CN106247932A - The online error-compensating apparatus of a kind of robot based on camera chain and method - Google Patents
The online error-compensating apparatus of a kind of robot based on camera chain and method Download PDFInfo
- Publication number
- CN106247932A CN106247932A CN201610608257.4A CN201610608257A CN106247932A CN 106247932 A CN106247932 A CN 106247932A CN 201610608257 A CN201610608257 A CN 201610608257A CN 106247932 A CN106247932 A CN 106247932A
- Authority
- CN
- China
- Prior art keywords
- robot
- data
- attitude
- industrial
- attitude data
- 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.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Numerical Control (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the online error-compensating apparatus of a kind of robot based on camera chain, measuring system, space inertial coordinate measuring system, Digital Photogrammetric System auxiliary target and host computer including industrial robot, many survey stations polyphaser combination shot, the encoder that the function of space inertial coordinate measuring system is carried by two dimension dipmeter and industrial robot completes jointly；Many survey stations polyphaser combination shot measurement systematic survey is fixed on position and the attitude of the target of robot end, two dimension dipmeter can be with robot measurement end both direction angular pose, the measurement of robot end's 3 d pose can be realized in conjunction with the angle-data that the precision of robot self resolving is higher, and the attitude data measured with camera chain carry out data fusion, comparison after be compensated value, control industrial robot and make error be compensated.The present invention, without robot is carried out off-line calibration, has higher precision, can be applied at industrial circles such as processing and manufacturings.
Description
Technical field
The present invention relates to a kind of industrial robot, particularly relate to a kind of robot inaccuracy online compensation based on camera chain
Device and method.
Background technology
Industrial robot has the advantages such as bigger work space, high flexibility and relatively low price because of it, the most extensively
It is applied to industrial processes generally and manufactures field.But owing to itself exists bigger machining error, add worked
Other factors in journey: such as the impact of temperature, vibration etc., although the repetitive positioning accuracy of robot is higher, but its absolute fix essence
Spend the lowest.And owing to being the open loop structure of series connection, the rigidity of mechanical arm is relatively low, in the case of bearing load, its error
Become apparent from.Therefore it cannot be applied in fields such as the higher machinings of precision prescribed.Meanwhile, industrial robot off-line
Programming is the most increasingly developed rapidly.It has the downtime that can reduce on production line so that benefit etc. are excellent
Point, and programmer can be made it can be avoided that work under dangerous working environment.But, for off-line programing, machine
The absolute fix precision of people is exactly its key request.
The most the most frequently used method providing industrial robot precision is by robot carries out off-line calibration, improves work
The absolute fix precision of industry robot.By the rigidity identification of its rigidity model, reduce the error caused due to load.But this
The method of kind needs to carry out loaded down with trivial details demarcation in robot working space, and demarcates choosing of dot matrix and have the biggest shadow to precision
Ring.Position outside fixed point, its error can not be guaranteed.And, demarcate and be merely able to site error is demarcated,
It is unable to attitude error is demarcated, has some limitations.
Summary of the invention
Industrial robot needs the theoretical pose performed to there is the reason such as machining equal error and relatively low rigidity because of it
And there is bigger error, the pose measured by reality is compared with theoretical pose can draw its error amount.For existing skill
The defect that art exists, the present invention provides the online error-compensating apparatus of a kind of robot based on camera chain and method, Ke Yiti
High robot absolute fix precision, by many survey stations polyphaser combination shot measure system measure in real time the pose data that obtain with
And the space of the higher angle-data rotated the about the z axis combination of a precision resolving of two dimension dipmeter and robot self
Inertial coordinate measurement system is measured the attitude data fusion obtained in real time and is obtained high-precision robot end's pose data.And its
The pose of end theory under measuring coordinate system is known (resolves pose as this theory using industrial robot self in the present invention
Pose), the error obtained is fed back to robot, error amount is compensated by robot.Robot in the present invention is online
Error compensating method is using the theoretical value under measuring coordinate system as true value, and the value obtained by externally measured systematic survey is as reality
Actual value, thus ensure in its Work Space Range, to reach identical precision at industrial robot, the precision that can reach is higher.
The error compensating method of the present invention is simple, it is not necessary to robot is carried out off-line calibration, can reduce and demarcate the calculating brought, and improves
Efficiency and precision, can be applied at industrial circles such as processing and manufacturings.
