CN105058387A - Industrial robot base coordinate system calibration method based on laser tracker - Google Patents

Industrial robot base coordinate system calibration method based on laser tracker Download PDF

Info

Publication number
CN105058387A
CN105058387A CN201510424145.9A CN201510424145A CN105058387A CN 105058387 A CN105058387 A CN 105058387A CN 201510424145 A CN201510424145 A CN 201510424145A CN 105058387 A CN105058387 A CN 105058387A
Authority
CN
China
Prior art keywords
robot
target
coordinate
auto
control
Prior art date
Application number
CN201510424145.9A
Other languages
Chinese (zh)
Inventor
杨洋
陈翔
黄龙
李大寨
Original Assignee
北京航空航天大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京航空航天大学 filed Critical 北京航空航天大学
Priority to CN201510424145.9A priority Critical patent/CN105058387A/en
Publication of CN105058387A publication Critical patent/CN105058387A/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • B25J9/161Hardware, e.g. neural networks, fuzzy logic, interfaces, processor

Abstract

The invention discloses an industrial robot base coordinate system calibration method based on a laser tracker. The method includes the steps that target bases needed for measurement are installed, a calibration system is preprocessed, coordinate systems needed for calibration are established, the relational expression of posture relation matrixes of the coordinate systems is acquired, data are collected through a control robot and the laser tracker, the corresponding posture matrixes are acquired, and finally the posture relation between a robot base coordinate system and a measurable coordinate system is acquired so as to determine the specific posture of the robot base coordinate system. The robot base coordinate system can be calibrated only through the laser tracker, no repetition is needed after calibration, repeated calibration time is shortened, meanwhile, the accuracy of the laser tracker is high, and the accuracy of acquired data of the base coordinate system is high.

Description

Based on a kind of industrial robot basis coordinates system scaling method of laser tracker

Technical field

The present invention relates to the calibration technique field of industrial robot, particularly utilize the basis coordinates scaling method of a kind of tandem industrial robot of laser tracker.

Background technology

Robot is since invention, through development for many years, its technology obtains many great achievements, the problem of calibrating of robot precision is a wherein indispensable part, although current many robots have higher repetitive positioning accuracy, but their absolute fix precision is not high comparatively speaking, this has just become one of bottleneck of restriction robot industry development.In order to improve the absolute fix precision of robot, Robot calibration technology is arisen at the historic moment.

Robot calibration technology is that operation parameter discrimination method goes the related data processing the robot obtained by the measurement means of advanced person to identify the accurate parameter of robot model, thus improves the process of robot absolute fix precision.Scholar both domestic and external to Robot calibration technology from modeling, measuring method, etc. aspect carried out research extensively and profoundly, wherein robot basis coordinates system demarcate has very actual effect for robot practical application.Because the initial point of basis coordinates system of robot is inaccessible, therefore, directly can not demarcate the basis coordinates of robot, this generates the method much utilizing different measuring means and instrument to demarcate robot basis coordinates, demarcate as utilized calibration object, utilize multiple robots handshake operation to demarcate etc., said method all needs install associated end device or use multiple robot, and operation is comparatively complicated; Utilize calibration object to demarcate, have high requirements to object itself, precision needs to be investigated; Demarcated by multirobot, be applicable to the development environment of multiple robot, for only having the condition of single robot system and inapplicable, therefore be necessary that inventing a kind of single robot system that adopts carries out the straightforward procedure of demarcating, and the method is demarcated without the need to repeating after once demarcating.

The present invention provides a kind of robot basis coordinates scaling method based on laser tracker for above-mentioned situation.The present invention relates to tandem industrial robot, this is a kind of robot most widely used at industrial automation.This robot basis coordinates position is unreachable, for making industrial robot more accurate in use, accurately need locate its basis coordinates system.

The present invention demarcates basis coordinates system of robot by laser tracker, is cooperatively interacted by industrial robot and laser tracker, demarcates basis coordinates system.Laser tracker has quick, dynamic, high-precision feature, it is a kind of high-precision Large-scale Measuring Instruments in industrial measuring system, laser tracker technology has been widely used in the key areas such as Aero-Space manufacturing industry abroad, and has played the irreplaceable effect of other measuring instruments.

