CN103395073B - Zero calibration method of six-axis industrial robot - Google Patents
Zero calibration method of six-axis industrial robot Download PDFInfo
- Publication number
- CN103395073B CN103395073B CN201310369293.6A CN201310369293A CN103395073B CN 103395073 B CN103395073 B CN 103395073B CN 201310369293 A CN201310369293 A CN 201310369293A CN 103395073 B CN103395073 B CN 103395073B
- Authority
- CN
- China
- Prior art keywords
- joint
- axle
- shaft
- angle
- joint shaft
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a zero calibration method of a six-axis industrial robot. The zero calibration method comprises the following steps that reference positions are selected and set as initial zeros; a first joint axis is rotated on the basis of the reference positions; a second joint axis is adjusted to allow the inner side of the second joint axis to be kept in a horizontal position; a group of positions, where a difference value of a rotation angle of the second joint axis is maximum, in various groups of positions where a difference value of a rotation angle of the first joint axis is 180 degrees is determined; the first joint axis is rotated to a position perpendicular to the group of positions, which is the zero position of the first joint axis; on this basis, the second joint axis to a sixth joint axis are calibrated horizontally or perpendicularly by a precise level gauge; the rotation angles of the joint axes are written down; and the zero positions of the joint axes, namely the zero positions of the six-axis industrial robot are acquired finally. According to the method, the scale-free six-axis industrial robot can acquire the zero positions easily and quickly under the condition that the zeros are lost, and the motion precision of the industrial robot is improved.
Description
Technical field
The present invention relates to the calibration technique field of industrial robot, particularly a kind of Zero calibration method of six-shaft industrial robot.
Background technology
Zero point is the benchmark of robot coordinate system, does not have zero point robot just to have no idea to judge self position.Usual industrial robot all can be demarcated the mechanical parameter of robot before dispatching from the factory, provide parameter and the dead-center position of each connecting rod of industrial robot, but under special circumstances, as battery altering, surmount mechanical limit position, collide with environment, loss that manual mobile apparatus person joint etc. all can cause zero point, be the guarantee that robot precise motion controls how seeking the current dead-center position of robot in such cases simply.At present, except self controls each joint to except dead-center position with the industrial robot of scale by controller, for the industrial robot without scale, easy Zero calibration method is not yet had to make the robot at loss zero point give zero point for change.
Summary of the invention
The object of the present invention is to provide a kind of Zero calibration method of accurate, easy six-shaft industrial robot, zero point can be given for change fast when six-shaft industrial robot loss at zero point, improve the precision of six-shaft industrial robot in running.
The technical solution realizing the object of the invention is: a kind of Zero calibration method of six-shaft industrial robot, comprises the following steps:
Step 1, selected reference position, is set as initial zero, and namely six joint shaft current angular are all set to 0, and in calibration process, the rotational angle of each joint shaft is the rotational angle relative to this reference position;
Step 2, first joint shaft dead-center position is demarcated: rotate the first joint shaft, adjust second joint axle to keep being placed on horizontal level in second joint axle simultaneously, determine that the first joint shaft rotational angle difference is one group of position that in each group of position of 180 °, second joint axle rotational angle difference is maximum, the first joint shaft is turned to the dead-center position that the position vertical with this group position is the first joint shaft;
Step 3, second joint axle dead-center position is demarcated: if the inner and outer of second joint axle all with second joint centerline axis parallel, then rotating second joint axle makes the second pass arbor central axis upright in horizontal plane, record the angle that now second joint axle rotates, be the dead-center position of second joint axle; If all there is an angle α with second joint central axis in the inner and outer of second joint axle, then by rotating second joint axle determination angle α, then rotating second joint axle makes inside it and plane-parallel, and outside is at interior side-lower, arbor backwards rotation (90+ α) ° is closed on this basis by second, record the angle that now second joint axle rotates, be the dead-center position of second joint axle;
Step 4, carries out Zero calibration to three ~ five joint shafts: bidding dead axle number is M and M=3,4,5, then on the basis that M-1 joint shaft is demarcated, rotate M axle, make measured M axial plane be parallel to horizontal plane, record the angle that now M axle rotates, be the calibrated dead-center position of M axle;
Step 5, Zero calibration is carried out to the 6th joint shaft: by bolted one plane on the 6th joint shaft end flange, this plane orthogonal is in the rotational plane of the 6th joint shaft, rotating the 6th joint shaft makes this plane be parallel to horizontal plane, the angle of record now the 6th joint shaft rotation, is the calibrated dead-center position of the 6th joint shaft;
Step 6, after demarcating, by current gained position zero, completes calibration process to the first ~ six joint shaft.