In order to solve above-mentioned technical problem, the present invention proposes a kind of robot based on camera chain online error compensation dress
Put, have the industrial robot of robot control cabinet, many survey stations polyphaser combination shot to measure system, space inertial seat including connecting
Mapping amount system, Digital Photogrammetric System auxiliary target and host computer, described space inertial coordinate measuring system is surveyed by two dimension inclination angle
The encoder that amount instrument and industrial robot carry is constituted；Described many survey stations polyphaser combination shot is measured system and is included four surveys
Stand, described four survey stations according to the rectangular array of 2 × 2 be arranged in in the same plane P of horizontal plane, the row of rectangular array
Column pitch is 1m, and each survey station has a camera, and the optical axis of described camera and horizontal line are 25 degree of angles, and described optical axis gathers
Burnt some O at the rectangular surfaces center 1.5m at four survey station places of distance, four cameras cover measures visual field entirely；Described full measurement
Visual field is in the range of the space centered by an O and more than 1m × 1m × 1m；Described Digital Photogrammetric System auxiliary target is arranged on
The end of described industrial robot, described Digital Photogrammetric System auxiliary target is by the highlighted reflective marker set of balls of five 20mm standards
Become；Described many survey stations polyphaser combination shot is measured each survey station of system and is captured at least four highlighted reflective marker ball, logical
Cross and determine each highlighted reflective marker ball centre of sphere mutual alignment relation, for accurately calculating position and the appearance of industrial machine robot end
State；Described two dimension dipmeter is for recording industrial machine robot end attitude with respect to the horizontal plane, and described two dimension inclination angle is surveyed
Amount instrument is installed on the end of industrial robot, the Z axis of described industrial robot basis coordinates system and horizontal plane；Described two dimension is inclined
The initial makeup location of angle measuring instrument be described two dimension the X-axis of dipmeter, Y-axis respectively with described industrial machine robot end
The X-axis of tool coordinates system, Y-axis overlap；Two coordinates rotated as non-horizontal surface using described two dimension dipmeter, with industry
The coordinate that the anglec of rotation rotated about the z axis that robot encoder self resolves rotates as horizontal plane, thus obtain industrial machine
The attitude data A of device robot end；Described many survey stations polyphaser combination shot measures system, described two dimension dipmeter and described
Industrial robot switch board is each individually connected to described host computer, and externally measured for reading data are conciliate and counted by described host computer
According to, described externally measured data include that the attitude data A of above-mentioned industrial machine robot end and the combination of described many survey stations polyphaser are taken the photograph
Shadow measures position data B and the attitude data B of the industrial machine robot end that system records；Described resolved data refers to industrial machine
Industrial robot terminal position data C of people self resolving and attitude data C；Described host computer is to described attitude data A and appearance
State data B carry out data fusion based on Kalman filtering, thus obtain externally measured attitude data D；To above-mentioned attitude number
According to C, attitude data D, position data B and the process of position data C, finally realize industrial robot terminal position and attitude
Online error compensation.
Utilize the online error-compensating apparatus of the invention described above robot based on camera chain, carry out online error compensation
Method comprises the following steps:
Step one, system of measuring many survey stations polyphaser combination shot are demarcated；
Industrial robot terminal position data C self resolved and attitude data C are passed to by step 2, industrial robot
Host computer；
Step 3, described host computer receive industrial machine robot end X-axis and the Y-axis phase that described two dimension dipmeter records
For the inclination data of gravity direction, and combine the industrial robot end-of-arm tooling that industrial robot encoder self resolving obtains
The anglec of rotation that coordinate system rotates around industrial robot basis coordinates system Z axis, is calculated the attitude data of industrial machine robot end
A；
Step 4, five the 20mm standards utilized in the auxiliary target of Digital Photogrammetric System described in four cameras capture highlighted
Reflective marker ball, passes to host computer by position and the attitude data of described highlighted reflective marker ball, thus obtains industrial machine
Position data B of robot end and attitude data B；
Attitude data B that step 4 is obtained by step 5, host computer and the attitude data A that step 3 obtains carries out merging
To the attitude data D of industrial machine robot end, position data B obtained using attitude data D and step 4 is as externally measured number
According to；
Position data C of the industrial machine robot end that step 2 is obtained by step 6, host computer and attitude data C and step
The five industrial robot terminal positions obtained and externally measured data i.e. position data B of attitude and attitude data D are carried out respectively
Comparison, obtains both error amounts；Judge whether this error amount meets requirement, if being unsatisfactory for, then by this error value back to work
Industry robot, described industrial robot adjusts position and the attitude of industrial machine robot end according to this error amount, returns step 3；
To meeting error requirements.