Summary of the invention

In view of above content, the invention provides a kind of scaling method of basis coordinates system of the industrial robot based on laser tracker, accurately demarcated basis coordinates tie up to laser tracker coordinate system under module and carriage transformation matrix.

To achieve these goals, the technical solution used in the present invention is as follows:

Step 1, adjustment robot is to suitable locus, and robot installed surface installs three target seats, and target seat in a distance, and is not positioned on straight line; Be placed on by laser tracker on fixed position, guarantee can measure robot end position and three target seats and put.One target seat is arranged on the locating hole of robot end's (i.e. 6 shaft ends), target is positioned on target seat.

Step 2, { Base} is basis coordinates system of robot, and its pose is fixed, and needs to measure it relative to the relation can surveying coordinate system to set up each coordinate system; { Flange} is robot end's coordinate system, and position is positioned at distal center, and attitude is determined by robot interior; { Ba} is target co-ordinates system, and position is positioned at the center of robot end's target ball, and attitude is identical with robot basis coordinates; { Laser} is laser tracker coordinate system, and pose is determined by laser tracker; { DB} is installed surface target co-ordinates system, determined by three targets on installed surface.

Step 3, according to relative pose relation between each coordinate system,

Step 4, determines position auto―control mobile robot's to one ad-hoc location, obtains the end 6DOF pose parameter that robot interior reads, is converted to 4 × 4 position auto―control as calculated this matrix is that { flange} is relative to { the position auto―control of Base}.

Step 5, determines position auto―control if the homogeneous coordinates of target ball center A in ending coordinates system flangea=(x ba, y ba, h, 1) t, wherein x ba, y bafor known parameters, h represents the distance of target ball center to end flange plane; Target co-ordinates system Ba} relative to ending coordinates system the position auto―control of Flange}:

Step 6, determines position auto―control laser tracker reads now end target ball position information as the translation vector of position auto―control; Control moves along its x-axis direction specific range, mobile n time altogether, more respectively along y-axis, specific range is moved by the same manner in z-axis direction, respectively position data (the x of record target ball center xi, y xi, z xi) (i=1,2 ... n), (x yi, y yi, z yi) (i=1,2 ... n), (x zi, y zi, z zi) (i=1,2 ... n), gained three groups of data are carried out fitting a straight line by least square method respectively, obtains X, Y, Z tri-direction vectors are n x=(a x, c x, 1), n y=(a y, c y, 1) and n z=(a z, c z, 1); Obtain coordinate system through unitization { Ba} all directions component, to sum up obtains the spin matrix in position auto―control.

Step 7, calculates according to the relative pose relation between each coordinate system

Step 8, { DB} is relative to { the position auto―control of Laser} to determine land-based target spherical coordinate system according to calculate that { DB} is relative to the basis coordinates system { position auto―control of Base}.Wherein { DB} coordinate system is determined by three target points.

The acquiring method of h described in step 5 is: use target ball on end plane, measure three points, be respectively a B=(x b, y b, z b) t, some C=(x c, y c, z c) t, some D=(x d, y d, z d) t, vector with multiplication cross, obtains the normal vector of plane BCD and then the expression formula of the equation obtaining plane BCD is a (x-x b)+b (y-y b)+c (z-z b)=0, the expression formula of the distance d of target center A to plane BCD is finally obtain the distance of target ball center to Flange Plane

Preferably, the X obtained in step 6, there is error due to during robot motion in Y, Z tri-direction vectors, not exact vertical, and therefore need through orthogonalization process, obtain exact vertical and unitization durection component, the x-axis durection component obtained is y direction component by represent; Z-direction component is

In step 6, finally obtain coordinate system Ba} relative to the position auto―control of Laser} is:

Beneficial effect of the present invention is:

Only need the demarcation that laser tracker equipment just can realize basis coordinates system of robot, and target seat fixing after do not need repeatedly to dismantle, save the nominal time, meanwhile, adopt laser tracker to demarcate robot, improve the precision of measurement; And after obtaining the relation between basis coordinates system and ground target coordinate system, laser tracker can arbitrarily movement, this pose transformation relation can not change along with robot motion, when robot carries out practical operation, only need measure land-based target cursor position data, basis coordinates system position data can be obtained, saved the time repeatedly demarcated.