Compared with prior art, its remarkable advantage is in the present invention: (1) does not need complicated algorithm and calibration tool, whole calibration process simple and convenient; (2) this scaling method can reach higher precision, and precision is 0.1 °; (3) in calibration process, for four ~ six joint shafts, the slot gap of each joint reduction gearing can be obtained, robot kinematics is compensated, improve the accuracy of robot motion; (4) the method can expand the Zero calibration to multi-joint industrial robot.
Accompanying drawing explanation
Fig. 1 is the body construction schematic diagram of six-shaft industrial robot of the present invention.
Fig. 2 is the rotation direction schematic diagram of each joint shaft of six-shaft industrial robot of the present invention.
Fig. 3 turns to horizontal level schematic diagram inside six-shaft industrial robot second joint axle of the present invention.
Fig. 4 is that the Zero calibration of six-shaft industrial robot first joint shaft of the present invention rotates schematic diagram.
Fig. 5 is that the Zero calibration of six-shaft industrial robot second joint axle of the present invention rotates schematic diagram.
Fig. 6 is that the Zero calibration of six-shaft industrial robot of the present invention 3rd joint shaft rotates schematic diagram.
Fig. 7 is that the Zero calibration of six-shaft industrial robot of the present invention 5th joint shaft rotates schematic diagram.
Fig. 8 is that the Zero calibration of six-shaft industrial robot of the present invention 6th joint shaft rotates schematic diagram.
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
Composition graphs 1, six-shaft industrial robot of the present invention comprises six rotatable linkages, the first joint shaft a1, second joint axle a2, the 3rd joint shaft a3, the 4th joint shaft a4, the 5th joint shaft a5 and the 6th joint shaft a6 is followed successively by from base, inside the large arm of second joint axle a2 all there is an angle α with second joint central axis L2 in S2 and outside D2, and dead-center position is the initial position of each joint shaft.
Composition graphs 2, the rotation direction of each joint shaft of six-shaft industrial robot of the present invention, namely the first joint shaft a1 around Z axis at XY rotation with in surface, second and third joint shaft around Y-axis at XZ rotation with in surface, four or six joint shaft around X-axis at YZ rotation with in surface, the 5th joint shaft a5 around Y-axis at XZ rotation with in surface.
The Zero calibration method of six-shaft industrial robot of the present invention, on the basis of reference position, namely utilize precision level to carry out level or vertical calibrating to the first ~ six joint shaft respectively, concrete steps are as follows:
Step 1, selected reference position, is set as initial zero, and namely six joint shaft current angular are all set to 0, and in calibration process, the rotational angle of each joint shaft is the rotational angle relative to this reference position;
Step 2, first joint shaft a1 dead-center position is demarcated: rotate the first joint shaft a1, inside adjusting second joint axle a2 maintenance second joint axle, S2 is placed in horizontal level simultaneously, determine that the first joint shaft a1 rotational angle difference is one group of position that in each group of position of 180 °, second joint axle a2 rotational angle difference is maximum, the first joint shaft a1 is turned to the dead-center position that the position vertical with this group position is the first joint shaft a1; Composition graphs 3 ~ 4, concrete steps are as follows:
Step 2.1, at the first joint shaft a1 be benchmark zero point basis on S2 inside second joint axle is placed in horizontal level, write down second joint axle rotate angle w2;
Step 2.2, choosing nominal angle θ to the first joint shaft a1 is that unit rotates clockwise, N=360/ θ, N is even number, 0 ° of < θ <180 °, inside adjusting second joint axle, S2 is to horizontal level simultaneously, record N group data successively, often organize data and comprise the rotational angle of the first joint shaft a1 and the second joint axle a2 rotational angle of correspondence; Two groups of data that first joint shaft a1 angle in N group data differs 180 ° are combined into one group, obtain N/2 group data, difference process is carried out to often organizing second joint axle a2 rotational angle in N/2 group data, draw one group of data that second joint axle a2 angle difference is maximum, and write down the rotational angle w1 of two the first joint shaft a1 in this group;
