CN107009360A - The calibrating installation and method of a kind of six axles multi-joint industrial robot - Google Patents
The calibrating installation and method of a kind of six axles multi-joint industrial robot Download PDFInfo
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- CN107009360A CN107009360A CN201710311163.5A CN201710311163A CN107009360A CN 107009360 A CN107009360 A CN 107009360A CN 201710311163 A CN201710311163 A CN 201710311163A CN 107009360 A CN107009360 A CN 107009360A
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- Prior art keywords
- target
- pointed
- industrial robot
- joint
- fixed mount
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Classifications
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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The calibrating installation and method of a kind of six axles multi-joint industrial robot, including pointed instrument, target fixed mount, an at least three pointed target.Pointed instrument is fixed on the end of six axle multi-joint industrial robots；Pointed target is dispersed and fixed on target fixed mount；Target fixed mount is fixedly placed near industrial robot, and the top present position of pointed target, in robot working range, its job step is：A) industrial robot is manipulated, the top of the pointed instrument in its end is directed at the top of each pointed target successively, and record corresponding each joint rotation angle of robot successively；B) position and the posture of target fixed mount are changed, then repeat step a), step b) carries out once or more；C) with target fixed mount in abovementioned steps in diverse location and posture, this distance between top constant criterion of the pointed target of any two carries out industrial robot kinematics Model Parameter Optimization calculating, completes industrial robot calibration.
Description
Technical field
Patent of the present invention is related to the calibrating installation and method of a kind of six axles multi-joint industrial robot, more particularly to a kind of base
In the calibrating installation and method of six axle multi-joint industrial robots of multiple pointed targets.
Background technology
Six axle multi-joint industrial robots carry out position and gesture stability by controller according to kinematics model, realize various
Motion.Due to the abrasion during the foozle of each joint machine components of industrial robot or use, cause in industrial machine
There is deviation in the kinematics model parameter of kinematics model parameter and industrial robot reality in the director demon of device people, from
And produce position and the attitude control error of industrial robot.For that purpose it is necessary to often be calibrated to industrial robot, work is corrected
Industry robot kinematics' model parameter value, to improve the positioning precision of industrial robot.
Six axle multi-joint industrial robot manufacturing enterprises typically carry out industrial robot calibration, calibration using laser tracker
Effect is good, but with high costs.Industrial robot manufacturing enterprise and use unit are in the urgent need to robot calibration with low cost
Apparatus and method.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided a kind of six axles multi-joint industrial robot
The calibrating installation and method of (i.e. 6R robots).The calibrating installation is with low cost, simple in construction, easy to manufacture, the calibration method
Step is simple.
To realize purpose of the present invention, the present invention provides a kind of calibrating installation of six axles multi-joint industrial robot, bag
Pointed instrument, pointed target, target fixed mount are included, wherein pointed instrument amounts to one, six axle multi-joint works are fixed on
The end of industry robot, and pointed target at least three, are fixed on target fixed mount, in addition target fixed mount by scattered
It is fixedly placed near industrial robot so that the top present position of pointed target is in the working range of industrial robot
It is interior.To ensure during the top alignment of both pointed instrument and pointed target, the pointed target of six axle multi-joint industrial robot ends
The accuracy of top position, pointed instrument (3) of the invention and the top arc radius of pointed target (2) are respectively less than or are equal to
0.5mm。
A kind of calibration method of six axles multi-joint industrial robot, its job step is：
A) industrial robot is manipulated, the top of the pointed instrument in its end is directed at the top of each pointed target successively, and
Corresponding industrial robot each joint rotation angle is recorded successively；
B) after the position and the posture that change target fixed mount, industrial robot is manipulated again, makes the pointed instrument in its end
It is top to be directed at the top of each pointed target successively, and corresponding industrial robot each joint rotation angle is recorded successively；
C) repeat step b) so that step b) carries out once or more；
D) with target fixed mount in abovementioned steps in diverse location and posture, any identical two pointed targets it is top
The distance between equal this criterion carry out the kinematics model parameter optimization of industrial robot, so as to complete industrial machine
The calibration of people.
In the present invention, step d) is an optimization calculating, " the distance between the top phase of any identical two pointed targets
Deng " this criterion can be converted to " the distance between the top difference of any identical two pointed targets is as small as possible ", then match somebody with somebody
It is that can realize industrial robot kinematics model parameter calculation to close using optimized algorithm.
The present invention is the calibrating installation and method of a kind of six axles multi-joint industrial robot, the calibrating installation easy to manufacture and
Install, cost is low, the calibration method step is simple, easily realize.
Brief description of the drawings
Fig. 1 is the structured flowchart of the present invention；
Wherein 1 is target fixed mount, and 2 be pointed target, and 3 be pointed instrument, and 4 be industrial robot.
Embodiment
As shown in figure 1, this specific embodiment includes three parts：Pointed instrument 3, pointed target 2, target fixed mount 1, its
In pointed instrument 3 amount to one, be fixed on the end of six axle multi-joint industrial robots 4, and pointed target 2 has 20
It is individual, it is fixed on by scattered on target fixed mount 1, target fixed mount 1 is fixedly placed near industrial robot 4 in addition, is made
The top present position of all pointed targets 2 is obtained in the working range of industrial robot 4.
Pointed instrument 3 includes bottom plate and bullet, and both are by being welded to connect.Wherein, bottom plate is used for and industrial robot 4
End is connected；Bullet base diameter is 30mm, is highly 60mm, is obtained using turnery processing.The summit conduct of the bullet
Pointed instrument 3 it is top, the top arc radius be 0.2mm.
Pointed target 2 is bullet, and base diameter is 30mm, is highly 60mm, is weldingly fixed on target fixed mount 1.
The top arc radius of pointed target 2 is 0.2mm.
Target fixed mount 1 is tetrahedron, into caged, is that the angle steel welding that 5mm, the length of side are 50mm is made with side thickness.
The calibration method of the use of this specific embodiment includes following job step：
A) industrial robot 4 is manipulated, the top of the pointed instrument 3 in its end is directed at the top of each pointed target 2 successively,
And corresponding each joint rotation angle of industrial robot 4 is recorded successively；
B) after the position and the posture that change target fixed mount 1, industrial robot 4 is manipulated again, makes the pointed instrument 3 in its end
It is top be directed at the top of each pointed target 2 successively, and record corresponding each joint rotation angle of industrial robot 4 successively；
C) repeat step b) so that step b) is accumulative to be carried out four times；
D) with target fixed mount 1 in abovementioned steps in diverse location and posture, the top of any identical two pointed targets 2
This equal criterion of the distance between point carries out the kinematics model parameter optimization of industrial robot 4, so as to complete industry
The calibration of robot 4.
In this specific embodiment, the number of the pointed target of the calibrating installation is designated as M；In step a), b), c) in, target
Fixed mount has N number of position and posture；The corner in six joints in step a) or step b) is designated as θ1, ij, θ2, ij, θ3, ij, θ4, ij,
θ5, ij, θ6, ij, i=1,2..., M, and j=1,2..., N；The top distance of any identical two pointed targets is designated as Lkj, k
=1,2..., M × (M-1)/2, and j=1,2..., N；In N number of position of target fixed mount and posture, the pointed mark of any two
The distance between the top mean value calculation of target is as follows：
In this specific implementation, the kinematics model of industrial robot 4 is used in DH models, the model, and industrial robot is each
The palpus calibration parameter of axle is torsional angle αw-1, length of connecting rod aw-1, offset distance dw, joint angle θw, w=1,2..., 6, so accumulative must calibration
Parameter be 24.Further, parameter θ can be based on1, ij, θ2, ij, θ3, ij, θ4, ij, θ5, ij, θ6, ij(i=1,2..., M, and j
=1,2..., N) and αw-1, aw-1, dw, θw(w=1,2..., 6).According to industrial robot DH models, above-mentioned 24 can be based on
Parameter provides foregoing LkjCalculation expression, so as to can also obtainCalculation expression.
M=20 and N=5 in this specific embodiment.
According to the step d) of the calibration method of this specific embodiment, in order to which the kinematics model for calculating industrial robot 4 is joined
Number, solves following optimization problem：
This specific embodiment uses Nonlinear least squares optimization algorithm, the optimization problem shown in formula (2) is solved, so as to ask
Solution obtains 24 palpus calibration parameters of industrial robot DH kinematics models.
Claims (3)
1. a kind of calibrating installation of six axles multi-joint industrial robot, including pointed instrument (3), pointed target (2), target are fixed
Frame (1), it is characterised in that pointed instrument (3) amounts to one, is fixed on the end of six axle multi-joint industrial robots (4)
End, and pointed target (2) at least three, are fixed on target fixed mount (1), in addition target fixed mount (1) quilt by scattered
It is fixedly placed near industrial robot (4) so that the top present position of pointed target (2) is in industrial robot (4)
In working range.
2. a kind of calibrating installation of six axles multi-joint industrial robot as claimed in claim 1, the pointed instrument (3) and point
The top arc radius of shape target (2) is respectively less than or equal to 0.5mm.
3. a kind of calibration method of six axles multi-joint industrial robot, its job step is：
A) industrial robot (4) is manipulated, makes the top top for being directed at each pointed target (2) successively of the pointed instrument in its end (3)
Point, and corresponding each joint rotation angle of industrial robot (4) is recorded successively；
B) after the position and the posture that change target fixed mount (1), industrial robot (4) is manipulated again, makes the pointed instrument in its end
(3) top is directed at the top of each pointed target (2) successively, and records corresponding each joint of industrial robot (4) successively
Corner；
C) repeat step b) so that step b) carries out once or more；
D) with target fixed mount (1) in abovementioned steps in diverse location and posture, the top of any identical two pointed targets (2)
This equal criterion of the distance between point carries out the kinematics model parameter optimization of industrial robot (4), so as to complete work
The calibration of industry robot (4).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710311163.5A CN107009360A (en) | 2017-04-25 | 2017-04-25 | The calibrating installation and method of a kind of six axles multi-joint industrial robot |
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| CN201710311163.5A CN107009360A (en) | 2017-04-25 | 2017-04-25 | The calibrating installation and method of a kind of six axles multi-joint industrial robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443425A (en) * | 2017-09-20 | 2017-12-08 | 柳州欧卡机器人有限公司 | A kind of industrial robot calibrating installation based on multi-joint |
| CN109927029A (en) * | 2019-03-27 | 2019-06-25 | 飞马智科信息技术股份有限公司 | A kind of method of controlling operation of manipulator |
| CN110986902A (en) * | 2019-11-28 | 2020-04-10 | 扬州莱达光电技术有限公司 | Movable zenith instrument |
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| CN105818132A (en) * | 2016-03-31 | 2016-08-03 | 湖南化工职业技术学院 | Calibration and location method of sucking disc type tool hand of industrial robot |
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| CN101660903A (en) * | 2009-09-22 | 2010-03-03 | 大连海事大学 | Extrinsic parameter computing method for measurement robot |
| EP2402124A2 (en) * | 2010-06-30 | 2012-01-04 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method and device for determining structural parameters of a robot |
| CN104602871A (en) * | 2012-07-19 | 2015-05-06 | 库卡罗伯特有限公司 | Robot-guided measuring system |
| CN103020957A (en) * | 2012-11-20 | 2013-04-03 | 北京航空航天大学 | Mobile-robot-carried camera position calibration method |
| CN104655063A (en) * | 2013-11-20 | 2015-05-27 | 北京信息科技大学 | High-accuracy calibration method of joint coordinate measuring machine |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443425A (en) * | 2017-09-20 | 2017-12-08 | 柳州欧卡机器人有限公司 | A kind of industrial robot calibrating installation based on multi-joint |
| CN109927029A (en) * | 2019-03-27 | 2019-06-25 | 飞马智科信息技术股份有限公司 | A kind of method of controlling operation of manipulator |
| CN110986902A (en) * | 2019-11-28 | 2020-04-10 | 扬州莱达光电技术有限公司 | Movable zenith instrument |
| CN110986902B (en) * | 2019-11-28 | 2021-11-09 | 扬州莱达光电技术有限公司 | Movable zenith instrument |
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