Accompanying drawing explanation

Fig. 1 is the present invention's 6DOF tandem used robot schematic diagram

Fig. 2 is the present invention's laser tracker measuring system used and survey tool schematic diagram

Fig. 3 is required each coordinate system schematic diagram in calibration process of the present invention

Detailed description of the invention

In order to be illustrated more clearly in the know-why in this invention, below in conjunction with accompanying drawing, the present invention is described more clearly and completely.

As shown in Figure 1, robot is installed on workbench typical tandem industrial robot, designates robot each joint revolute in figure.Required measurement device laser tracker adopts spherical coordinate system laser tracker measuring system, and as shown in Figure 2, survey tool is target ball to its schematic diagram, can be fixed on target ball seat, realize Measurement accuracy.

Adjustment robot is to suitable locus, and robot installed surface installs three target seats, and target seat in a distance, and is not positioned on straight line; Be placed on by laser tracker on fixed position, guarantee can measure robot end position and three target seats and put.One target seat is arranged on the locating hole of robot end's (i.e. 6 shaft ends), target is positioned on each target seat.

Set up each coordinate system as shown in Figure 3, { Base} is basis coordinates system of robot, and its pose is fixed, task of the present invention is set up exactly { contacting between Base} coordinate system and installed surface target co-ordinates system; { Flange} is robot end's coordinate system, and position is positioned at distal center, and attitude is determined by robot interior; { Ba} is target co-ordinates system, and position is positioned at the center of robot end's target ball, and attitude is identical with robot basis coordinates; { Laser} is laser tracker coordinate system, and pose is determined by laser tracker; { DB} is installed surface target co-ordinates system, determined by three targets on installed surface.

{ JG} is relative to basis coordinates system of the robot { position auto―control of Base} can to obtain laser tracker coordinate system by above coordinate system relation expression formula be

Be fixed on same position owing to can not ensure that laser tracker is measured each time, therefore introduce installed surface target co-ordinates system, set up contacting of basis coordinates system and installed surface target co-ordinates system this matrix is random device people motion and laser tracker change in location and changing not, can accurate description basis coordinates position, after obtaining this position auto―control, need measure each target of installed surface namely by relational expression by laser tracker obtain basis coordinates system position

According to above-mentioned principle, to the position auto―control in expression formula with ask for.As described below:

Position auto―control determination: control motion make its end arrive an orientation be convenient for measuring.Robot interior can return the posture information of now end, reads end pose parameter (X, Y, Z, A, B, C);

Can obtain according to above formula that { flange} is relative to { the position auto―control of Base}; If wherein for attitude matrix, for location matrix;

Position auto―control determination, be divided into following several step:

Keep robot end's invariant position, if target ball center A is in the ending coordinates system { homogeneous coordinates in Flange} flangea=(x ba, y ba, h, 1) t, wherein x ba, y bafor known robot interior parameter.Wherein h represents the distance of target ball center to end flange plane; flangea is location matrix.

In robot end's plane, measure 3 points containing whole plane with target ball, be respectively a B=(x b, y b, z b) t, some C=(x c, y c, z c) t, some D=(x d, y d, z d) t; Then vector with multiplication cross obtains:

Vector be the normal vector being made up of plane at 3 B, C, D, then the equation of plane BCD can be write as:

a(x-x B)+b(y-y B)+c(z-z B)=0

The distance of target ball center A to plane BCD is:

Therefore target ball center is to the distance of Flange Plane wherein D targetfor target bulb diameter;

Due to coordinate system Ba} relative to Base} only has translation, therefore with have identical attitude matrix, { Ba} is relative to the end flange coordinate system { position auto―control of Flange} therefore to obtain target spherical coordinate system

Position auto―control determination, be divided into following several step:

Measure target ball with laser tracker, read target ball center { coordinate in Laser} is set to A=(x a, y a, z a) t, this coordinate is the target spherical coordinate system { initial point of Ba}; Be placed on by target ball on target ball seat, control moves along its x-axis direction specific range, and altogether mobile n time (n generally gets 3 ~ 5), more respectively along y-axis, specific range is moved by the same manner in z-axis direction, respectively the position data of record target ball center