Step 2.3, on the rotational angle basis of obtained two the first joint shaft a1, be in units of angle δ, rotate the first joint shaft a1 in-θ ~+θ scope in angle, n=2* θ/δ, n is even number, 0< δ < θ, inside adjustment second joint axle, S2 is to horizontal level, write down the n group data that the first joint shaft a1 angle differs 180 ° successively, according to the method in step 2.2, draw one group of data that second joint axle a2 angle difference is maximum, write down the rotational angle of two the first joint shaft a1 in this group;
Step 2.4, according to the method for step 2.3, be the rotational angle rotating two the first joint shaft a1 when the first joint shaft a1 determines that second joint axle a2 angle difference is maximum in-δ ~+δ scope in angle, according to the method for step 2.3, progressively reduce the scope of the first joint shaft a1 rotational angle until reach the precision of robot motion, namely the least unit of the first joint shaft a1 rotational angle is unit angle corresponding to kinematic accuracy, such as precision is 0.01 °, then until the unit of the first joint shaft a1 rotational angle is 0.01 °, the rotational angle w1 at two the first joint shaft a1 angles when final acquisition second joint axle a2 angle difference is maximum,
Step 2.5, obtain two the first joint shaft a1 rotational angles basis on respectively the first joint shaft a1 is rotated counterclockwise 90 °, inside adjustment second joint axle a2, S2 is to horizontal level, two now arrived position second joint rotational angles are identical, namely the first joint shaft a1 base on this position with plane-parallel, selecting is the dead-center position of the first joint shaft a1 from one group of position close to set first joint shaft a1 initial zero position.
Step 3, second joint axle a2 dead-center position is demarcated: if the inner side S2 of second joint axle a2 and outside D2 are all parallel with second joint central axis L2, then rotating second joint axle a2 makes the second pass arbor central axis L2 perpendicular to horizontal plane, record the angle that now second joint axle a2 rotates, be the dead-center position of second joint axle a2;
If all there is an angle α with second joint central axis L2 in the inner side S2 of second joint axle a2 and outside D2, then determine angle α by rotating second joint axle a2, then rotate second joint axle a2 and make S2 and plane-parallel inside it, and outside D2 is below the S2 of inner side, arbor backwards rotation (90+ α) ° is closed on this basis by second, record the angle that now second joint axle a2 rotates, be the dead-center position of second joint axle a2; Composition graphs 5, concrete steps are as follows:
Step 3.1, rotates second joint axle a2, make S2 and plane-parallel inside second joint axle a2, and outside D2 is below the S2 of inner side, record second joint axle a2 rotational angle θ
1;
Step 3.2, rotate second joint axle a2, outside making second joint axle a2, D2 is perpendicular to horizontal plane, records now second joint axle a2 rotational angle θ
2, then angle α=(90-(θ
2-θ
1))/2;
Step 3.3, at second joint axle a2 rotational angle θ
1by second joint axle a2 Zhuan Dong – (90+ α) ° on basis, record the angle that now second joint axle a2 rotates, be the calibrated dead-center position of second joint axle a2.
Step 4, composition graphs 6 ~ 7 carries out Zero calibration to three ~ five joint shafts: bidding dead axle number is M and M=3, and 4,5, then on the basis that M-1 joint shaft is demarcated, rotate M axle, make measured M axial plane be parallel to horizontal plane, record the angle wM that now M axle rotates, (M=3,4,5) the calibrated dead-center position of M axle, is;
Step 5, Zero calibration is carried out to the 6th joint shaft a6: composition graphs 8, with bolted one plane f on the 6th joint shaft a6 end flange, this plane orthogonal is in the rotational plane of the 6th joint shaft a6, rotating the 6th joint shaft a6 makes this plane be parallel to horizontal plane, the angle of record now the 6th joint shaft a6 rotation, is the calibrated dead-center position of the 6th joint shaft a6;
Step 6, after demarcating, by current gained position zero, completes calibration process to the first ~ six joint shaft.
For four ~ six joint shafts, bidding dead axle number is T and T=4, 5, 6, T joint shaft adopt gears meshing mode slow down, after obtaining T joint shaft dead-center position, this joint shaft is just being gone to vertical (T=4 by dead-center position (level) basis, 5, 6), and then be reset to level (T=4, 6), record the angle that T joint shaft rotates in these two kinds of situations respectively, T axle is returned to dead-center position, rotate backward to vertical (T=4, 5, 6), level (T=4 again, 6), record the angle that T joint shaft rotates in these two kinds of situations respectively, according to obtained two groups/tetra-groups data, by institute's rotational angle and 90 °, 180 °,-90 °,-180 ° compare, and draw its linear relationship, the slot gap that final acquisition T joint shaft gear rotates forward and reverses, in robot kinematics, the angle that T joint shaft rotates is compensated, improve the running precision of six-shaft industrial robot.
Embodiment 1
Step 1, selected reference position, is set to (0,0,0,0,0,0);
Step 2, the first joint shaft dead-center position is demarcated, is handled as follows:
Step 2.1, the basis that the first joint shaft is benchmark zero point is placed on horizontal level by second joint axle, writes down the angle that second joint axle rotates;
Step 2.2, rotates respectively to the first joint shaft in units of 10 °, to horizontal level inside adjustment second joint axle, write down 36 groups of data successively, and to its Treatment Analysis, show that the first joint axis angles differs 180 °, the maximum two groups of data of second joint axle angle difference;
Step 2.3, on the basis of obtained two groups of data, rotate in units of 1 ° within the scope of the first joint axis angles-10 ° ~+10 °, to horizontal level inside adjustment second joint axle, write down 40 groups of data successively, and to its Treatment Analysis, show that the first joint axis angles differs 180 °, the maximum two groups of data of second joint axle angle difference;
Step 2.4, repeats step 2.3 in units of 0.1 °, and final first joint axis angles that obtains differs 180 °, two groups of data that second joint axle angle difference is maximum;
Step 2.5, obtain two groups of positions basis on the first joint shaft is rotated 90 °, second joint shaft angle degree now under two positions is consistent, namely the first joint shaft base on this position with plane-parallel, selected the first joint axis angles near reference position is as calibrated dead-center position;
Step 3, for the demarcation of second joint axle dead-center position, on the basis that the first joint shaft dead-center position is determined, is divided into two kinds of situations:
If the inner and outer of second joint axle all with second joint centerline axis parallel, rotate second joint axle and make second joint axle central axis upright in horizontal plane, record second joint shaft angle degree, is the calibrated dead-center position of second joint axle;
If there is an angle α with central axis inside second joint axle large arm, and inner side and outer side is symmetrical relative to central axis, in such cases, second joint axle Zero calibration concrete steps are as follows:
Step 3.1, rotates second joint axle, make inside second joint axle and plane-parallel, and outside is at interior side-lower, record second joint axle rotational angle θ
1;
Step 3.2, rotates second joint axle, makes second joint axle outside vertical in horizontal plane, record now second joint axle rotational angle θ
2, then angle α=(90-(θ
2-θ
1))/2;
Step 3.3, at second joint axle rotational angle θ
1by second joint Zhou Zhuan Dong – (90+ α) ° on basis, record the angle that now second joint axle rotates, be the calibrated dead-center position of second joint axle.
Step 4, carries out Zero calibration to three ~ five joint shafts: bidding dead axle number is M and M=3,4,5, then on the basis that M-1 joint shaft is demarcated, rotate M axle, make measured M axial plane be parallel to horizontal plane, record the angle that now M axle rotates, be the calibrated dead-center position of M axle;
Step 5, Zero calibration is carried out to the 6th joint shaft: by bolted one plane on the 6th joint shaft end flange, this plane orthogonal is in the rotational plane of the 6th joint shaft, rotating the 6th joint shaft makes this plane be parallel to horizontal plane, the angle of record now the 6th joint shaft rotation, is the calibrated dead-center position of the 6th joint shaft;
Step 6, after demarcating, by current gained position zero, completes calibration process to the first ~ six joint shaft.
The dead-center position of the six-shaft industrial robot demarcated dispatching from the factory demarcates front set benchmark dead-center position as this scaling method, in such cases, said method is used to carry out Zero calibration, after having demarcated to six-shaft industrial robot, each axle rotational angle is (0 °,-0.08 °, 0.04 ° ,-0.01 °,-0.01 °, 0.09 °), each axle rotational angle is all less than 0.1 °, and namely its mean error of this Zero calibration method is less than 0.1 °.
In sum, the Zero calibration method of six-shaft industrial robot of the present invention does not need complicated algorithm and calibration tool, whole calibration process simple and convenient; For four ~ six joint shafts in calibration process, the slot gap of each joint reduction gearing can be obtained, robot kinematics is compensated, improve the accuracy of robot motion, also can expand the Zero calibration to multi-joint industrial robot.
Claims (3)
1. a Zero calibration method for six-shaft industrial robot, is characterized in that, comprises the following steps:
Step 1, selected reference position, is set as initial zero, and namely six joint shaft current angular are all set to 0, and in calibration process, the rotational angle of each joint shaft is the rotational angle relative to this reference position;
Step 2, first joint shaft dead-center position is demarcated: rotate the first joint shaft, adjust second joint axle to keep being placed on horizontal level in second joint axle simultaneously, determine that the first joint shaft rotational angle difference is one group of position that in each group of position of 180 °, second joint axle rotational angle difference is maximum, the first joint shaft is turned to the dead-center position that the position vertical with this group position is the first joint shaft;
Step 3, second joint axle dead-center position is demarcated: if the inner and outer of second joint axle all with second joint centerline axis parallel, then rotating second joint axle makes the second pass arbor central axis upright in horizontal plane, record the angle that now second joint axle rotates, be the dead-center position of second joint axle; If all there is an angle α with second joint central axis in the inner and outer of second joint axle, then by rotating second joint axle determination angle α, then rotating second joint axle makes inside it and plane-parallel, and outside is at interior side-lower, arbor backwards rotation (90+ α) ° is closed on this basis by second, record the angle that now second joint axle rotates, be the dead-center position of second joint axle;
Step 4, carries out Zero calibration to three ~ five joint shafts: bidding dead axle number is M and M=3,4,5, then on the basis that M-1 joint shaft is demarcated, rotate M axle, make measured M axial plane be parallel to horizontal plane, record the angle that now M axle rotates, be the calibrated dead-center position of M axle;
Step 5, Zero calibration is carried out to the 6th joint shaft: by bolted one plane on the 6th joint shaft end flange, this plane orthogonal is in the rotational plane of the 6th joint shaft, rotating the 6th joint shaft makes this plane be parallel to horizontal plane, the angle of record now the 6th joint shaft rotation, is the calibrated dead-center position of the 6th joint shaft;
Step 6, after demarcating, by current gained position zero, completes calibration process to the first ~ six joint shaft.
2. the Zero calibration method of six-shaft industrial robot according to claim 1, is characterized in that, demarcate the first joint shaft dead-center position described in step 2, concrete steps are as follows:
Step 2.1, the basis that the first joint shaft is benchmark zero point is placed on horizontal level by second joint axle, writes down the angle that second joint axle rotates;
Step 2.2, choosing nominal angle θ to the first joint shaft is that unit rotates clockwise, N=360/ θ, N is even number, 0 ° of < θ <180 °, adjust inside second joint axle to horizontal level simultaneously, record N group data successively, often organize data and comprise the rotational angle of the first joint shaft and the second joint axle rotational angle of correspondence; Two groups of data that first joint axis angles in N group data differs 180 ° are combined into one group, obtain N/2 group data, difference process is carried out to often organizing second joint axle rotational angle in N/2 group data, draw one group of data that second joint axle angle difference is maximum, and write down the rotational angle of two the first joint shafts in this group;
Step 2.3, on the rotational angle basis of obtained two the first joint shafts, be in units of angle δ, rotate the first joint shaft in-θ ~+θ scope in angle, n=2* θ/δ, n is even number, 0< δ < θ, to horizontal level inside adjustment second joint axle, write down the n group data that the first joint axis angles differs 180 ° successively, according to the method in step 2.2, draw one group of data that second joint axle angle difference is maximum, write down the rotational angle of two the first joint shafts in this group;
Step 2.4, according to the method for step 2.3, angle be rotate in-δ ~+δ scope the first joint shaft determination second joint axle angle difference maximum time two the first joint shafts rotational angle, according to the method for step 2.3, progressively reduce the scope of the first joint shaft rotational angle until reach the precision of robot motion, the rotational angle of two the first joint shaft angles when final acquisition second joint axle angle difference is maximum;
Step 2.5, obtain two the first joint shaft rotational angles basis on respectively the first joint shaft is rotated counterclockwise 90 °, to horizontal level inside adjustment second joint axle, two now arrived position second joint rotational angles are identical, namely the first joint shaft base on this position with plane-parallel, selecting is the dead-center position of the first joint shaft from one group of position close to set first joint shaft initial zero position.
3. the Zero calibration method of six-shaft industrial robot according to claim 1, it is characterized in that, if the inner and outer of the axle of second joint described in step 3 is symmetrical relative to central axis, and inner and outer all exists an angle α with second joint central axis, second joint axle Zero calibration concrete steps are as follows:
Step 3.1, rotates second joint axle, make inside second joint axle and plane-parallel, and outside is at interior side-lower, record second joint axle rotational angle θ
1;
Step 3.2, rotates second joint axle, makes second joint axle outside vertical in horizontal plane, record now second joint axle rotational angle θ
2, then angle α=(90-(θ
2-θ
1))/2;
Step 3.3, at second joint axle rotational angle θ
1by second joint Zhou Zhuan Dong – (90+ α) ° on basis, record the angle that now second joint axle rotates, be the calibrated dead-center position of second joint axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310369293.6A CN103395073B (en) | 2013-08-22 | 2013-08-22 | Zero calibration method of six-axis industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310369293.6A CN103395073B (en) | 2013-08-22 | 2013-08-22 | Zero calibration method of six-axis industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103395073A CN103395073A (en) | 2013-11-20 |
| CN103395073B true CN103395073B (en) | 2015-07-22 |
Family
ID=49558896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310369293.6A Active CN103395073B (en) | 2013-08-22 | 2013-08-22 | Zero calibration method of six-axis industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103395073B (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103600345A (en) * | 2013-11-26 | 2014-02-26 | 苏州晓炎自动化设备有限公司 | Vertical multi-joint robot |
| CN104385281B (en) * | 2014-07-28 | 2016-07-06 | 天津大学 | A kind of Zero calibration method of two-freedom high speed parallel robot |
| CN104647364B (en) * | 2015-02-04 | 2016-05-04 | 中船重工鹏力（南京）智能装备系统有限公司 | A kind of reconfigurable drag articulation type four axle robots |
| CN104816316B (en) * | 2015-03-26 | 2017-03-15 | 珠海格力智能装备有限公司 | Pivoted arm Zero calibration device and the robot with which |
| CN105196311B (en) * | 2015-10-21 | 2017-03-29 | 国机智能科技有限公司 | A kind of zero point quick calibrating method of six-joint robot |
| CN105364924B (en) * | 2015-12-18 | 2017-05-24 | 珠海格力电器股份有限公司 | Zero-scale calibration system and method for robot |
| CN105397807B (en) * | 2015-12-21 | 2017-12-08 | 珠海格力电器股份有限公司 | Robot zero point correction device, robot zero point correction system and calibration method |
| CN105666492B (en) * | 2016-03-11 | 2018-02-16 | 奇瑞汽车股份有限公司 | SCARA joint of robot back to zero control methods |
| CN108115724B (en) * | 2016-11-29 | 2021-05-25 | 沈阳新松机器人自动化股份有限公司 | Robot follow-up test method |
| 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 |
| CN107443375B (en) * | 2017-07-20 | 2019-11-05 | 深圳市同川科技有限公司 | Robot origin calibration method, apparatus, storage medium and computer equipment |
| CN108044650B (en) * | 2017-08-21 | 2019-12-20 | 北京精密机电控制设备研究所 | High-precision determination method for zero position of mechanical arm |
| CN108032334B (en) * | 2017-11-29 | 2021-01-05 | 东华大学 | Six-axis industrial robot protective clothing 'bending-bending' joint motion compensation design method |
| 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 |
| CN109262657A (en) * | 2018-12-06 | 2019-01-25 | 华域汽车车身零件（武汉）有限公司 | A kind of six axis Zero calibration system and method for welding robot |
| CN112297054B (en) * | 2020-09-24 | 2021-11-23 | 苏州玖物互通智能科技有限公司 | Zero point debugging method for cooperative robot |
| CN112643712B (en) * | 2020-09-28 | 2022-06-10 | 扬州船用电子仪器研究所(中国船舶重工集团公司第七二三研究所) | Zero position measurement calibration method for large mechanical arm base |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0522411A1 (en) * | 1991-07-12 | 1993-01-13 | Hewlett-Packard Company | Positional calibration of robotic arm joints relative to the gravity vector |
| US6418774B1 (en) * | 2001-04-17 | 2002-07-16 | Abb Ab | Device and a method for calibration of an industrial robot |
| WO2006052181A1 (en) * | 2004-11-10 | 2006-05-18 | Abb Research Ltd. | A calibration method |
| 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 |
| CN102216860A (en) * | 2008-11-25 | 2011-10-12 | Abb技术有限公司 | A method and an apparatus for calibration of an industrial robot system |
| CN102975208A (en) * | 2012-11-19 | 2013-03-20 | 安徽埃夫特智能装备有限公司 | Zero calibration device of welding robot |
-
2013
- 2013-08-22 CN CN201310369293.6A patent/CN103395073B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0522411A1 (en) * | 1991-07-12 | 1993-01-13 | Hewlett-Packard Company | Positional calibration of robotic arm joints relative to the gravity vector |
| US6418774B1 (en) * | 2001-04-17 | 2002-07-16 | Abb Ab | Device and a method for calibration of an industrial robot |
| WO2006052181A1 (en) * | 2004-11-10 | 2006-05-18 | Abb Research Ltd. | A calibration method |
| 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 |
| CN102216860A (en) * | 2008-11-25 | 2011-10-12 | Abb技术有限公司 | A method and an apparatus for calibration of an industrial robot system |
| CN102975208A (en) * | 2012-11-19 | 2013-03-20 | 安徽埃夫特智能装备有限公司 | Zero calibration device of welding robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103395073A (en) | 2013-11-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103395073B (en) | Zero calibration method of six-axis industrial robot | |
| CN107443382B (en) | Industrial robot structure parameter error identification and compensation method | |
| CN109015110B (en) | Machine tool rotary shaft position error modeling and identifying method | |
| CN104385281B (en) | A kind of Zero calibration method of two-freedom high speed parallel robot | |
| CN105196311B (en) | A kind of zero point quick calibrating method of six-joint robot | |
| CN102692873A (en) | Industrial robot positioning precision calibration method | |
| CN109623822B (en) | Robot hand-eye calibration method | |
| CN104354166A (en) | Zero-point calibration method of three-degree-of-freedom parallel robot | |
| CN105159228A (en) | Five-axis calibration method for five-axis linkage numerical control machine tool having real-time transport control protocol (RTCP)-based function | |
| CN114216456B (en) | Attitude measurement method based on fusion of IMU and robot body parameters | |
| CN104165585A (en) | Non-contact high-precision calibration method of tool coordinate system of single robot | |
| CN111562563A (en) | Laser radar rotary table calibration method and device and computer readable storage medium | |
| CN107976169B (en) | Ship-borne inertial navigation attitude angle time sequence detection method based on fixed star observation | |
| KR20160100013A (en) | System and method for error measurement and compensation using laser tracer | |
| CN109282774B (en) | Device and method for solving three-degree-of-freedom attitude of ball joint based on distance measurement | |
| CN116117785A (en) | Method and device for calibrating kinematic parameters of a robot | |
| CN104647144B (en) | Coordinate transformation based optical angle measuring device and method | |
| CN103759922A (en) | Method for measuring pointing accuracy of two-dimension pointing mirror of space remote sensor | |
| CN105666483B (en) | A kind of joint encoders arrangement and speed reducer error counteracting method being related to robot | |
| CN109916392A (en) | A kind of mechanized equipment position detecting device and its system, method based on encoder | |
| KR20230087106A (en) | Apparatus and method for measuring concentricity correction | |
| CN113686278A (en) | High-precision industrial robot tool TCP calibration method | |
| CN114322765A (en) | Cutter measuring method through coordinate system rotation mode | |
| CN203480321U (en) | Satellite-borne high-precision directional tracking mechanism | |
| CN105203056A (en) | Three-coordinate measurement device and measurement method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: No. 18, Shenghu East Road, Lianyungang City, Jiangsu Province 222,061 Patentee after: The 716th Research Institute of China Shipbuilding Corp. Address before: No. 18, Shenghu East Road, Lianyungang City, Jiangsu Province 222,061 Patentee before: 716TH RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY Corp. |