computer 7 is connected with robot controller 12 through network interface 13; Receive the motion command instruction of industrial robot and the industrial machine human body 11 joint angles requests of reading that response industrial control computer 7 sends, robot controller 12 is connected with industrial machine human body 11; A laser instrument 9 is fixedly mounted on robot body 11 ends.Wherein, PSD1 is a sectional type high precision photoelectric detection means, has the position resolution power of 0.1um.Laser locating apparatus adopts wireless communication mode and industrial control computer 7 communications, and wireless digital transmission detection laser hot spot is at the two-dimensional position coordinate on PSD surface.Above-mentioned laser instrument 9 is the accurate semiconductor lasers of adjustable focal length, power 1mW, and wavelength 670nm, the spot diameter of laser beam 3 are 2.0mm.
In conjunction with Fig. 2,3, industrial robot motion mathematic(al) parameter fast and low-cost scaling method of the present invention, step is following:
The first step; Each PSD1, signal processing circuit 2, data acquisition card 3, wireless digital communication transmission card 4 and rechargeable battery 5 are integrated, and promptly PSD1, signal processing circuit 2, data acquisition card 3, wireless digital communication transmission card 4 connect successively, form laser locating apparatus; Place the reached work space of laser locating apparatus at industrial robot; This position is arbitrarily, and particular location need not known, through the acquisition of the 4th step.
In second step, the industrial machine robot end carries laser instrument 9 projects laser beam 10 one of them PSD with different attitudes central point 14; Industrial machine human body 11 is incident upon a PSD surface through laser instrument 9 with the laser facula any direction; Hot spot detects through laser locating apparatus in the exact position of PSD and feeds back to industrial control computer 7; This industrial control computer 7 is sent out the correction order to robot controller 12 based on this position feedback and laser positioning target; These robot controller 12 control robot bodies 11 move drive laser instrument 9 laser facula are accurately navigated to impact point, i.e. the centre of surface of PSD point; Then, read the joint angles value of industrial robot through the industrial control computer 7 and the network service of robot controller 12; Change the direction of laser beam through the pose that changes the industrial machine robot end, the hot spot of same locating laser bundle reads the joint angles value of industrial robot equally to the centre of surface point of same PSD; This process is accomplished by the caliberating device of exploitation automatically, and about 2 minutes consuming time, so this caliberating device has robotization and characteristics of high efficiency.
In the 3rd step, the industrial machine robot end carries laser instrument (9) projects laser beam other PSD with different attitudes central point; Based on vision or manual type, control robot moves to laser beam spot the surface of PSD cursorily, because the surface diameter of PSD is 10mm, therefore spot diameter 2mm is easy to realize this action; Automatically accomplish laser beam then and accurately project the central point of this PSD with different attitudes, other processes are with second step;
The 4th goes on foot, and calculates the center position of each PSD; Foundation comprises the D-H model of the robot of rod member parameter error; The industrial robot joint angle value that reads in when substitution navigates to same PSD centre of surface point; Obtain robot end's pose; Because laser instrument and robot end are rigidly connected, so can calculate the straight-line equation of laser beam under robot base coordinate sys-tem are:
(x wherein
IB, y
IB, z
IB) be the coordinate of a certain point of fixity of i bar laser rays under robot base coordinate sys-tem, (m
IB, n
IB, p
IB) be the unit vector direction of this laser rays.
In theory, if there is not the rod member parameter error, these straight-line equations all should intersect at same PSD centre of surface point so, and any two straight-line equations of simultaneous can calculate the center position of each PSD:
In the 5th step, calculate the kinematics parameters of demarcating industrial robot; Because the existence of robot kinematics's parameter error, causing the center position of the same PSD of step 4 calculating is not same point; Relation with between each PSD central point and the known PSD is set up the error objective function; The optimization aim function is to minimum value; Converge to actual same point up to the PSD center position of calculating; And the relation between each PSD converges to known position relation, thereby draws the calibration result that industrial robot motion is learned the rod member parameter.With 2 PSD is example, and the objective function of foundation is following:
Wherein, P
kBe laser rays Γ
LiAnd Γ
LjThe intersection point of (i ≠ j, i, j ∈ N, k ∈ M) or the central point of common vertical line;
nP
AveThe P of all laser rays intersection points when representing the n time iteration
kK=1 ..., the central point of M;
xΩ
k,
yΩ
k,
zΩ
kRepresent P respectively
kWith
nP
AveAt x, y, the distribution error on the z direction; L=1,2 represent the PSD of 2 diverse locations respectively,
xO
k,
yO
k,
zO
kTwo different PSD position coordinateses that calculate when representing the n time iteration respectively are at x, y, distance on the z direction, d
x, d
y, d
zRepresent two known different PSD position relations respectively.