The three groups of data recorded are carried out fitting a straight line by least square method respectively, makes the error sum of squares between the straight line of trying to achieve and actual point minimum.For+X-direction, detailed step is:

If the equation of space line is:

By linear projection in XOZ plane and YOZ plane, obtain the linear equation in two planes:

Wherein

Space line fitting problems is converted into two plane and straight line fitting problems, need meets based on principle of least square method:

Above formula comprises two binary functions and asks extreme-value problem, and according to the extreme value theorem of the function of many variables, solving equation group, can obtain:

According to a x, b x, c xdefinition known: k 1: k 2: k 3=a x: c x: 1; Therefore, the direction vector that can obtain required+X is n x=(a x, c x, 1).The method establishment Y-axis of X-direction vector and the direction vector of Z axis are set up in analogy simultaneously, are respectively: n y=(a y, c y, 1) and n z=(a z, c z, 1);

Set up coordinate system { Ba} tri-reference axis, direction vector n x, n yand n zdue to robot localization error and laser tracker measure error instead of theoretic mutual vertical relation, therefore can not as coordinate system { three reference axis of Ba}.

Can by direction vector n xas Ba}+X-direction, direction vector n zwith n xmultiplication cross as coordinate system Ba}+Y direction, general+X-direction vector and+Y-direction vector multiplication cross obtain Ba}+Z axis unit vector, then coordinate system each axle unit vector of Ba} is as follows:

Then coordinate system Ba} relative to the position auto―control of Laser} is:

So far, position auto―control determine complete, can position auto―control be obtained

Finally need to determine position auto―control following several step can be divided into:

{ the three Ge Ba ball center positions of DB}, are set to P respectively to use laser tracker to measure installed surface target spherical coordinate system 1=(x 1, y 1, z 1) t, P 2=(x 2, y 2, z 2) t, P 3=(x 3, y 3, z 3) t; With P 2for { initial point of DB}, vector for coordinate system DB}+X-direction vector multiplication cross vector for DB}+Z-direction dB}+Y direction vector by+Z-direction vector multiplication cross+X-direction vector.

Can obtain thus, land-based target spherical coordinate system DB} relative to the position auto―control of Laser} is:

Position auto―control by formula determine.

In sum, the present invention only needs laser tracker equipment just can realize demarcation task, shortens the nominal time, meanwhile, adopts laser tracker to demarcate robot, improves the precision of measurement; And after obtaining the relation between basis coordinates system and ground target coordinate system, only need measure land-based target cursor position data when practical operation, basis coordinates system position data can be obtained, saved the time repeatedly demarcated.

The invention is not restricted to the details of above-mentioned exemplary embodiment, and when not deviating from essential characteristic of the present invention, the present invention can be realized in other specific forms, all should the present invention be regarded as exemplary.The scope of the invention is defined by the following claims, and all changes be therefore intended in the implication of the condition of equivalent by dropping on claim and scope are encompassed in the present invention, Reference numeral any in claim should be considered as the claim involved by limiting.Simultaneously, only for clarity sake, description should be considered as entirety to above-mentioned detailed description of the invention by those skilled in the art, and the step in above-mentioned implementation method can appropriately combinedly change, but do not depart from its general principles and feature, form those skilled in the art's other embodiments intelligible.

Claims (4)

1., based on a kind of industrial robot basis coordinates system scaling method of laser tracker, it is characterized in that step is as follows:
(1) adjust robot to suitable locus, robot installed surface installs three target seats, and target seat in a distance, and is not positioned on straight line; Laser tracker is placed on fixed position.One target seat is arranged on the locating hole of robot end, target is positioned on target seat;
(2) each coordinate system is set up: { Base} is basis coordinates system of robot, and its pose is fixed, and needs to measure it relative to the relation can surveying coordinate system; { Flange} is robot end's coordinate system, and position is positioned at distal center, and attitude is determined by robot interior; { Ba} is target co-ordinates system, and position is positioned at the center of robot end's target ball, and attitude is identical with robot basis coordinates; { Laser} is laser tracker coordinate system, and pose is determined by laser tracker inside; { DB} is installed surface target co-ordinates system, determined by three targets on installed surface;
(3) according to the transformation relation between each coordinate system, can obtain
(4) position auto―control is determined mobile robot to ad-hoc location, obtain robot interior read end { flange} free degree pose parameter, is converted to 4 × 4 position auto―control as calculated this matrix is that { Flange} is relative to { the position auto―control of Base};
(5) position auto―control is determined if the homogeneous coordinates of target ball center A in ending coordinates system flangea=(x ba, y ba, h, 1) t, wherein x ba, y bafor known parameters, h represents the distance of target ball center to end flange plane; { Ba} is relative to the ending coordinates system { position auto―control of Flange} in target co-ordinates system
(6) position auto―control is determined laser tracker reads end target ball position information as the translation vector of position auto―control; Control moves along its x-axis direction specific range, mobile n time altogether, more respectively along y-axis, specific range is moved by the same manner in z-axis direction, respectively the position data of record target ball center gained three groups of data are carried out fitting a straight line by least square method respectively, obtains X, Y, Z tri-direction vectors are n x=(a x, c x, 1), n y=(a y, c y, 1), n z=(a z, c z, 1); Obtain coordinate system through unitization { Ba} all directions component, to sum up obtains the spin matrix in position auto―control;
(7) calculate according to the relative pose relation between each coordinate system
(8) { DB} is relative to { the position auto―control of Laser} to determine installed surface target spherical coordinate system according to obtain that { DB} is relative to the basis coordinates system { position auto―control of Base}.Wherein { DB} determined by three target points coordinate system.
2. the basis coordinates system scaling method of robot according to claim 1, is characterized in that the acquiring method of h described in step 5 is: use target ball on end plane, measure three points, be respectively a B=(x b, y b, z b) t, some C=(x c, y c, z c) t, some D=(x d, y d, z d) t, vector with multiplication cross, obtains the normal vector of plane BCD and then the expression formula of the equation obtaining plane BCD is a (x-x b)+b (y-y b)+c (z-z b)=0,
The expression formula of the distance d of target center A to plane BCD is finally obtain the distance of target ball center to Flange Plane
3. the basis coordinates system scaling method of robot according to claim 1, it is characterized in that the X obtained in step 6, Y, error is there is in Z tri-direction vectors due to during robot motion, not exact vertical, therefore need through orthogonalization process, obtain exact vertical and unitization durection component, the x-axis durection component obtained is y direction component by represent; Z-direction component is
4. the basis coordinates system scaling method of robot according to claim 1, is characterized in that in step 6, finally obtain coordinate system Ba} relative to the position auto―control of Laser} is:
CN201510424145.9A 2015-07-17 2015-07-17 Industrial robot base coordinate system calibration method based on laser tracker CN105058387A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510424145.9A CN105058387A (en) 2015-07-17 2015-07-17 Industrial robot base coordinate system calibration method based on laser tracker

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510424145.9A CN105058387A (en) 2015-07-17 2015-07-17 Industrial robot base coordinate system calibration method based on laser tracker

Publications (1)

Publication Number Publication Date
CN105058387A true CN105058387A (en) 2015-11-18

Family

ID=54488011

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510424145.9A CN105058387A (en) 2015-07-17 2015-07-17 Industrial robot base coordinate system calibration method based on laser tracker

Country Status (1)

Country Link
CN (1) CN105058387A (en)

Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105698678A (en) * 2016-02-24 2016-06-22 浙江大学 Base coordinate system calibration method of aircraft panel horizontal automatic drill riveter
CN105783809A (en) * 2016-04-14 2016-07-20 昆山工研院工业机器人研究所有限公司 Robot calibration testing combined device
CN105773622A (en) * 2016-04-29 2016-07-20 江南大学 Industrial robot absolute accuracy calibrating method based on IEKF
CN105798909A (en) * 2016-04-29 2016-07-27 上海交通大学 Calibration system and method of zero position of robot based on laser and vision
CN105834735A (en) * 2016-04-19 2016-08-10 北京航空航天大学 Automatic part assembling method based on laser tracker
CN106041937A (en) * 2016-08-16 2016-10-26 河南埃尔森智能科技有限公司 Control method of manipulator grabbing control system based on binocular stereoscopic vision
CN106052555A (en) * 2016-06-08 2016-10-26 中国科学院重庆绿色智能技术研究院 Industrial robot base coordinate measuring method
CN106113035A (en) * 2016-06-16 2016-11-16 华中科技大学 A kind of Six-DOF industrial robot end-of-arm tooling coordinate system caliberating device and method
CN106289378A (en) * 2016-08-12 2017-01-04 杭州亿恒科技有限公司 Industrial robot performance measurement method based on laser tracker
CN106289379A (en) * 2016-08-12 2017-01-04 杭州亿恒科技有限公司 Industrial robot performance measurement method
CN106595474A (en) * 2016-11-18 2017-04-26 华南理工大学 Double-robot base coordinate system calibration method based on laser tracker
CN107297399A (en) * 2017-08-08 2017-10-27 南京埃斯顿机器人工程有限公司 A kind of method of robot Automatic-searching bending position
CN107738254A (en) * 2017-08-25 2018-02-27 中国科学院光电研究院 The conversion scaling method and system of a kind of mechanical arm coordinate system
CN107972071A (en) * 2017-12-05 2018-05-01 华中科技大学 A kind of industrial robot link parameters scaling method based on distal point plane restriction
WO2018090323A1 (en) * 2016-11-18 2018-05-24 深圳配天智能技术研究院有限公司 Method, system, and device for calibrating coordinate system
CN108161935A (en) * 2017-12-26 2018-06-15 中科新松有限公司 The method and device of robot basis coordinates system calibration
CN108375337A (en) * 2018-02-28 2018-08-07 邱观雄 A kind of assay method and measurement device of the relative pose of robot and its process equipment based on laser traces instrument
CN109079774A (en) * 2018-05-04 2018-12-25 南京航空航天大学 A kind of isotropism visual sensing three-dimensional spherical target and scaling method
CN109551518A (en) * 2017-09-26 2019-04-02 发那科株式会社 Measurement system
CN109605372A (en) * 2018-12-20 2019-04-12 中国铁建重工集团有限公司 A kind of method and system of the pose for survey engineering mechanical arm
CN109631762A (en) * 2019-01-29 2019-04-16 合肥中控智科机器人有限公司 A kind of method that laser self-calibration realizes Zero calibration
CN109648603A (en) * 2017-10-12 2019-04-19 发那科株式会社 Measuring system
CN109732590A (en) * 2018-12-20 2019-05-10 中国铁建重工集团有限公司 A kind of online calibration method of engineering machinery arm
CN109813218A (en) * 2019-01-23 2019-05-28 南京工程学院 A kind of precision compensation method of the Three Degree Of Freedom target for laser tracker
CN110161850A (en) * 2019-04-24 2019-08-23 南京航空航天大学 A kind of identification of industrial robot variable element rigidity and modeling method
CN110220454A (en) * 2019-06-03 2019-09-10 西安飞机工业(集团)有限责任公司 A kind of pose scaling method of three coordinate locating mechanisms
CN110340886A (en) * 2019-06-03 2019-10-18 武汉中观自动化科技有限公司 The method and its system of robot waypoint migration are realized in a kind of binocular tracking
CN109605372B (en) * 2018-12-20 2020-06-26 中国铁建重工集团股份有限公司 Method and system for measuring pose of engineering mechanical arm

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN101791750A (en) * 2009-12-31 2010-08-04 哈尔滨工业大学 Robot remote control welding system and method used for remote welding
CN102062576A (en) * 2010-11-12 2011-05-18 浙江大学 Device for automatically marking additional external axis robot based on laser tracking measurement and method thereof
US20140096405A1 (en) * 2009-01-30 2014-04-10 Axiam, Inc. Absolute diameter measurement arm
CN104285160A (en) * 2012-05-07 2015-01-14 莱卡地球系统公开股份有限公司 Laser tracker comprising interferometer and absolute distance measuring unit, and calibration method for a laser tracker
CN104602871A (en) * 2012-07-19 2015-05-06 库卡罗伯特有限公司 Robot-guided measuring system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
US20140096405A1 (en) * 2009-01-30 2014-04-10 Axiam, Inc. Absolute diameter measurement arm
CN101791750A (en) * 2009-12-31 2010-08-04 哈尔滨工业大学 Robot remote control welding system and method used for remote welding
CN102062576A (en) * 2010-11-12 2011-05-18 浙江大学 Device for automatically marking additional external axis robot based on laser tracking measurement and method thereof
CN104285160A (en) * 2012-05-07 2015-01-14 莱卡地球系统公开股份有限公司 Laser tracker comprising interferometer and absolute distance measuring unit, and calibration method for a laser tracker
CN104602871A (en) * 2012-07-19 2015-05-06 库卡罗伯特有限公司 Robot-guided measuring system

Cited By (39)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105698678A (en) * 2016-02-24 2016-06-22 浙江大学 Base coordinate system calibration method of aircraft panel horizontal automatic drill riveter
CN105783809A (en) * 2016-04-14 2016-07-20 昆山工研院工业机器人研究所有限公司 Robot calibration testing combined device
CN105834735A (en) * 2016-04-19 2016-08-10 北京航空航天大学 Automatic part assembling method based on laser tracker
CN105773622A (en) * 2016-04-29 2016-07-20 江南大学 Industrial robot absolute accuracy calibrating method based on IEKF
CN105798909A (en) * 2016-04-29 2016-07-27 上海交通大学 Calibration system and method of zero position of robot based on laser and vision
CN105798909B (en) * 2016-04-29 2018-08-03 上海交通大学 Robot Zero positioning System and method for based on laser and vision
CN106052555A (en) * 2016-06-08 2016-10-26 中国科学院重庆绿色智能技术研究院 Industrial robot base coordinate measuring method
CN106052555B (en) * 2016-06-08 2018-10-30 中国科学院重庆绿色智能技术研究院 A kind of industrial robot pedestal coordinate measuring method
CN106113035A (en) * 2016-06-16 2016-11-16 华中科技大学 A kind of Six-DOF industrial robot end-of-arm tooling coordinate system caliberating device and method
CN106289378A (en) * 2016-08-12 2017-01-04 杭州亿恒科技有限公司 Industrial robot performance measurement method based on laser tracker
CN106289379A (en) * 2016-08-12 2017-01-04 杭州亿恒科技有限公司 Industrial robot performance measurement method
CN106041937A (en) * 2016-08-16 2016-10-26 河南埃尔森智能科技有限公司 Control method of manipulator grabbing control system based on binocular stereoscopic vision
WO2018090323A1 (en) * 2016-11-18 2018-05-24 深圳配天智能技术研究院有限公司 Method, system, and device for calibrating coordinate system
CN106595474A (en) * 2016-11-18 2017-04-26 华南理工大学 Double-robot base coordinate system calibration method based on laser tracker
CN107297399A (en) * 2017-08-08 2017-10-27 南京埃斯顿机器人工程有限公司 A kind of method of robot Automatic-searching bending position
CN107738254A (en) * 2017-08-25 2018-02-27 中国科学院光电研究院 The conversion scaling method and system of a kind of mechanical arm coordinate system
CN107738254B (en) * 2017-08-25 2019-12-24 中国科学院光电研究院 Conversion calibration method and system for mechanical arm coordinate system
CN109551518A (en) * 2017-09-26 2019-04-02 发那科株式会社 Measurement system
CN109648603A (en) * 2017-10-12 2019-04-19 发那科株式会社 Measuring system
CN109648603B (en) * 2017-10-12 2020-10-30 发那科株式会社 Measuring system
US10744645B2 (en) 2017-10-12 2020-08-18 Fanuc Corporation Measurement system
CN107972071A (en) * 2017-12-05 2018-05-01 华中科技大学 A kind of industrial robot link parameters scaling method based on distal point plane restriction
CN107972071B (en) * 2017-12-05 2019-10-08 华中科技大学 A kind of industrial robot link parameters scaling method based on distal point plane restriction
CN108161935A (en) * 2017-12-26 2018-06-15 中科新松有限公司 The method and device of robot basis coordinates system calibration
CN108161935B (en) * 2017-12-26 2020-10-30 中科新松有限公司 Method and device for calibrating robot base coordinate system
CN108375337A (en) * 2018-02-28 2018-08-07 邱观雄 A kind of assay method and measurement device of the relative pose of robot and its process equipment based on laser traces instrument
CN109079774A (en) * 2018-05-04 2018-12-25 南京航空航天大学 A kind of isotropism visual sensing three-dimensional spherical target and scaling method
CN109079774B (en) * 2018-05-04 2019-07-09 南京航空航天大学 A kind of isotropism visual sensing three-dimensional spherical target and scaling method
CN109605372A (en) * 2018-12-20 2019-04-12 中国铁建重工集团有限公司 A kind of method and system of the pose for survey engineering mechanical arm
CN109732590A (en) * 2018-12-20 2019-05-10 中国铁建重工集团有限公司 A kind of online calibration method of engineering machinery arm
CN109605372B (en) * 2018-12-20 2020-06-26 中国铁建重工集团股份有限公司 Method and system for measuring pose of engineering mechanical arm
CN109813218A (en) * 2019-01-23 2019-05-28 南京工程学院 A kind of precision compensation method of the Three Degree Of Freedom target for laser tracker
CN109631762A (en) * 2019-01-29 2019-04-16 合肥中控智科机器人有限公司 A kind of method that laser self-calibration realizes Zero calibration
WO2020215614A1 (en) * 2019-04-24 2020-10-29 南京航空航天大学 Variable-parameter stiffness identification and modeling method for industrial robot
CN110161850A (en) * 2019-04-24 2019-08-23 南京航空航天大学 A kind of identification of industrial robot variable element rigidity and modeling method
CN110161850B (en) * 2019-04-24 2020-04-07 南京航空航天大学 Variable parameter rigidity identification and modeling method for industrial robot
CN110340886A (en) * 2019-06-03 2019-10-18 武汉中观自动化科技有限公司 The method and its system of robot waypoint migration are realized in a kind of binocular tracking
CN110220454A (en) * 2019-06-03 2019-09-10 西安飞机工业(集团)有限责任公司 A kind of pose scaling method of three coordinate locating mechanisms
CN110340886B (en) * 2019-06-03 2020-10-23 武汉中观自动化科技有限公司 Method and system for realizing robot waypoint migration through binocular tracking

