CN105773609A - Robot kinematics calibration method based on vision measurement and distance error model - Google Patents

Robot kinematics calibration method based on vision measurement and distance error model Download PDF

Info

Publication number
CN105773609A
CN105773609A CN201610157552.2A CN201610157552A CN105773609A CN 105773609 A CN105773609 A CN 105773609A CN 201610157552 A CN201610157552 A CN 201610157552A CN 105773609 A CN105773609 A CN 105773609A
Authority
CN
China
Prior art keywords
robot
error
point
coordinate
matrix
Prior art date
Application number
CN201610157552.2A
Other languages
Chinese (zh)
Inventor
嵇保健
沈健
洪磊
凌超
Original Assignee
南京工业大学
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 南京工业大学 filed Critical 南京工业大学
Priority to CN201610157552.2A priority Critical patent/CN105773609A/en
Publication of CN105773609A publication Critical patent/CN105773609A/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046Revolute coordinate type
    • 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
    • B25J9/1605Simulation of manipulator lay-out, design, modelling of manipulator
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1628Programme controls characterised by the control loop
    • B25J9/1653Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1694Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697Vision controlled systems

Abstract

The invention discloses a robot kinematics calibration method based on vision measurement and a distance error model. The method includes the steps that a corrected robot D-H model is established; the distance error model is established; a robot kinematics calibration model is established; simultaneous calibration of a hand-eye relation and kinematics parameters is performed; measurement of an actual coordinate position of a tail end is performed; robot D-H parameters are corrected; and experimental verification is conducted. The robot kinematics calibration method based on vision measurement and the distance error model and provided by the invention has the advantages of being simple, efficient and fast; a non-contact measurement mode of vision detection is adopted; meanwhile, repetitive errors of hand-eye calibration are considered, and the calibration model is simplified through a mode of an equidistance model; and accordingly, the positioning precision and distance precision of an industrial robot can be greatly improved, the robot kinematics calibration method is universally suitable for series connection joint-type robots, and certain practical significance is achieved.

Description

A kind of view-based access control model is measured and the robot kinematics calibration method of range error model
Technical field
The present invention relates to robot kinematics calibration technical field, particularly relate to a kind of view-based access control model and measure and apart from by mistake The industrial robot kinematics scaling method of differential mode type.
Background technology
Since in the world first robot produces, robot plays increasingly at life and the production field of people Important effect.In real work, by controlling robot end's pose and the reality of robot end's arrival that software obtains Error is there is between the pose on border.In general, the repetitive positioning accuracy of robot is the highest, and the absolute fix of robot is smart Spend the highest.The reason causing robot absolute fix precision the highest have production, carry, the error assembled and joint transmission by mistake Difference etc..But, in many fields of robot application, such as Complex Assembly, keep in repair, welding etc., due to the spy of themselves Point, it is desirable to robot allows for reaching enough precision.Therefore, how to overcome the impact of various factors and improve as much as possible The absolute fix precision of robot becomes a crucial part in Robotics.
Absolute fix precision is mainly affected by link parameters precision in robot kinematics's model, and calibration technique can By the correction of robot kinematics's parameter being improved the absolute fix precision of robot.Therefore, need before robot uses It is demarcated.The method of robot kinematics calibration mainly has two kinds at present: kinematics loop method and shaft centerline measurement method. Kinematics loop method is the pose being obtained robot end by measurement apparatus, obtains by solving the kinematical equation of robot The method of joint of robot parameter.Compared with shaft centerline measurement method, kinematics loop method process is simple, and workable, precision is more High.
In tradition scaling method, when obtaining robot end's pose, generally use laser measuring apparatus, three-coordinates measuring machine Etc. measurement apparatus, expensive, operation complexity.Vision measurement is used to have the advantages such as fast, the non-cpntact measurement of measuring speed.But When carrying out vision hand and eye calibrating, owing to employing the nominal value of the kinematics parameters of robot, so causing the position demarcating out There is repetitive error in appearance.
Summary of the invention
The present invention is directed to the problems referred to above of the prior art, it is proposed that a kind of view-based access control model is measured and range error model Robot kinematics calibration method, is effectively increased the absolute fix precision of industrial robot.
To achieve these goals, the technical scheme that the embodiment of the present invention provides is as follows:
A kind of view-based access control model is measured and the robot kinematics calibration method of range error model, and described method includes following Step:
The robot D-H model that S1, foundation are revised;
S2, range error model;
S3, set up robot kinematics calibration model;
S4, trick relation are demarcated with kinematics parameters simultaneously;
S5, end real coordinate position are measured;
S6, correction robot D-H parameter and trick relation;
S7, experimental verification, it may be judged whether meet required precision, if meeting, then demarcate and terminate, if it is not, chosen position again Point, by experimental result iteration, carries out calibration experiment again.
As a further improvement on the present invention, described step S1 is set up in the robot D-H kinematics model revised, tradition D-H model adjacent segment coordinate system homogeneous transformation relational matrix is:
When the rotary shaft less parallel in adjacent two joints, need the rotation amount β introduced on the y axis to represent, constitute The D-H model revised, i.e. MDH model, then the transition matrix of adjacent segment coordinate system is:
Wherein, a is length of connecting rod, and α is connecting rod corner, and d is connecting rod offset distance, and θ is joint angle, and β is around the y-axis anglec of rotation.
As a further improvement on the present invention, described step S2 is set up range error model and is specifically included: robot end Measured point coordinate in base coordinate system is PRI (), the coordinate in measuring coordinate system is PRW(i), the distance of any two points Error can be expressed as:
Δ d (i+1)=| IR(i+1)|-|IRW(i+1)|
Here, | IR(i+1) | represent and on robot actual path, put PRI () arrives PR(i+1) distance;|IRW(i+1) | represent P is put on robot instruction's trackRWI () arrives PRW(i+1) distance.
The range error of adjacent point-to-point transmission and the relation of site error can be expressed as:
dpI () is certain point position deviation vector in base coordinate system, dp(i)=PR(i)-PRW(i)。
Under the influence of connecting rod geometric parameter error, the homogeneous transform matrix of adjacent links coordinate systemTo become Differential disturbance homogeneous matrix is:
Then robot end's connecting rod relative to the transformation matrix of base coordinate system is:
Wherein,
Calculating abbreviation acquisition error matrix is:
Wherein the first three items of the 4th row is robot localization error dp [dx dy dz]T
As a further improvement on the present invention, in described step S3, the formula of robot kinematics calibration model is:
Here, Δ d (i+1) is range error, and Δ q is robot kinematics's parameter error.
As a further improvement on the present invention, in described step S4, trick relation is demarcated with kinematics parameters simultaneously and is included:
Actual range d between the location point that robot actual motion is arrivedW(i+1) with use the error of having demarcating out Distance d ' between the point of the position that the robot actual motion that trick relational matrix X calculates is arrivedW(i+1) relational expression is:
Distance d of point on robot instruction's trackR(i+1) distance and between the point of position that arrives of robot actual motion dW(i+1) relational expression between is:
Trick relation and kinematics parameters calibration formula simultaneously is:
As a further improvement on the present invention, described step S5 particularly as follows:
In robot working space, take any n point, record the coordinate value of each point, i.e. described instruction tracing point PRW(i).Utilize CCD camera to obtain the outer parameter matrix M of every width picture simultaneously, then obtain hand and eye calibrating matrix X.Then robot End effector coordinate system is A=M relative to the position auto-control of world coordinate system-1*X-1, first three is individual for the 4th row of position auto-control A Element is the world coordinates of end effector of robot, i.e. described actual path point PR(i)。
In order to reduce calculating rounding error, use equidistant peg model when taking, make on robot motion's track adjacent Distance between 2 is equal, then range error peg model is reduced to:
As a further improvement on the present invention, described step S6 particularly as follows:
By being measured by CCD camera of instruction trajectory coordinates value corresponding for each specified point in step S5 and correspondence thereof To the Robot Hand-eye relation that is updated in step S4 of the actual path coordinate value of robot end with kinematics parameters simultaneously Calibration formula, forms an equation group, and equation group is rewritten into matrix form, uses the basic theories of generalized inverse matrix to try to achieve A young waiter in a wineshop or an inn takes advantage of solution, i.e. robot each connecting rod geometric parameter error amount Δ ai-1, Δ αi-1, Δ di, Δ θi, Δ βi, and trick relation ginseng Number error.Bring connecting rod geometric parameter error into each connecting rod to be modified, bring trick parameter error into trick matrix and repair Just.
As a further improvement on the present invention, described step S7 is:
The trick relational matrix using connecting rod geometric parameter and the correction revised obtains corrected range error, carries out reality Checking, is analyzed calculating to the result after experiment, it may be judged whether meet required precision, the most then demarcate and terminate, if it is not, The most again chosen position point, carries out calibration experiment again.
Accompanying drawing explanation
Fig. 1 is the idiographic flow of the robot kinematics calibration method of view-based access control model of the present invention measurement and range error model Figure;
Fig. 2 is the D-H kinematics model figure of six-shaft industrial robot in the specific embodiment of the invention;
Fig. 3 is the range error model schematic of robot in the specific embodiment of the invention;
Fig. 4 is that in the specific embodiment of the invention, robotic vision measures process schematic;
Equidistant model schematic when Fig. 5 is robot vision sampling site in the specific embodiment of the invention;
Detailed description of the invention
It is illustrated in figure 1 the flow chart element of the robot kinematics calibration method of view-based access control model measurement and range error model Figure, is described further the enforcement of the present invention below according to accompanying drawing and instantiation:
The robot D-H model that S1, foundation are revised;
D-H model is most basic robot kinematics's model, and it is to describe how to enter connecting rod and the joint of robot The method of row modeling, is widely used in the configuration of any robot.Fig. 2 show the D-H kinematics model figure of 6 axle robots, Comprise 4 geometric parameters: length of connecting rod a, connecting rod corner α, connecting rod offset distance d, joint angle θ.Tradition D-H model connecting rod i-1 and company Shown in following (1) formula of the adjacent segment coordinate system homogeneous transformation relational matrix of bar i:
But when the rotary shaft less parallel in adjacent two joints, certain error can be there is, absolute parallel in ideal It is not exist in practice, even if two joint rotary shaft is the least from absolute parallel deviation, all can cause their common vertical line and reason Think absolute parallel time the common vertical line that arbitrarily takes between there is great error.So needing to introduce rotation amount β on the y axis Representing, constitute the D-H model revised, i.e. MDH model, then the transition matrix of adjacent segment coordinate system is as follows shown in (2) formula:
Wherein, a is length of connecting rod, and α is connecting rod corner, and d is connecting rod offset distance, and θ is joint angle, and β is around the y-axis anglec of rotation.
S2, range error model;
Fig. 3 show range error model schematic, and robot end measured point coordinate in basis coordinates system is PR I (), the coordinate in measuring coordinate system is PRW(i), formula (3) is the range error model of any two points:
Δ d (i+1)=| IR(i+1)|-|IRW(i+1)| (3)
Here, | IR(i+1) | represent and on robot actual path, put PRI () arrives PR(i+1) distance;|IRW(i+1) | represent P is put on robot instruction's trackRWI () arrives PRW(i+1) distance.
Shown in the range error of adjacent point-to-point transmission and following (4) formula of the relation of site error:
dpI () is certain point position deviation vector in base coordinate system, dp(i)=PR(i)-PRW(i)。
Owing to manufacturing and installation process exist partially between actual geometric parameter and the theoretical parameter value of joint of robot Difference, the homogeneous transform matrix of adjacent links coordinate systemTo becomeFormula (5) is that the differential of adjacent links is disturbed Dynamic homogeneous matrix:
Here,
Robot end's connecting rod is relative to shown in following (6) formula of the transformation matrix of base coordinate system:
Wherein,
Calculate abbreviation and obtain shown in following (7) formula of error matrix:
Wherein the first three items of the 4th row is robot localization error dp=[dx dy dz]T
S3, set up robot kinematics calibration model;
It is illustrated in figure 3 robot range error model schematic, for robot any two points in three dimensions, though So they are different in basis coordinates system of robot and the coordinate values measured in coordinate system, but these 2 in robot basis coordinates Distance in system and the distance in measuring coordinate system are identical.Utilize this feature, establish robot range error mark Cover half type, shown in formula following (8):
Here, Δ d (i+1) is range error, and Δ q is robot kinematics's parameter error, BiFor coefficient matrix, can pass through S2 solves.
S4, trick relation are demarcated with kinematics parameters simultaneously;
When carrying out vision measurement hand and eye calibrating, owing to employing the nominal value of robot kinematics's parameter, so causing Demarcate pose out and there is repetitive error, right with the point on instruction track on the end effector of robot actual path tried to achieve The world coordinates of the point of the position that the robot actual motion answered is arrived inaccuracy, it is necessary to this error is taken into account.In reality Actual range d between robot two positions point in the motion of borderW(i+1) the trick relation square having error demarcating out with use Distance d ' between the point of the position that the robot actual motion that battle array X calculates is arrivedW(i+1) relational expression is:
Distance d of point on robot instruction's trackR(i+1) distance and between the point of position that arrives of robot actual motion dW(i+1) relational expression between is:
Then shown in following (9) formula of trick relation and kinematics parameters calibration formula simultaneously:
S5, end real coordinate position are measured;
In robot working space, arbitrarily choose n point, record the coordinate value of each point, i.e. described instruction track Point PRW(i).Utilize CCD camera to obtain the outer parameter matrix M of every width picture simultaneously, then obtain hand and eye calibrating result X.Then machine Robot end actuator coordinate system is A=M relative to the position auto-control of world coordinate system-1*X-1, the 4th of position auto-control A arranges first three Individual element is the world coordinates of end effector of robot, i.e. described actual path point PRI (), Fig. 4 is robot vision Instrumentation plan.
In order to reduce calculating rounding error, using equidistant peg model when taking, Fig. 5 is the signal of equidistant sampling site model Figure, makes on robot motion's track the distance between adjacent 2 equal, then range error peg model can be reduced to formula (10):
S6, correction robot D-H parameter and trick relation;
By being measured by CCD camera of instruction trajectory coordinates value corresponding for each specified point in step S5 and correspondence thereof To the Robot Hand-eye relation that is updated in step S4 of the actual path coordinate value of robot end with kinematics parameters simultaneously Calibration formula.
Obtained n-1 equation by n point, form an equation group;
Equation group is rewritten into matrix form, uses the basic theories of generalized inverse matrix to try to achieve least square solution, i.e. machine People each connecting rod geometric parameter error amount Δ ai-1, Δ αi-1, Δ di, Δ θi, Δ βi, and trick Relation Parameters error.Connecting rod is several What parameter error is brought each connecting rod into and is modified, and brings trick parameter error into trick matrix and is modified.
S7, experimental verification
The trick relational matrix using connecting rod geometric parameter and the correction revised obtains corrected range error, carries out reality Checking, is analyzed calculating to the result after experiment, and whether range error meets requirement, it is judged that whether robot meets precision Requirement, the most then demarcate and terminate, if it is not, return step S5, ask for other experimental data point, again carry out calibration experiment, directly Reach required precision.
Above-mentioned view-based access control model is measured and the robot kinematics calibration method of range error model, corrected by building 5 parameter D-H models, make kinematics model more accurate.Have employed kinematics loop method build robot inaccuracy model, simply, Efficiently, highly versatile.Asking for actual point position coordinates when, have employed the mode of vision measurement, have measuring speed fast, The advantages such as non-cpntact measurement.Mode that trick relation and kinematics parameters are demarcated simultaneously, it is to avoid repetitive error, substantially increases The precision demarcated.
In sum, the view-based access control model that the present invention provides is measured and the robot kinematics calibration method of range error model Have simple, practical, efficiently, advantage efficiently, be generally applicable to the revolute robot that connects, be greatly improved industrial robot Positioning precision and range accuracy.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention;Skill for this area For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made any repaiies Change, equivalent, improvement etc., should be included within the scope of the present invention.

Claims (8)

1. a view-based access control model is measured and the robot kinematics calibration method of range error model, it is characterised in that described side Method includes step:
The robot D-H model that S1, foundation are revised;
S2, range error model;
S3, set up robot kinematics calibration model;
S4, trick relation are demarcated with kinematics parameters simultaneously;
S5, end real coordinate position are measured;
S6, correction robot D-H parameter and trick relation;
S7, experimental verification, it may be judged whether meet required precision, if meeting, then demarcate and terminate, if it is not, chosen position point the most again, Again carry out calibration experiment.
Method the most according to claim 1, it is characterised in that described step S1 sets up the robot D-H kinematics revised In model, in tradition D-H model, adjacent segment coordinate system homogeneous transformation relational matrix is:
When the rotary shaft less parallel in adjacent two joints, need the rotation amount β introduced on the y axis to represent, constitute and revise D-H model, i.e. MDH model, then the transition matrix of adjacent segment coordinate system is:
Wherein, a is length of connecting rod, and α is connecting rod corner, and d is connecting rod offset distance, and θ is joint angle, and β is around the y-axis anglec of rotation.
Method the most according to claim 1, it is characterised in that described step S2 is set up range error model and specifically included: Robot end measured point coordinate in base coordinate system is PRI (), the coordinate in measuring coordinate system is PRW(i), arbitrarily The range error of 2 can be expressed as:
Δ d (i+1)=| IR(i+1)|-|IRW(i+1)|
Here, | IR(i+1) | represent and on robot actual path, put PRI () arrives PR(i+1) distance.|IRW(i+1) | represent machine People instructs some P on trackRWI () arrives PRW(i+1) distance.
The range error of adjacent point-to-point transmission and the relation of site error are represented by:
Wherein, dpI () is certain point position deviation vector in base coordinate system, dp(i)=PR(i)-PRW(i)。
Under the influence of connecting rod geometric parameter error, the homogeneous transform matrix of adjacent links coordinate systemTo become Differential disturbance homogeneous matrix is:
Then robot end's connecting rod relative to the transformation matrix of base coordinate system is:
dT0 i=T0 1Δ1T1 i+T0 2Δ2T2 i+T0 3Δ3T3 i+T0 4Δ4T4 i+T0 5Δ5T5 i+...+T0 iΔi
Here,
Calculating abbreviation acquisition error matrix is:
Wherein the first three items of the 4th row is robot localization error dp=[dx dy dz]T
Method the most according to claim 3, it is characterised in that the public affairs of robot kinematics calibration model in described step S3 Formula is:
Here, Δ d (i+1) is range error, and Δ q is robot kinematics's parameter error.
Method the most according to claim 4, it is characterised in that in described step S4, trick relation is with kinematics parameters simultaneously Demarcation includes: the actual range d between the location point that robot actual motion is arrivedW(i+1) with use demarcate out have error The point of position that arrives of the robot actual motion that calculates of trick relational matrix X between distance d 'W(i+1) relational expression For:
Distance d of point on robot instruction's trackR(i+1) distance d and between the point of position that arrives of robot actual motionW(i+ 1) relational expression between is:
Trick relation and kinematics parameters calibration formula simultaneously is:
Method the most according to claim 5, it is characterised in that described step S5 particularly as follows: in robot working space, Choose n point, record the coordinate value of each point, i.e. described instruction tracing point PRW(i).Utilize CCD camera to obtain every width simultaneously The outer parameter matrix M of picture, then obtains hand and eye calibrating result X.Then end effector of robot coordinate system is sat relative to the world The position auto-control of mark system is A=M-1*X-1, the 4th first three element of row of position auto-control A is the generation of end effector of robot Boundary's coordinate, i.e. described actual path point PR(i)。
In order to reduce calculating rounding error, use equidistant peg model when taking, make adjacent 2 points on robot motion's track Between distance equal, then range error peg model can be reduced to:
Method the most according to claim 6, it is characterised in that described step S6 is particularly as follows: by each in step S5 Instruction trajectory coordinates value and the actual path of the robot end obtained by CCD camera measurement of correspondence thereof that specified point is corresponding are sat The Robot Hand-eye relation that scale value is updated in step S4 and kinematics parameters calibration formula simultaneously, forms an equation group, will Equation group is rewritten into matrix form, uses the basic theories of generalized inverse matrix to try to achieve least square solution, i.e. each connecting rod of robot is several What parameter error value Δ ai-1, Δ αi-1, Δ di, Δ θi, Δ βi, and trick Relation Parameters error.By connecting rod geometric parameter error Bring each connecting rod into be modified, bring trick parameter error into trick matrix and be modified.
Method the most according to claim 7, it is characterised in that described step S7 is: use the connecting rod geometric parameter revised Obtain corrected range error with the trick relational matrix revised, carry out experimental verification, the result after experiment is analyzed Calculate, it may be judged whether meet required precision, the most then demarcate and terminate, if it is not, chosen position point the most again, again demarcate Experiment.
CN201610157552.2A 2016-03-16 2016-03-16 Robot kinematics calibration method based on vision measurement and distance error model CN105773609A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610157552.2A CN105773609A (en) 2016-03-16 2016-03-16 Robot kinematics calibration method based on vision measurement and distance error model

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610157552.2A CN105773609A (en) 2016-03-16 2016-03-16 Robot kinematics calibration method based on vision measurement and distance error model

Publications (1)

Publication Number Publication Date
CN105773609A true CN105773609A (en) 2016-07-20

Family

ID=56393078

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610157552.2A CN105773609A (en) 2016-03-16 2016-03-16 Robot kinematics calibration method based on vision measurement and distance error model

Country Status (1)

Country Link
CN (1) CN105773609A (en)

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106272444A (en) * 2016-08-31 2017-01-04 山东中清智能科技有限公司 A kind of realize trick relation and method that dual robot relation is demarcated simultaneously
CN106335061A (en) * 2016-11-11 2017-01-18 福州大学 Hand-eye relation calibration method based on four-freedom-degree robot
CN106514636A (en) * 2016-12-16 2017-03-22 宁波帝洲自动化科技有限公司 Robot tail end position and gesture analysis method
CN107053216A (en) * 2017-04-25 2017-08-18 苏州蓝斯视觉系统股份有限公司 The automatic calibration method and system of robot and end effector
CN107053176A (en) * 2017-04-09 2017-08-18 北京工业大学 A kind of error modeling method of six-DOF robot end spaces curvilinear path
CN107175660A (en) * 2017-05-08 2017-09-19 同济大学 A kind of six-freedom degree robot kinematics scaling method based on monocular vision
CN107214703A (en) * 2017-07-11 2017-09-29 江南大学 A kind of robot self-calibrating method of view-based access control model auxiliary positioning
CN108656116A (en) * 2018-05-18 2018-10-16 南京邮电大学 Serial manipulator kinematic calibration method based on dimensionality reduction MCPC models
CN108808547A (en) * 2018-06-01 2018-11-13 南京理工大学 A kind of method for fast reconstruction of charged for replacement arrester operation field
CN108927807A (en) * 2018-08-14 2018-12-04 河南工程学院 A kind of robot vision control method based on point feature
CN109591052A (en) * 2018-12-10 2019-04-09 珠海格力智能装备有限公司 Design method, device, storage medium and the processor of robot localization precision
CN109737902A (en) * 2016-07-25 2019-05-10 珞石(北京)科技有限公司 Industrial robot kinematics scaling method based on coordinate measuring apparatus
CN110065072A (en) * 2019-05-21 2019-07-30 西南交通大学 The verification method of robot repetitive positioning accuracy
CN110181509A (en) * 2019-05-14 2019-08-30 浙江树人学院(浙江树人大学) A kind of industrial robot motion control method based on error compensation
CN110202581A (en) * 2019-06-28 2019-09-06 南京博蓝奇智能科技有限公司 Compensation method, device and the electronic equipment of end effector of robot operating error
CN111203881A (en) * 2020-01-16 2020-05-29 河北工业大学 On-line feedback hand-eye calibration method based on weighted least square method
CN111604907A (en) * 2020-05-26 2020-09-01 珠海格力智能装备有限公司 Method and device for determining motion parameters

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109737902A (en) * 2016-07-25 2019-05-10 珞石(北京)科技有限公司 Industrial robot kinematics scaling method based on coordinate measuring apparatus
CN106272444B (en) * 2016-08-31 2018-11-13 山东中清智能科技股份有限公司 A method of realizing that trick relationship and dual robot relationship are demarcated simultaneously
CN106272444A (en) * 2016-08-31 2017-01-04 山东中清智能科技有限公司 A kind of realize trick relation and method that dual robot relation is demarcated simultaneously
CN106335061A (en) * 2016-11-11 2017-01-18 福州大学 Hand-eye relation calibration method based on four-freedom-degree robot
CN106514636A (en) * 2016-12-16 2017-03-22 宁波帝洲自动化科技有限公司 Robot tail end position and gesture analysis method
CN107053176A (en) * 2017-04-09 2017-08-18 北京工业大学 A kind of error modeling method of six-DOF robot end spaces curvilinear path
CN107053216A (en) * 2017-04-25 2017-08-18 苏州蓝斯视觉系统股份有限公司 The automatic calibration method and system of robot and end effector
CN107175660A (en) * 2017-05-08 2017-09-19 同济大学 A kind of six-freedom degree robot kinematics scaling method based on monocular vision
CN107214703A (en) * 2017-07-11 2017-09-29 江南大学 A kind of robot self-calibrating method of view-based access control model auxiliary positioning
CN108656116A (en) * 2018-05-18 2018-10-16 南京邮电大学 Serial manipulator kinematic calibration method based on dimensionality reduction MCPC models
CN108808547A (en) * 2018-06-01 2018-11-13 南京理工大学 A kind of method for fast reconstruction of charged for replacement arrester operation field
CN108927807B (en) * 2018-08-14 2020-08-07 河南工程学院 Robot vision control method based on point characteristics
CN108927807A (en) * 2018-08-14 2018-12-04 河南工程学院 A kind of robot vision control method based on point feature
CN109591052A (en) * 2018-12-10 2019-04-09 珠海格力智能装备有限公司 Design method, device, storage medium and the processor of robot localization precision
CN110181509A (en) * 2019-05-14 2019-08-30 浙江树人学院(浙江树人大学) A kind of industrial robot motion control method based on error compensation
CN110065072A (en) * 2019-05-21 2019-07-30 西南交通大学 The verification method of robot repetitive positioning accuracy
CN110202581A (en) * 2019-06-28 2019-09-06 南京博蓝奇智能科技有限公司 Compensation method, device and the electronic equipment of end effector of robot operating error
CN111203881A (en) * 2020-01-16 2020-05-29 河北工业大学 On-line feedback hand-eye calibration method based on weighted least square method
CN111604907A (en) * 2020-05-26 2020-09-01 珠海格力智能装备有限公司 Method and device for determining motion parameters

Similar Documents

Publication Publication Date Title
CN106647282B (en) Six-degree-of-freedom robot trajectory planning method considering tail end motion error
CN106426172B (en) A kind of scaling method and system of industrial robot tool coordinates system
RU2672654C2 (en) Method and system for determination of at least one property of manipulator
Malis Visual servoing invariant to changes in camera-intrinsic parameters
CN106338990B (en) Industrial robot DH parameter calibration and Zero positioning method based on laser tracker
Piepmeier et al. Uncalibrated eye-in-hand visual servoing
Duffy Statics and kinematics with applications to robotics
EP3407088A1 (en) Systems and methods for tracking location of movable target object
Roth et al. An overview of robot calibration
Wang et al. Visual servo control of cable-driven soft robotic manipulator
EP2783812A2 (en) Robot device and method for manufacturing an object
JP3207728B2 (en) Control method of redundant manipulator
US9417625B2 (en) Robot system calibration method
JP2014151427A (en) Robot system and control method therefor
CN106873550B (en) Simulation device and simulation method
CN108297101B (en) Multi-joint-arm series robot end pose error detection and dynamic compensation method
Mustafa et al. Self-calibration of a biologically inspired 7 DOF cable-driven robotic arm
US9061421B2 (en) Robotic work object cell calibration method
Wang et al. Uncalibrated visual tracking control without visual velocity
JP2013043271A (en) Information processing device, method for controlling the same, and program
CN104525420B (en) Spraying robot control method based on three-dimensional model recognition
CN106247932B (en) A kind of online error-compensating apparatus of robot based on camera chain and method
EP3059738B1 (en) Intelligent testing method of nondestructive robot testing based on virtual reality technology
TWI668541B (en) System and method for calibrating tool center point of robot
RU2014107813A (en) Method of calibration and programming robot

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20160720

WD01 Invention patent application deemed withdrawn after publication