Embodiment
Adopt device of the present invention on industrial robot IRB1600, to carry out the demarcation virtual reality emulation, use wherein 2 PSD in the test, the practical implementation step is following:
The first step; Placement is based on the laser locating apparatus (8) of a plurality of PSD reached at the work space at industrial robot; In conjunction with Fig. 1 and Fig. 2; Virtual reality is set up industrial robot motion immunologing mathematics model, robot end's coupling arrangement and laser beam mathematical model, PSD mathematical model, random error model etc., and produces robot rod member parameter error at random;
Second step; Based on this caliberating device; The industrial machine robot end carries the central point that laser instrument projects laser beam with different attitudes one of them PSD automatically; Increase is read the joint angles value of industrial robot under the different attitudes based on PSD feedback location and joint of robot motor code-disc random disturbance error;
In the 3rd step, roughly the same second step, the industrial machine robot end carries laser instrument projects laser beam the 2nd PSD with different attitudes central point; Based on the automatic guidance mode of vision, control robot moves to laser beam spot the surface of PSD cursorily; Then, accomplish laser beam projects this PSD with different attitudes central point automatically based on this caliberating device;
The 4th goes on foot, and calculates the center position of each PSD; Any two the laser beam straight-line equations of simultaneous i and j can calculate the center position of each PSD:
In the 5th step, calculate the kinematics parameters of demarcating industrial robot; Because the existence of robot kinematics's parameter error, causing the center position of the same PSD of step 4 calculating is not same point; Relation with between each PSD central point and the known PSD is set up the error objective function; The optimization aim function is to minimum value; Converge to actual same point up to the PSD center position of calculating; And the relation between each PSD converges to known position relation, has just drawn the kinematics rod member parameter of demarcating.For 2 PSD situations, the objective function of foundation is following:
Wherein, P
kBe laser rays Γ
LiAnd Γ
LjThe intersection point of (i ≠ j, i, j ∈ N, k ∈ M) or the central point of common vertical line;
nP
AveThe P of all laser rays intersection points when representing the n time iteration
kK=1 ..., the central point of M;
xΩ
k,
yΩ
k,
zΩ
kRepresent P respectively
kWith
nP
AveAt x, y, the distribution error on the z direction; L=1,2 represent the PSD of 2 diverse locations respectively,
xO
k,
yO
k,
zO
kTwo different PSD position coordinateses that calculate when representing the n time iteration respectively are at x, y, distance on the z direction, d
x, d
y, d
zRepresent between two known PSD at x y, distance on the z direction respectively.
Through the nonlinear iteration optimized Algorithm, calculate this robot calibrating parameters, repeatedly calibration result is as shown in table 1 for IRB1600 industrial robot motion mathematic(al) parameter.
Table 1 IRB1600 industrial robot motion mathematic(al) parameter calibration result
Claims (4)
1. industrial robot motion mathematic(al) parameter fast and low-cost caliberating device; It is characterized in that comprising two or more position sensitive detectors PSD (1), signal processing circuit (2), data acquisition card (3), rechargeable battery (5), wireless digital communication transmission card (4) and receiving card (6), industrial control computer (7); Receiving card (6) is arranged in the industrial control computer (7); The central point of PSD (1) is the laser positioning impact point; And be fixed on device case (8) surface; Distance and position between each PSD is known, and each PSD (1), signal processing circuit (2), data acquisition card (3), wireless digital communication transmission card (4) and rechargeable battery (5) are integrated, and promptly PSD (1), signal processing circuit (2), data acquisition card (3), wireless digital communication transmission card (4) connect successively; Form laser locating apparatus, this device gathers battery (5) power supply through chargeable lithium; Each PSD (1) output signal provides the two-dimensional position coordinate analogue value of laser facula on the PSD surface through signal processing circuit (2), and these analogues value convert digital quantity into through data acquisition card (3), send through wireless digital communication transmission card (4) then; Receiving card (6) sends the information that receives to industrial control computer (7), and industrial control computer (7) provides the motion command of industrial robot through calculating; Industrial control computer (7) is connected with robot controller (12) through network interface (13); Receive the motion command instruction of industrial robot and industrial machine human body (11) the joint angles request of reading that response industrial control computer (7) sends, robot controller (12) is connected with industrial machine human body (11); A laser instrument (9) is fixedly mounted on robot body (11) end.
2. industrial robot motion mathematic(al) parameter fast and low-cost caliberating device according to claim 1 is characterized in that PSD (1) is sectional type high precision photoelectric detection means, has the position resolution power of 0.1um.
3. industrial robot motion mathematic(al) parameter fast and low-cost caliberating device according to claim 1; It is characterized in that laser locating apparatus adopts wireless communication mode and industrial control computer (7) communication, wireless digital transmission detection laser hot spot is at the two-dimensional position coordinate on PSD surface.
4. industrial robot motion mathematic(al) parameter fast and low-cost scaling method is characterized in that step is following:
The first step; Each PSD (1), signal processing circuit (2), data acquisition card (3), wireless digital communication transmission card (4) and rechargeable battery (5) are integrated; Be that PSD (1), signal processing circuit (2), data acquisition card (3), wireless digital communication transmission card (4) connect successively, form laser locating apparatus, place the reached work space of laser locating apparatus at industrial robot; This position is arbitrarily, and particular location need not known;
In second step, the industrial machine robot end carries laser instrument (9) projects laser beam (10) one of them PSD with different attitudes central point (14); Industrial machine human body (11) is incident upon a PSD surface through laser instrument (9) with the laser facula any direction; Hot spot detects through laser locating apparatus in the exact position of PSD and feeds back to industrial control computer (7); This industrial control computer (7) is sent out the correction order to robot controller (12) based on this position feedback and laser positioning target; This robot controller (12) control robot body (11) moves drive laser instrument (9) laser facula is accurately navigated to impact point, i.e. the centre of surface of PSD point; Then, read the joint angles value of industrial robot through the industrial control computer (7) and the network service of robot controller (12); Change the direction of laser beam through the pose that changes the industrial machine robot end, the hot spot of same locating laser bundle reads the joint angles value of industrial robot equally to the centre of surface point of same PSD;
In the 3rd step, the industrial machine robot end carries laser instrument (9) projects laser beam other PSD with different attitudes central point; Based on vision or manual type, control robot moves to laser beam spot the surface of PSD cursorily, accomplishes laser beam then automatically and accurately projects the central point of this PSD with different attitudes, and other processes are with second step;
The 4th step; Calculate the center position of each PSD; Promptly set up the D-H model of the robot comprise the rod member parameter error, the industrial robot joint angle value that reads in when substitution navigates to same PSD centre of surface point, acquisition robot end's pose; Because laser instrument and robot end are rigidly connected, so calculate the straight-line equation of laser beam; If there is not the rod member parameter error, these straight-line equations all should intersect at same PSD centre of surface point so, promptly calculate the center position of each PSD;
The 5th step; Demarcate the kinematics parameters of industrial robot; Because the existence of robot kinematics's parameter error, causing the center position of the same PSD that step 4 calculates is not same point, sets up the error objective function with the relation between each PSD central point and the known PSD; The optimization aim function is to minimum value; Converge to actual same point up to the PSD center position of calculating, and the relation between each PSD converges to known position relation, thereby draw the calibration result that industrial robot motion is learned the rod member parameter.
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| CN102825602A (en) * | 2012-08-21 | 2012-12-19 | 华北电力大学（保定） | PSD (Position Sensitive Detector)-based industrial robot self-calibration method and device |
| CN105157696A (en) * | 2015-04-27 | 2015-12-16 | 上海第二工业大学 | Indoor intelligent robot accurate position sensing system and sensing method |
| CN107214698A (en) * | 2017-05-05 | 2017-09-29 | 上海交通大学 | Hexapod Robot joint angles scaling method based on body nodal point displacement correction |
| CN107309884A (en) * | 2016-04-27 | 2017-11-03 | 上海福赛特机器人有限公司 | Robot calibration system and method |
| CN107466411A (en) * | 2015-04-14 | 2017-12-12 | 微软技术许可有限责任公司 | Two-dimensional infrared depth sense |
| CN107765093A (en) * | 2017-09-08 | 2018-03-06 | 国网山东省电力公司电力科学研究院 | Insulator detecting robot, information interaction system and the method for multi-parameters sampling |
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| CN102825602A (en) * | 2012-08-21 | 2012-12-19 | 华北电力大学（保定） | PSD (Position Sensitive Detector)-based industrial robot self-calibration method and device |
| CN102825602B (en) * | 2012-08-21 | 2015-03-25 | 华北电力大学（保定） | PSD (Position Sensitive Detector)-based industrial robot self-calibration method and device |
| CN107466411A (en) * | 2015-04-14 | 2017-12-12 | 微软技术许可有限责任公司 | Two-dimensional infrared depth sense |
| CN105157696A (en) * | 2015-04-27 | 2015-12-16 | 上海第二工业大学 | Indoor intelligent robot accurate position sensing system and sensing method |
| CN105157696B (en) * | 2015-04-27 | 2018-04-20 | 上海第二工业大学 | A kind of indoor intelligent robot exact position sensory perceptual system and its cognitive method |
| CN107309884A (en) * | 2016-04-27 | 2017-11-03 | 上海福赛特机器人有限公司 | Robot calibration system and method |
| CN107214698A (en) * | 2017-05-05 | 2017-09-29 | 上海交通大学 | Hexapod Robot joint angles scaling method based on body nodal point displacement correction |
| CN107214698B (en) * | 2017-05-05 | 2019-08-06 | 上海交通大学 | Hexapod robot joint angles scaling method based on body nodal point displacement correction |
| CN107765093A (en) * | 2017-09-08 | 2018-03-06 | 国网山东省电力公司电力科学研究院 | Insulator detecting robot, information interaction system and the method for multi-parameters sampling |
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| CN116423529B (en) * | 2023-06-14 | 2023-10-27 | 极限人工智能(北京)有限公司 | Robot parameter calibration method and system based on constraint of double-position sensitive device |
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