Similar Documents

Publication Publication Date Title
US10145682B2 (en) Reduction of errors of a rotating device used during the determination of coordinates of a workpiece or during the machining of a workpiece
Nubiola et al. Absolute robot calibration with a single telescoping ballbar
US10545014B2 (en) Inertial dimension metrology
US9091522B2 (en) Shape measuring machine and method of correcting shape measurement error
CN103447884B (en) The measurement mechanism of Digit Control Machine Tool translation shaft geometric error and measurement and discrimination method
JP2016075697A (en) Calibration method and device
JP5722224B2 (en) Handheld positioning interface for spatial query
US8290618B2 (en) Determining positions
CN103454619B (en) Electrical axis optical calibration system of spaceborne microwave tracking-pointing radar and calibration method thereof
Maisano et al. Indoor GPS: system functionality and initial performance evaluation
JP4071440B2 (en) Movable gauging system
JP4191080B2 (en) Measuring device
Xiang et al. Using a double ball bar to identify position-independent geometric errors on the rotary axes of five-axis machine tools
CN102785129B (en) The online test method of the surface machining accuracy of complex parts
TWI424164B (en) Differential calibration
DE60207325T2 (en) Calibration procedure for measuring machines
Zexiao et al. Complete 3D measurement in reverse engineering using a multi-probe system
CN104729407B (en) The automatic determination method of relation between robot basis coordinates system and world coordinate system
EP1446636B1 (en) Dynamic artefact comparison
Ren et al. A new calibration method for parallel kinematics machine tools using orientation constraint
CN103389038B (en) Laser tracker set the goal multistation measure numerically-controlled machine geometric accuracy detection method
US7324217B2 (en) Device and method for measuring components
US9542355B2 (en) Method for recalibrating coordinate positioning apparatus
US9333654B2 (en) Robot parts assembly on a workpiece moving on an assembly line
US20120317826A1 (en) Measurement method and apparatus

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination