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 PDFInfo
- 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 system
- control
- laser tracker
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, 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
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:
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 Pending 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 (63)
| 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 |
| 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 |
| 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 |
| 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 |
| CN106650031A (en) * | 2016-11-29 | 2017-05-10 | 南京熊猫电子股份有限公司 | Method for automatically setting tool parameters of industrial robot |
| CN107138762A (en) * | 2017-06-19 | 2017-09-08 | 湖北三江航天红阳机电有限公司 | A kind of large-scale global shell opens porous processing method and system |
| CN107219845A (en) * | 2017-08-07 | 2017-09-29 | 北京英泰诺医疗科技有限公司 | The system and method that auxiliary robot realizes spatial registration can be manually operated |
| 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 |
| CN107995885A (en) * | 2016-11-18 | 2018-05-04 | 深圳配天智能技术研究院有限公司 | A kind of coordinate system scaling method, system and device |
| 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 |
| CN108972543A (en) * | 2018-06-21 | 2018-12-11 | 南京旭上数控技术有限公司 | The contactless robot TCP scaling method of automatic, high precision |
| 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 |
| CN109262607A (en) * | 2018-08-15 | 2019-01-25 | 武汉华安科技股份有限公司 | Robot coordinate system's conversion method |
| CN109278066A (en) * | 2018-10-30 | 2019-01-29 | 武汉工程大学 | A kind of multirobot basis coordinates system geometric calibration tooling and scaling method |
| CN109311155A (en) * | 2016-12-27 | 2019-02-05 | 深圳配天智能技术研究院有限公司 | A kind of scaling method and device of the tool coordinates system origin of industrial robot |
| CN109470273A (en) * | 2018-12-14 | 2019-03-15 | 中国船舶重工集团公司第七0七研究所 | Strapdown inertial navigation system inertance element dismounts non-calibrating method |
| CN109531559A (en) * | 2018-11-28 | 2019-03-29 | 英华达（上海）科技有限公司 | Mechanical arm control method and mechanical arm |
| 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 |
| CN110142756A (en) * | 2019-03-29 | 2019-08-20 | 盐城工学院 | A kind of six-joint robot that can be achieved to be precisely controlled |
| 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 |
| CN110262535A (en) * | 2019-06-25 | 2019-09-20 | 上海航天控制技术研究所 | A kind of automation scaling method of large scale six degree of freedom relative pose simulation precision |
| CN110319771A (en) * | 2019-07-09 | 2019-10-11 | 爱驰汽车有限公司 | On-line Measuring Method, device, system, electronic equipment, storage medium |
| 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 |
| CN110480638A (en) * | 2019-08-20 | 2019-11-22 | 南京博约智能科技有限公司 | A kind of self-compensating palletizing method of articulated robot position and attitude error and its palletizing system |
| CN110640747A (en) * | 2019-11-07 | 2020-01-03 | 上海电气集团股份有限公司 | Hand-eye calibration method and system for robot, electronic equipment and storage medium |
| CN110640746A (en) * | 2019-11-07 | 2020-01-03 | 上海电气集团股份有限公司 | Method, system, equipment and medium for calibrating and positioning coordinate system of robot |
| CN110978059A (en) * | 2019-12-23 | 2020-04-10 | 芜湖哈特机器人产业技术研究院有限公司 | Portable six-axis manipulator calibration device and calibration method thereof |
| CN111203861A (en) * | 2020-01-06 | 2020-05-29 | 珠海格力电器股份有限公司 | Calibration method and calibration system for robot tool coordinate system |
| CN111267104A (en) * | 2020-03-10 | 2020-06-12 | 上海高仙自动化科技发展有限公司 | Pose calibration method, robot, electronic device and readable storage medium |
| CN111283676A (en) * | 2018-12-07 | 2020-06-16 | 中达电子零组件(吴江)有限公司 | Tool coordinate system calibration method and calibration device of three-axis mechanical arm |
| CN111351675A (en) * | 2020-03-30 | 2020-06-30 | 伯朗特机器人股份有限公司 | Industrial robot static compliance performance testing method |
| CN111409109A (en) * | 2020-04-01 | 2020-07-14 | 伯朗特机器人股份有限公司 | Method for measuring and evaluating stability of industrial robot |
| CN111546334A (en) * | 2020-04-28 | 2020-08-18 | 中国科学院沈阳自动化研究所 | Industrial robot online pose error compensation method for reducing contour error |
| CN112304218A (en) * | 2020-10-22 | 2021-02-02 | 中国人民解放军战略支援部队信息工程大学 | Tool center point position calibration method and system of industrial robot |
| CN112525074A (en) * | 2020-11-24 | 2021-03-19 | 杭州素问九州医疗科技有限公司 | Calibration method, calibration system, robot, computer device and navigation system |
| CN112762822A (en) * | 2020-12-21 | 2021-05-07 | 北京无线电计量测试研究所 | Mechanical arm calibration method and system based on laser tracker |
| CN113158387A (en) * | 2021-03-17 | 2021-07-23 | 南京航空航天大学 | Visual target point arrangement method based on laser radar grid map coupling |
| CN113175872A (en) * | 2021-05-13 | 2021-07-27 | 中车长春轨道客车股份有限公司 | Automatic vehicle body measuring device based on visual tracking and measuring method thereof |
| CN113211500A (en) * | 2021-05-25 | 2021-08-06 | 上海睿触科技有限公司 | Method for acquiring mounting position of spherical marker at tail end of robot |
| CN113246146A (en) * | 2021-07-07 | 2021-08-13 | 深圳若贝特智能机器人科技有限公司 | Method, device and system for error correction of parallel robot |
| CN114193445A (en) * | 2021-11-12 | 2022-03-18 | 长春理工大学 | Laser ray interval measuring method for robot self-calibration |
| CN114353802A (en) * | 2022-01-04 | 2022-04-15 | 上海圭目机器人有限公司 | Robot three-dimensional space positioning method based on laser tracking |
| CN114536324A (en) * | 2022-01-11 | 2022-05-27 | 重庆智能机器人研究院 | Workpiece calibration method for automatic tool of industrial robot |
| CN114571436A (en) * | 2022-04-15 | 2022-06-03 | 易思维（杭州）科技有限公司 | Robot external reference calibration method independent of ground rail absolute precision |
| CN114800526A (en) * | 2022-05-30 | 2022-07-29 | 上海大学 | Industrial robot calibration method based on laser tracker through point-line-surface system building |
| CN115249267A (en) * | 2022-09-22 | 2022-10-28 | 海克斯康制造智能技术(青岛)有限公司 | Automatic detection method and device based on turntable and robot position and attitude calculation |
| CN116294987A (en) * | 2022-11-25 | 2023-06-23 | 无锡中车时代智能装备研究院有限公司 | Coordinate conversion method and system in automatic measurement polishing system with double robots |
Citations (6)
| 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 |
-
2015
- 2015-07-17 CN CN201510424145.9A patent/CN105058387A/en active Pending
Patent Citations (6)
| 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 (102)
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| CN107995885B (en) * | 2016-11-18 | 2021-02-26 | 深圳配天智能技术研究院有限公司 | Coordinate system calibration method, system and device |
| CN107995885A (en) * | 2016-11-18 | 2018-05-04 | 深圳配天智能技术研究院有限公司 | A kind of coordinate system scaling method, system and device |
| 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 |
| CN106650031A (en) * | 2016-11-29 | 2017-05-10 | 南京熊猫电子股份有限公司 | Method for automatically setting tool parameters of industrial robot |
| CN109311155B (en) * | 2016-12-27 | 2022-04-15 | 深圳配天智能技术研究院有限公司 | Method and device for calibrating tool coordinate system origin of industrial robot |
| CN109311155A (en) * | 2016-12-27 | 2019-02-05 | 深圳配天智能技术研究院有限公司 | A kind of scaling method and device of the tool coordinates system origin of industrial robot |
| CN107138762A (en) * | 2017-06-19 | 2017-09-08 | 湖北三江航天红阳机电有限公司 | A kind of large-scale global shell opens porous processing method and system |
| CN107138762B (en) * | 2017-06-19 | 2023-08-15 | 湖北三江航天红阳机电有限公司 | Processing method and system for opening multiple holes in large ball shell |
| CN107219845A (en) * | 2017-08-07 | 2017-09-29 | 北京英泰诺医疗科技有限公司 | The system and method that auxiliary robot realizes spatial registration can be manually operated |
| CN107219845B (en) * | 2017-08-07 | 2023-07-25 | 北京英泰诺医疗科技有限公司 | System and method for realizing space registration by manually operating auxiliary robot |
| 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 |
| 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 |
| 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 |
| CN109551518A (en) * | 2017-09-26 | 2019-04-02 | 发那科株式会社 | Measurement system |
| CN109551518B (en) * | 2017-09-26 | 2020-11-13 | 发那科株式会社 | Measurement system |
| US10744645B2 (en) | 2017-10-12 | 2020-08-18 | Fanuc Corporation | Measurement system |
| CN109648603B (en) * | 2017-10-12 | 2020-10-30 | 发那科株式会社 | Measuring system |
| DE102018124478B4 (en) * | 2017-10-12 | 2020-12-03 | Fanuc Corporation | Measuring system |
| CN109648603A (en) * | 2017-10-12 | 2019-04-19 | 发那科株式会社 | Measuring system |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| CN108972543B (en) * | 2018-06-21 | 2021-05-04 | 南京旭上数控技术有限公司 | Automatic high-precision non-contact robot TCP calibration method |
| CN108972543A (en) * | 2018-06-21 | 2018-12-11 | 南京旭上数控技术有限公司 | The contactless robot TCP scaling method of automatic, high precision |
| CN109262607A (en) * | 2018-08-15 | 2019-01-25 | 武汉华安科技股份有限公司 | Robot coordinate system's conversion method |
| CN109278066B (en) * | 2018-10-30 | 2023-11-03 | 武汉工程大学 | Multi-robot-based coordinate system geometric calibration tool and calibration method |
| CN109278066A (en) * | 2018-10-30 | 2019-01-29 | 武汉工程大学 | A kind of multirobot basis coordinates system geometric calibration tooling and scaling method |
| CN109531559A (en) * | 2018-11-28 | 2019-03-29 | 英华达（上海）科技有限公司 | Mechanical arm control method and mechanical arm |
| CN109531559B (en) * | 2018-11-28 | 2021-12-24 | 英华达（上海）科技有限公司 | Mechanical arm control method and mechanical arm |
| CN111283676A (en) * | 2018-12-07 | 2020-06-16 | 中达电子零组件(吴江)有限公司 | Tool coordinate system calibration method and calibration device of three-axis mechanical arm |
| CN109470273A (en) * | 2018-12-14 | 2019-03-15 | 中国船舶重工集团公司第七0七研究所 | Strapdown inertial navigation system inertance element dismounts non-calibrating 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 |
| CN110142756A (en) * | 2019-03-29 | 2019-08-20 | 盐城工学院 | A kind of six-joint robot that can be achieved to be precisely controlled |
| 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 |
| 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 |
| 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 |
| 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 |
| CN110220454B (en) * | 2019-06-03 | 2020-11-13 | 西安飞机工业（集团）有限责任公司 | Pose calibration method of three-coordinate positioning mechanism |
| 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 |
| CN110262535B (en) * | 2019-06-25 | 2022-07-05 | 上海航天控制技术研究所 | Automatic calibration method for large-scale six-degree-of-freedom relative pose simulation precision |
| CN110262535A (en) * | 2019-06-25 | 2019-09-20 | 上海航天控制技术研究所 | A kind of automation scaling method of large scale six degree of freedom relative pose simulation precision |
| CN110319771A (en) * | 2019-07-09 | 2019-10-11 | 爱驰汽车有限公司 | On-line Measuring Method, device, system, electronic equipment, storage medium |
| CN110480638A (en) * | 2019-08-20 | 2019-11-22 | 南京博约智能科技有限公司 | A kind of self-compensating palletizing method of articulated robot position and attitude error and its palletizing system |
| CN110640746A (en) * | 2019-11-07 | 2020-01-03 | 上海电气集团股份有限公司 | Method, system, equipment and medium for calibrating and positioning coordinate system of robot |
| CN110640747A (en) * | 2019-11-07 | 2020-01-03 | 上海电气集团股份有限公司 | Hand-eye calibration method and system for robot, electronic equipment and storage medium |
| CN110978059A (en) * | 2019-12-23 | 2020-04-10 | 芜湖哈特机器人产业技术研究院有限公司 | Portable six-axis manipulator calibration device and calibration method thereof |
| CN110978059B (en) * | 2019-12-23 | 2022-12-23 | 芜湖哈特机器人产业技术研究院有限公司 | Portable six-axis manipulator calibration device and calibration method thereof |
| CN111203861A (en) * | 2020-01-06 | 2020-05-29 | 珠海格力电器股份有限公司 | Calibration method and calibration system for robot tool coordinate system |
| CN111203861B (en) * | 2020-01-06 | 2021-10-19 | 珠海格力电器股份有限公司 | Calibration method and calibration system for robot tool coordinate system |
| CN111267104A (en) * | 2020-03-10 | 2020-06-12 | 上海高仙自动化科技发展有限公司 | Pose calibration method, robot, electronic device and readable storage medium |
| CN111267104B (en) * | 2020-03-10 | 2021-07-02 | 上海高仙自动化科技发展有限公司 | Pose calibration method, robot, electronic device and readable storage medium |
| CN111351675A (en) * | 2020-03-30 | 2020-06-30 | 伯朗特机器人股份有限公司 | Industrial robot static compliance performance testing method |
| CN111409109A (en) * | 2020-04-01 | 2020-07-14 | 伯朗特机器人股份有限公司 | Method for measuring and evaluating stability of industrial robot |
| CN111409109B (en) * | 2020-04-01 | 2022-11-04 | 伯朗特机器人股份有限公司 | Method for measuring and evaluating stability of industrial robot |
| CN111546334B (en) * | 2020-04-28 | 2023-02-03 | 中国科学院沈阳自动化研究所 | Industrial robot online pose error compensation method for reducing contour error |
| CN111546334A (en) * | 2020-04-28 | 2020-08-18 | 中国科学院沈阳自动化研究所 | Industrial robot online pose error compensation method for reducing contour error |
| CN112304218B (en) * | 2020-10-22 | 2022-06-07 | 中国人民解放军战略支援部队信息工程大学 | Tool center point position calibration method and system of industrial robot |
| CN112304218A (en) * | 2020-10-22 | 2021-02-02 | 中国人民解放军战略支援部队信息工程大学 | Tool center point position calibration method and system of industrial robot |
| CN112525074B (en) * | 2020-11-24 | 2022-04-12 | 杭州素问九州医疗科技有限公司 | Calibration method, calibration system, robot, computer device and navigation system |
| CN112525074A (en) * | 2020-11-24 | 2021-03-19 | 杭州素问九州医疗科技有限公司 | Calibration method, calibration system, robot, computer device and navigation system |
| CN112762822B (en) * | 2020-12-21 | 2022-05-20 | 北京无线电计量测试研究所 | Mechanical arm calibration method and system based on laser tracker |
| CN112762822A (en) * | 2020-12-21 | 2021-05-07 | 北京无线电计量测试研究所 | Mechanical arm calibration method and system based on laser tracker |
| CN113158387B (en) * | 2021-03-17 | 2024-02-23 | 南京航空航天大学 | Visual target point arrangement method based on laser radar grid map coupling |
| CN113158387A (en) * | 2021-03-17 | 2021-07-23 | 南京航空航天大学 | Visual target point arrangement method based on laser radar grid map coupling |
| CN113175872A (en) * | 2021-05-13 | 2021-07-27 | 中车长春轨道客车股份有限公司 | Automatic vehicle body measuring device based on visual tracking and measuring method thereof |
| CN113211500B (en) * | 2021-05-25 | 2023-01-06 | 上海睿触科技有限公司 | Method for acquiring mounting position of spherical marker at tail end of robot |
| CN113211500A (en) * | 2021-05-25 | 2021-08-06 | 上海睿触科技有限公司 | Method for acquiring mounting position of spherical marker at tail end of robot |
| CN113246146A (en) * | 2021-07-07 | 2021-08-13 | 深圳若贝特智能机器人科技有限公司 | Method, device and system for error correction of parallel robot |
| CN114193445B (en) * | 2021-11-12 | 2023-08-25 | 长春理工大学 | Laser ray distance measuring method for robot self-calibration |
| CN114193445A (en) * | 2021-11-12 | 2022-03-18 | 长春理工大学 | Laser ray interval measuring method for robot self-calibration |
| CN114353802A (en) * | 2022-01-04 | 2022-04-15 | 上海圭目机器人有限公司 | Robot three-dimensional space positioning method based on laser tracking |
| CN114536324B (en) * | 2022-01-11 | 2023-11-07 | 重庆智能机器人研究院 | Industrial robot automatic tool workpiece calibration method |
| CN114536324A (en) * | 2022-01-11 | 2022-05-27 | 重庆智能机器人研究院 | Workpiece calibration method for automatic tool of industrial robot |
| CN114571436B (en) * | 2022-04-15 | 2023-06-02 | 易思维（杭州）科技有限公司 | Robot external parameter calibration method independent of ground rail absolute precision |
| CN114571436A (en) * | 2022-04-15 | 2022-06-03 | 易思维（杭州）科技有限公司 | Robot external reference calibration method independent of ground rail absolute precision |
| CN114800526A (en) * | 2022-05-30 | 2022-07-29 | 上海大学 | Industrial robot calibration method based on laser tracker through point-line-surface system building |
| CN114800526B (en) * | 2022-05-30 | 2023-11-17 | 上海大学 | Industrial robot calibration method based on laser tracker through line-to-line construction |
| CN115249267A (en) * | 2022-09-22 | 2022-10-28 | 海克斯康制造智能技术(青岛)有限公司 | Automatic detection method and device based on turntable and robot position and attitude calculation |
| CN116294987A (en) * | 2022-11-25 | 2023-06-23 | 无锡中车时代智能装备研究院有限公司 | Coordinate conversion method and system in automatic measurement polishing system with double robots |
| CN116294987B (en) * | 2022-11-25 | 2023-12-08 | 无锡中车时代智能装备研究院有限公司 | Coordinate conversion method and system in automatic measurement polishing system with double robots |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105058387A (en) | Industrial robot base coordinate system calibration method based on laser tracker | |
| CN107042528B (en) | A kind of Kinematic Calibration system and method for industrial robot | |
| US7979159B2 (en) | Method and system for determining the relation between a robot coordinate system and a local coordinate system located in the working range of the robot | |
| CN103697824B (en) | For the system calibrating method of the gauge head of coordinate measuring machine | |
| WO2021179460A1 (en) | Laser light exit direction calibration method employing standard ball | |
| CN106052556B (en) | A kind of three coordinate measuring machine spatial domain coordinates compensation method | |
| CN103791868B (en) | A kind of space nominal volume based on virtual ball and scaling method thereof | |
| CN106441117A (en) | Turntable error detection method based on multi-station etalon laser tracking system | |
| Acero et al. | Verification of an articulated arm coordinate measuring machine using a laser tracker as reference equipment and an indexed metrology platform | |
| Li et al. | A monocular vision system for online pose measurement of a 3RRR planar parallel manipulator | |
| CN113146613B (en) | Three-dimensional self-calibration device and method for D-H parameters of industrial robot | |
| Žlajpah et al. | Kinematic calibration for collaborative robots on a mobile platform using motion capture system | |
| CN113211500B (en) | Method for acquiring mounting position of spherical marker at tail end of robot | |
| CN113567964A (en) | Laser radar automatic test method, device and system | |
| CN111256592B (en) | External parameter calibration device and method for structured light sensor | |
| CN106248000B (en) | The measurement method of part axially bored line | |
| CN113878586B (en) | Robot kinematics calibration device, method and system | |
| CN115179323A (en) | Machine end pose measuring device based on telecentric vision constraint and precision improving method | |
| CN115157322A (en) | Industrial robot space pose precision testing device and method | |
| CN109062138B (en) | Five-axis platform system calibration method based on three-dimensional calibration block | |
| CN103644846B (en) | The online precision measurement system of the super-huge workpiece of high precision | |
| CN108375337B (en) | Robot and method and device for measuring relative pose of process equipment of robot | |
| CN104344802A (en) | Method for measuring surface profile | |
| CN114571436B (en) | Robot external parameter calibration method independent of ground rail absolute precision | |
| Zhao et al. | Coordinate alignment of combined measurement systems using a modified common points method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20151118 |
|
| WD01 | Invention patent application deemed withdrawn after publication |