Compared with prior art, the invention has the beneficial effects as follows:
It is an advantage of the current invention that: the error of robot can be compensated on real-time online ground by the present invention, improves machine
The position of robot end and attitude accuracy, and without it is accurately demarcated, decrease based on error model off-line calibration
Tedious steps and calculating, improve efficiency.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the online error-compensating apparatus of present invention robot based on camera chain；
Fig. 2 (a) is the camera installation site master of each survey station that many survey stations polyphaser combination shot measures system in the present invention
View；
Fig. 2 (b) is the camera installation site side view of each survey station of Fig. 2 (a)；
Fig. 3 (a) is the front view that many survey stations polyphaser combination shot measures system supplymentary target；
Fig. 3 (b) is the side view of auxiliary target target shown in Fig. 3 (a)；
Fig. 3 (c) is the top view of auxiliary target target shown in Fig. 3 (a)；
Fig. 4 is the theory diagram of the online error-compensating apparatus of present invention robot based on camera chain；
Fig. 5 is the online error compensation system control flow chart of present invention robot based on camera chain；
In figure: 1-industrial robot, 2-robot control cabinet, 3-two dimension dipmeter, 4-many survey stations polyphaser combines
Digital Photogrammetric System, 5-Digital Photogrammetric System target, 6-host computer.
Detailed description of the invention
Being described in further detail technical solution of the present invention with specific embodiment below in conjunction with the accompanying drawings, described is concrete
The present invention is only explained by embodiment, not in order to limit the present invention.
The inventive concept of the present invention as shown in Figure 4, is mainly by two dimension dipmeter, Digital Photogrammetric System target respectively
Being fixed on robotic actuator end, two dimension dipmeter, many survey stations polyphaser combination shot measure system and work simultaneously
Industry robot control cabinet is connected with host computer respectively.The initial makeup location of two dimension dipmeter is two dimension dipmeter
X-axis, Y-axis overlap with the X-axis of basis coordinates system of robot, the Y-axis of definition respectively.It is provided with on host computer and to be write by VC6.0
Realize the host computer procedure of error compensation.Multiple different position data and appearance is related to during technical solution of the present invention realizes
State data, in order to clear, simple and clear, in the description of technical scheme, difference with suffix letter is distinguished by respectively, such as, position
Data A, position data B, attitude data A, attitude data B, attitude data C and attitude data D.
The online error-compensating apparatus of present invention robot based on camera chain, as it is shown in figure 1, include that connection has robot
The industrial robot 1 of switch board 2, the industrial robot employed in the present embodiment is KUKA KR5arc industrial robot, and should
Robot mounting location is for making its basis coordinates system Z axis straight up, and this device also includes that many survey stations polyphaser combination shot is surveyed
Amount system 4, space inertial coordinate measuring system, Digital Photogrammetric System auxiliary target 5 and host computer 6, described space inertial coordinate
The encoder that the function of measurement system is carried by two dimension dipmeter 3 and industrial robot completes jointly.
Described many survey stations polyphaser combination shot is measured system 4 and is included four survey stations, as in figure 2 it is shown, described four survey stations
Being arranged in in the same plane P of horizontal plane according to the rectangular array of 2 × 2, the ranks spacing of rectangular array is 1m, often
Individual survey station has a camera (representing respectively in Fig. 1 and Fig. 2) with 41,42,43,44 references, the optical axis of described camera with
Horizontal line is 25 degree of angles, and described optical axis focuses on the some O at the rectangular surfaces center 1.5m at four survey station places of distance, four phases
Machine covers and entirely measures visual field；Described full measurement visual field is in the range of the space centered by an O and more than 1m × 1m × 1m.
As it is shown in figure 1, described Digital Photogrammetric System auxiliary target 5 is arranged on the end of described industrial robot 1, described in take the photograph
Shadow is measured system supplymentary target 5 and is become by the highlighted reflective marker set of balls of five 20mm standards, and Fig. 3 (a), Fig. 3 (b) and Fig. 3 (c) show
Position and the annexation of five highlighted reflective marker balls are gone out.
It is highlighted reflective that each survey station of described many survey stations polyphaser combination shot measurement system 4 can capture at least four
Labelling ball, is determined by each highlighted reflective marker ball centre of sphere mutual alignment relation, for accurately calculating industrial machine robot end
Position and attitude；Communicated with host computer 6 by Ethernet so that host computer 6 obtains pose data in real time.
The industrial robot 1 that the present embodiment uses, the relation between its coordinate system is by six parameters of X, Y, Z, A, B, C certainly
Fixed.And between its terminal position and attitude the tool coordinates system being defined in robot end and the basis coordinates system of robot that represent
Relation.Wherein X, Y, Z are coordinate system translation parameters, and A, B, C are coordinate system rotation parameter.X, Y, Z represent the position of Two coordinate system
Put translation relation.A, B, C represent the attitude rotation relationship of Two coordinate system.KUKA KR5arc industrial robot pivots
Carry out the order that attitude changes to be followed successively by: the anglec of rotation the most about the z axis is A；2. the anglec of rotation around Y-axis is B；3. around X-axis
The anglec of rotation is C.Because being measured from experiment, the angle A precision that the industrial robot used resolves is higher.
Described two dimension dipmeter 3 is used for recording industrial machine robot end attitude with respect to the horizontal plane, described two dimension
Dipmeter 3 is installed on the end of industrial robot 1, and the Z axis of the basis coordinates system of described industrial robot 1 hangs down with horizontal plane
Directly；Described two dimension dipmeter initial makeup location be described two dimension the X-axis of dipmeter, Y-axis respectively with described work
The X-axis of tool coordinates system of industry robot end, Y-axis overlap；Rotate using described two dimension dipmeter 3 as non-horizontal surface
Two coordinates, the coordinate rotated as horizontal plane using the anglec of rotation rotated about the z axis of industrial robot encoder self resolving,
The angle-data resolved in conjunction with industrial robot self such that it is able to accurately measure the attitude data A of industrial machine robot end.
Described many survey stations polyphaser combination shot measures system 4, described two dimension dipmeter 3 and described industrial robot
Switch board 2 is each individually connected to described host computer 6, and described host computer 6 will read externally measured data and resolved data, described outside
Portion's measurement data includes that the attitude data A of above-mentioned industrial machine robot end and described many survey stations polyphaser combination shot measure system
Position data B of the industrial machine robot end recorded and attitude data B；Described resolved data refers to that industrial robot self resolves
Industrial robot terminal position data C and attitude data C；Described attitude data A and attitude data B is entered by described host computer 6
Row data fusion based on Kalman filtering, improves attitude measurement accuracy, thus obtains the most externally measured attitude data
D；To above-mentioned attitude data C, attitude data D, position data B and the process of position data C, finally realize industrial robot end
End position and the online error compensation of attitude.
As it is shown in figure 5, the method that the present embodiment realizes online error compensation is as follows:
Step one, to many survey stations polyphaser combination shot measure system 4 demarcate；
Industrial robot terminal position data C self resolved and attitude data C are transmitted by step 2, industrial robot 1
To host computer 6；
Step 3, described host computer 6 receive industrial machine robot end X-axis and the Y-axis that described two dimension dipmeter 3 records
Relative to the inclination data of gravity direction, and combine the industrial machine robot end work that industrial robot encoder self resolving obtains
The anglec of rotation that tool coordinate system rotates around industrial robot basis coordinates system Z axis, is calculated the attitude number of industrial machine robot end
According to A；
Step 4, the height of five the 20mm standards utilized in Digital Photogrammetric System auxiliary target 5 described in four cameras capture
Bright reflective marker ball, passes to host computer 6 by position and the attitude data of described highlighted reflective marker ball, thus obtains industrial machine
Position data B of device robot end and attitude data B；
Attitude data B that step 4 is obtained by step 5, the host computer 6 and attitude data A that step 3 obtains merges
Obtaining the attitude data D of industrial machine robot end, position data B obtained using attitude data D and step 4 is as externally measured
Data；
Step 6, host computer 6 are to position data C of the industrial machine robot end that step 2 obtains and attitude data C and step
The rapid five industrial robot terminal positions obtained and externally measured data i.e. position data B of attitude and attitude data D enter respectively
Row comparison, obtains both error amounts；Judging whether this error amount meets requirement, if being unsatisfactory for, then this error value back being given
Industrial robot 1, described industrial robot 1 adjusts position and the attitude of industrial machine robot end according to this error amount, returns step
Rapid three；To meeting error requirements.
Although above in conjunction with accompanying drawing, invention has been described, but the invention is not limited in above-mentioned being embodied as
Mode, above-mentioned detailed description of the invention is only schematic rather than restrictive, and those of ordinary skill in the art is at this
Under the enlightenment of invention, without deviating from the spirit of the invention, it is also possible to make many variations, these belong to the present invention's
Within protection.
Claims (2)
1. the online error-compensating apparatus of robot based on camera chain, has the work of robot control cabinet (2) including connection
Industry robot (1), it is characterised in that also include that many survey stations polyphaser combination shot measures system (4), space inertial measurement of coordinates
System, Digital Photogrammetric System auxiliary target (5) and host computer (6), described space inertial coordinate measuring system is surveyed by two dimension inclination angle
The encoder that amount instrument (3) and industrial robot carry is constituted；
Described many survey stations polyphaser combination shot measure system (4) include four survey stations, described four survey stations according to 2 × 2 square
Shape array is arranged in in the same plane P of horizontal plane, and the ranks spacing of rectangular array is 1m, and each survey station has one
Individual camera, the optical axis of described camera and horizontal line are 25 degree of angles, and described optical axis focuses on the rectangle at four survey station places of distance
Point O at the 1.5m of center, face, four cameras cover measures visual field entirely；Described full measurement visual field in the range of centered by an O and
Space more than 1m × 1m × 1m；
Described Digital Photogrammetric System auxiliary target (5) is arranged on the end of described industrial robot (1), described Digital Photogrammetric System
Auxiliary target (5) is become by the highlighted reflective marker set of balls of five 20mm standards；
Described many survey stations polyphaser combination shot is measured each survey station of system (4) and is captured the highlighted reflective marker of at least four
Ball, is determined by each highlighted reflective marker ball centre of sphere mutual alignment relation, for accurately calculating the position of industrial machine robot end
With attitude；
Described two dimension dipmeter (3) is for recording industrial machine robot end attitude with respect to the horizontal plane, and described two dimension is inclined
Angle measuring instrument (3) is installed on the end of industrial robot (1), the Z axis of the basis coordinates system of described industrial robot (1) and horizontal plane
Vertically；The initial makeup location of described two dimension dipmeter (3) is the X-axis of described two dimension dipmeter (3), Y-axis difference
Overlap with the X-axis of tool coordinates system, the Y-axis of described industrial machine robot end；Using described two dimension dipmeter (3) as non-aqueous
Two coordinates of Plane Rotation, using industrial robot encoder self resolve the anglec of rotation rotated about the z axis as horizontal plane
The coordinate rotated, thus obtain the attitude data A of industrial machine robot end；
Described many survey stations polyphaser combination shot measures system (4), described two dimension dipmeter (3) and described industrial robot
Switch board (2) is each individually connected to described host computer (5), and described host computer (6) will read externally measured data and resolved data,
Described externally measured data include that the attitude data A of above-mentioned industrial machine robot end and described many survey stations polyphaser combination shot are surveyed
Position data B of the industrial machine robot end that amount system records and attitude data B；Described resolved data refers to that industrial robot is certainly
Industrial robot terminal position data C of body resolving and attitude data C；
Described host computer (6) carries out data fusion based on Kalman filtering to described attitude data A and attitude data B, thus
Obtain externally measured attitude data D；At above-mentioned attitude data C, attitude data D, position data B and position data C
Reason, finally realizes the online error compensation of industrial robot terminal position and attitude.
2. the online error compensating method of robot based on camera chain, it is characterised in that utilize as claimed in claim 1
The online error-compensating apparatus of robot based on camera chain, and comprise the following steps:
Step one, to many survey stations polyphaser combination shot measure system (4) demarcate；
Industrial robot terminal position data C self resolved and attitude data C are passed to by step 2, industrial robot (1)
Host computer (6)；
Step 3, described host computer (6) receive industrial machine robot end X-axis and the Y-axis that described two dimension dipmeter (3) records
Relative to the inclination data of gravity direction, and combine the industrial machine robot end work that industrial robot encoder self resolving obtains
The anglec of rotation that tool coordinate system rotates around industrial robot basis coordinates system Z axis, is calculated the attitude number of industrial machine robot end
According to A；
Step 4, five the 20mm standards utilized in auxiliary target of Digital Photogrammetric System described in four cameras capture (5) highlighted
Reflective marker ball, passes to host computer (6) by position and the attitude data of described highlighted reflective marker ball, thus obtains industrial machine
Position data B of device robot end and attitude data B；
Attitude data B that step 4 is obtained by step 5, host computer (6) and the attitude data A that step 3 obtains carries out merging
To the attitude data D of industrial machine robot end, position data B obtained using attitude data D and step 4 is as externally measured number
According to；
Step 6, host computer (6) are to position data C of the industrial machine robot end that step 2 obtains and attitude data C and step
The five industrial robot terminal positions obtained and externally measured data i.e. position data B of attitude and attitude data D are carried out respectively
Comparison, obtains both error amounts；Judge whether this error amount meets requirement, if being unsatisfactory for, then by this error value back to work
Industry robot (1), described industrial robot (1) adjusts position and the attitude of industrial machine robot end according to this error amount, returns
Step 3；To meeting error requirements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610608257.4A CN106247932B (en) | 2016-07-25 | 2016-07-25 | A kind of online error-compensating apparatus of robot based on camera chain and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610608257.4A CN106247932B (en) | 2016-07-25 | 2016-07-25 | A kind of online error-compensating apparatus of robot based on camera chain and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106247932A true CN106247932A (en) | 2016-12-21 |
| CN106247932B CN106247932B (en) | 2019-03-12 |
Family
ID=57604696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610608257.4A Active CN106247932B (en) | 2016-07-25 | 2016-07-25 | A kind of online error-compensating apparatus of robot based on camera chain and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106247932B (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107297741A (en) * | 2017-08-09 | 2017-10-27 | 广州乾鼎电力科技发展有限公司 | Motion trail planning method and device based on machine vision |
| CN107576286A (en) * | 2017-09-04 | 2018-01-12 | 安徽省爱夫卡电子科技有限公司 | Method is sought with posture solution in a kind of locus of target global optimization |
| 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 |
| CN109291051A (en) * | 2018-03-30 | 2019-02-01 | 上海大学 | A kind of series-parallel robot terminal angle closed loop control method angle sensor based |
| CN109489555A (en) * | 2019-01-03 | 2019-03-19 | 大连理工大学 | A kind of measurement method of end effector of robot location error |
| CN109514549A (en) * | 2018-10-17 | 2019-03-26 | 南京工程学院 | A kind of online quick calibrating method of TCP and device of achievable six degree of freedom |
| CN109531568A (en) * | 2018-11-29 | 2019-03-29 | 浙江树人学院 | A kind of joint of mechanical arm control method |
| CN110193829A (en) * | 2019-04-24 | 2019-09-03 | 南京航空航天大学 | A kind of robot precision's control method of coupled motions and stiffness parameters identification |
| 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 |
| CN110640737A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot for measuring data fusion attitude |
| CN110959099A (en) * | 2017-06-20 | 2020-04-03 | 卡尔蔡司Smt有限责任公司 | System, method and marker for determining the position of a movable object in space |
| CN110962127A (en) * | 2019-12-10 | 2020-04-07 | 南京航空航天大学 | Auxiliary calibration device for tail end pose of mechanical arm and calibration method thereof |
| CN110977985A (en) * | 2019-12-23 | 2020-04-10 | 中国银联股份有限公司 | Positioning method and device |
| CN111125843A (en) * | 2019-12-11 | 2020-05-08 | 同济大学 | Industrial robot rigidity identification method based on digital image correlation technology |
| CN111811396A (en) * | 2020-06-11 | 2020-10-23 | 天津大学 | Multilateral laser tracking three-dimensional coordinate measuring method based on plane constraint |
| CN112893955A (en) * | 2021-01-15 | 2021-06-04 | 天津大学 | Hybrid robot milling error compensation method based on static stiffness model |
| CN113524262A (en) * | 2021-08-20 | 2021-10-22 | 太仓中科信息技术研究院 | Virtual-real fusion precision optimization device and method for camera robot |
| CN113670203A (en) * | 2021-08-26 | 2021-11-19 | 天津大学 | Threaded hole center positioning device and method combining PNP algorithm with contact measurement |
| CN113910239A (en) * | 2021-11-09 | 2022-01-11 | 天津大学 | Industrial robot absolute positioning error compensation device and method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6289600B1 (en) * | 1999-11-02 | 2001-09-18 | United States Pipe & Foundry Company | Non-contact measuring device |
| KR20070070733A (en) * | 2005-12-29 | 2007-07-04 | 삼성중공업 주식회사 | 3d self-measurement system for the curved surface |
| CN101097131A (en) * | 2006-06-30 | 2008-01-02 | 廊坊智通机器人系统有限公司 | Method for marking workpieces coordinate system |
| CN101660903A (en) * | 2009-09-22 | 2010-03-03 | 大连海事大学 | Extrinsic parameter computing method for measurement robot |
| CN102135776A (en) * | 2011-01-25 | 2011-07-27 | 解则晓 | Industrial robot control system based on visual positioning and control method thereof |
| CN103895023A (en) * | 2014-04-04 | 2014-07-02 | 中国民航大学 | Mechanical arm tail end tracking and measuring system and method based on coding azimuth device |
| CN104842362A (en) * | 2015-06-18 | 2015-08-19 | 厦门理工学院 | Method for grabbing material bag by robot and robot grabbing device |
-
2016
- 2016-07-25 CN CN201610608257.4A patent/CN106247932B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6289600B1 (en) * | 1999-11-02 | 2001-09-18 | United States Pipe & Foundry Company | Non-contact measuring device |
| KR20070070733A (en) * | 2005-12-29 | 2007-07-04 | 삼성중공업 주식회사 | 3d self-measurement system for the curved surface |
| CN101097131A (en) * | 2006-06-30 | 2008-01-02 | 廊坊智通机器人系统有限公司 | Method for marking workpieces coordinate system |
| CN101660903A (en) * | 2009-09-22 | 2010-03-03 | 大连海事大学 | Extrinsic parameter computing method for measurement robot |
| CN102135776A (en) * | 2011-01-25 | 2011-07-27 | 解则晓 | Industrial robot control system based on visual positioning and control method thereof |
| CN103895023A (en) * | 2014-04-04 | 2014-07-02 | 中国民航大学 | Mechanical arm tail end tracking and measuring system and method based on coding azimuth device |
| CN104842362A (en) * | 2015-06-18 | 2015-08-19 | 厦门理工学院 | Method for grabbing material bag by robot and robot grabbing device |
Cited By (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018196232A1 (en) * | 2017-04-25 | 2018-11-01 | 苏州蓝斯视觉系统股份有限公司 | Method for automatically calibrating robot and end effector, and system |
| 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 |
| US11504855B2 (en) | 2017-06-20 | 2022-11-22 | Carl Zeiss Smt Gmbh | System, method and marker for the determination of the position of a movable object in space |
| CN110959099A (en) * | 2017-06-20 | 2020-04-03 | 卡尔蔡司Smt有限责任公司 | System, method and marker for determining the position of a movable object in space |
| CN107297741A (en) * | 2017-08-09 | 2017-10-27 | 广州乾鼎电力科技发展有限公司 | Motion trail planning method and device based on machine vision |
| CN107576286A (en) * | 2017-09-04 | 2018-01-12 | 安徽省爱夫卡电子科技有限公司 | Method is sought with posture solution in a kind of locus of target global optimization |
| CN107576286B (en) * | 2017-09-04 | 2019-06-25 | 安徽省爱夫卡电子科技有限公司 | A kind of spatial position of target global optimization and posture solution seek method |
| CN109291051A (en) * | 2018-03-30 | 2019-02-01 | 上海大学 | A kind of series-parallel robot terminal angle closed loop control method angle sensor based |
| CN109291051B (en) * | 2018-03-30 | 2022-07-08 | 上海大学 | Angle sensor-based closed-loop control method for tail end attitude of series-parallel robot |
| 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 |
| CN109514549A (en) * | 2018-10-17 | 2019-03-26 | 南京工程学院 | A kind of online quick calibrating method of TCP and device of achievable six degree of freedom |
| CN109514549B (en) * | 2018-10-17 | 2021-10-26 | 南京工程学院 | TCP (transmission control protocol) online rapid calibration method and device capable of realizing six degrees of freedom |
| CN110640737A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot for measuring data fusion attitude |
| CN109531568A (en) * | 2018-11-29 | 2019-03-29 | 浙江树人学院 | A kind of joint of mechanical arm control method |
| CN109489555A (en) * | 2019-01-03 | 2019-03-19 | 大连理工大学 | A kind of measurement method of end effector of robot location error |
| CN110193829A (en) * | 2019-04-24 | 2019-09-03 | 南京航空航天大学 | A kind of robot precision's control method of coupled motions and stiffness parameters identification |
| CN110193829B (en) * | 2019-04-24 | 2020-04-07 | 南京航空航天大学 | Robot precision control method for coupling kinematics and rigidity parameter identification |
| 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 |
| CN110962127B (en) * | 2019-12-10 | 2020-09-01 | 南京航空航天大学 | Auxiliary calibration device for tail end pose of mechanical arm and calibration method thereof |
| CN110962127A (en) * | 2019-12-10 | 2020-04-07 | 南京航空航天大学 | Auxiliary calibration device for tail end pose of mechanical arm and calibration method thereof |
| CN111125843A (en) * | 2019-12-11 | 2020-05-08 | 同济大学 | Industrial robot rigidity identification method based on digital image correlation technology |
| CN110977985A (en) * | 2019-12-23 | 2020-04-10 | 中国银联股份有限公司 | Positioning method and device |
| CN111811396A (en) * | 2020-06-11 | 2020-10-23 | 天津大学 | Multilateral laser tracking three-dimensional coordinate measuring method based on plane constraint |
| CN111811396B (en) * | 2020-06-11 | 2021-05-25 | 天津大学 | Multilateral laser tracking three-dimensional coordinate measuring method based on plane constraint |
| CN112893955A (en) * | 2021-01-15 | 2021-06-04 | 天津大学 | Hybrid robot milling error compensation method based on static stiffness model |
| CN112893955B (en) * | 2021-01-15 | 2022-07-12 | 天津大学 | Hybrid robot milling error compensation method based on static stiffness model |
| CN113524262A (en) * | 2021-08-20 | 2021-10-22 | 太仓中科信息技术研究院 | Virtual-real fusion precision optimization device and method for camera robot |
| CN113670203B (en) * | 2021-08-26 | 2022-07-22 | 天津大学 | Threaded hole center positioning device and method combining PNP algorithm with contact measurement |
| CN113670203A (en) * | 2021-08-26 | 2021-11-19 | 天津大学 | Threaded hole center positioning device and method combining PNP algorithm with contact measurement |
| CN113910239B (en) * | 2021-11-09 | 2022-05-10 | 天津大学 | Industrial robot absolute positioning error compensation device and method |
| CN113910239A (en) * | 2021-11-09 | 2022-01-11 | 天津大学 | Industrial robot absolute positioning error compensation device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106247932B (en) | 2019-03-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106247932A (en) | The online error-compensating apparatus of a kind of robot based on camera chain and method | |
| CN110524309B (en) | Geometric error measuring method of numerical control turntable based on four-base-station laser tracking system | |
| CN111060025B (en) | Pose calibration method and system for in-situ mounting line laser sensor of five-axis machine tool | |
| US4402053A (en) | Estimating workpiece pose using the feature points method | |
| US7324217B2 (en) | Device and method for measuring components | |
| CN106441117B (en) | Turntable error detection method based on multi-station etalon laser tracking system | |
| US8457786B2 (en) | Method and an apparatus for calibration of an industrial robot system | |
| CN106595474A (en) | Double-robot base coordinate system calibration method based on laser tracker | |
| US4796200A (en) | Target based determination of robot and sensor alignment | |
| Jiang et al. | A measurement method for robot peg-in-hole prealignment based on combined two-level visual sensors | |
| CN104786226A (en) | Posture and moving track positioning system and method of robot grabbing online workpiece | |
| CN204585232U (en) | Capture robot pose and the movement locus navigation system of online workpiece | |
| CN106871859B (en) | Rigid space fixed shaft rotation angle detection method | |
| CN210819622U (en) | Large-scale space high-precision online calibration system of mobile operation robot | |
| CN111678472B (en) | Error identification method for rotary table of four-axis coordinate measuring machine | |
| CN109227551B (en) | Hand-eye coordinate conversion method for visual positioning robot | |
| Liu et al. | Binocular-vision-based error detection system and identification method for PIGEs of rotary axis in five-axis machine tool | |
| CN113146613B (en) | Three-dimensional self-calibration device and method for D-H parameters of industrial robot | |
| US11554494B2 (en) | Device for acquiring a position and orientation of an end effector of a robot | |
| CN106705880B (en) | A kind of large caliber reflecting mirror face shape profile detection method and device in place | |
| TWI762371B (en) | Automated calibration system and method for the relation between a profile scanner coordinate frame and a robot arm coordinate frame | |
| TWM516714U (en) | Angular error correction device for machine tools | |
| Liu et al. | A three-dimensional triangular vision-based contouring error detection system and method for machine tools | |
| CN110181558A (en) | A kind of devices and methods therefor becoming shoulder joint formula coordinate measuring machine calibration robot | |
| TW201711796A (en) | Angular error correction device and method for machine tools |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |