CN107717988A - A kind of industrial machinery arm precision calibration method based on general Ke Lijin - Google Patents
A kind of industrial machinery arm precision calibration method based on general Ke Lijin Download PDFInfo
- Publication number
- CN107717988A CN107717988A CN201710942110.3A CN201710942110A CN107717988A CN 107717988 A CN107717988 A CN 107717988A CN 201710942110 A CN201710942110 A CN 201710942110A CN 107717988 A CN107717988 A CN 107717988A
- Authority
- CN
- China
- Prior art keywords
- industrial machinery
- machinery arm
- function
- site error
- points
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of industrial machinery arm precision calibration method based on general Ke Lijin, belong to robotic technology field.The device that this method uses includes industrial machinery arm, laser tracker and target ball.This method stochastic programming in the space of industrial machinery arm goes out series of points, driving industrial machinery arm reaches the position of planning point successively, the actual coordinate of these points is measured by laser tracker and target ball, so as to obtain the site error of the theoretical coordinate of these points and actual coordinate, the semivariable function and drift function of survival function are solved simultaneously by site error.The site error at industrial machinery arm space midpoint is finally estimated using general Kriging regression method.The present invention is with scaling method is simple, stated accuracy is high, suitable for features such as off-line programings.
Description
Technical field
The present invention relates to robot technology, more particularly to a kind of industrial machinery arm precision calibration side based on general Ke Lijin
Method.
Background technology
Just turned to using offline means to machine with the continuous application and development, increasing company of industrial robot
People is programmed, and the absolute movement precision to industrial robot it is also proposed higher and higher requirement.Develop both at home and abroad at present
Industrial robot repetitive positioning accuracy is higher, but due to robot by machining error, rigging error, parts wear,
The collective effect that end load changes and temperature influences, absolute fix precision are relatively low.Therefore, it is definitely fixed to further investigate mechanical arm
Position precision is of great significance for industrial machine man-based development tool.
Traditional mechanical arm calibration method is the scaling method based on model, and this method often ignores non-geometric error.
Accurately model is set up in traditional mechanical arm calibration method requirement, and different mechanical arms needs to be treated differently, and builds again
Mould.In addition, needing to update kinematics model in calibration process, cost is more expensive, is not suitable for off-line programing.
In view of the deficienciess of the prior art, this paper presents a kind of scaling method of non-model, this method is a kind of nothing
Partially, optimal interpolation method, significant effect is demarcated.
The content of the invention
The present invention is in order to demarcate the positional precision of industrial machinery arm, in view of the deficienciess of the prior art, proposing one kind
Industrial machinery arm precision calibration method based on general Ke Lijin.
The present invention is achieved through the following technical solutions.
Device used in the inventive method includes industrial machinery arm, laser tracker and target ball.The inventive method is in work
Series of points is randomly cooked up in the space of industry mechanical arm, driving industrial machinery arm reaches the position of planning point successively,
The actual coordinate of these points is measured by laser tracker and target ball, so as to obtain the theoretical coordinate of these points and actual coordinate
Site error, solve the semivariable function and drift function of survival function simultaneously by site error.Finally use general Ke Lijin
Interpolation method meter goes out the site error at industrial manipulator motion space midpoint.
The beneficial effect of industrial machinery arm precision calibration method of the present invention based on general Ke Lijin is：
(1) the modeling scaling method of abandoning tradition, it is simple and easy to do, suitable for the industrial machinery arm of various models；
(2) polyphyly of error is taken into full account, site error is divided into drift and remaining two parts, geometry can be demarcated simultaneously
Error and non-geometric error, stated accuracy are high；
(3) semivariable function of residual error is obtained by solving the semivariable function of site error, solves remaining letter
Number and drift function while unknown situation；
(4) site error demarcation is based on the semivariable function and drift function that early stage, observation station was established, suitable for offline
Programming.
Brief description of the drawings
Fig. 1 is installation drawing used in measurement industrial machinery arm terminal position error in the present invention.
In figure：1. industrial machinery arm, 2. laser trackers, 3. target balls.
Embodiment
As shown in figure 1, device used in the inventive method includes industrial machinery arm 1, laser tracker 2 and target ball 3.
Further, target ball 3 is fixed on the end of industrial machinery arm 1.
The specific implementation step of the inventive method is as follows：
Step 1：Laser tracker 2 is set up so that the space of industrial machinery arm 1 is in its measurement range；
Step 2：Target ball 3 is arranged on the ad-hoc location of industrial machinery arm end, regards the central point of target ball 3 as tool focus
Point, and by the tool center point scaling method of industrial machinery arm 1, target ball 3 is obtained relative to the ending coordinates system of industrial machinery arm 1
Coordinate；
Step 3：The coordinate system of unified laser tracker 2 and the basis coordinates system of industrial machinery arm 1；
Step 4：N point P are randomly selected in the space of industrial machinery arm 1i(xi,yi, zi), i=1,2 ..., n,
Theoretical position as tool center point；
Step 5：Driving industrial machinery arm 1 reaches this n point successively, while the survey tool center successively of laser tracker 2
Point is in the physical location of this n point, i.e. Pi’(xi’,yi’,zi'), i=1,2 ..., n；
Step 6：Solve the theoretical position of the tool center point of this n point and the site error of physical location：
e(Pi)=(ex(Pi),ey(Pi),ez(Pi))=Pi'-Pi, i=1,2 ..., n
Step 7：Half changes of the survival function r (P) along X, Y and Z axis is established according to the theoretical position of this n point and site error
Different function gammarx(h)、γryAnd γ (h)rz(h), using X-direction as example:
Wherein, γex(h) be semivariable function of the site error along X-direction, N (h) be distance be h point to sum.Often
The semivariable function model seen has Sphere Measurement Model, exponential model, Gauss model and linear model etc.；
Step 8：Site error is established along X, Y and the drift function m of Z axisx(P)、myAnd m (P)z(P), by taking X-direction as an example
Son：
Wherein, fx(P) it is the k order polynomial functions in X-direction, axlFor kth time item fxl(P) coefficient；
Step 9：Certain point P in the operating space of industrial machinery arm 1 is carried out according to survival function and drift function0Miss the position at place
Poor e ' (P0) estimation：
Wherein, ex’(P0)、ey’(P0) and ez’(P0) it is respectively P0Site error the e ' (P at place0) along X, Y and the component of Z axis,
λxi、λyiAnd λziRespectively ith measurement point is to ex’(P0)、ey’(P0) and ez’(P0) weight, with λxi, i=1,2 ..., n are
Example, its computational methods are as follows：
Wherein, μxi, i=1,2 ..., k are unknown, can be calculated by above formula.
Claims (1)
- A kind of 1. industrial machinery arm precision calibration method based on general Ke Lijin, it is characterised in that：Device used in the inventive method includes industrial machinery arm, laser tracker and target ball；The inventive method randomly cooks up series of points in the space of industrial machinery arm, and driving industrial machinery arm is successively The position of planning point is reached, the actual coordinate of these points is measured by laser tracker and target ball, so as to obtain the reason of these points By the site error of coordinate and actual coordinate, the semivariable function of survival function and the letter that drifts about are solved simultaneously by site error Number；The site error at industrial machinery arm space midpoint is finally estimated using general Kriging regression method；The inventive method specific implementation includes order below step：Step 1：Laser tracker is set up so that the space of industrial machinery arm is in its measurement range；Step 2：Target ball is arranged on the ad-hoc location of industrial machinery arm end, regards target ball central point as tool center point, is solved Target ball relative to industrial machinery arm ending coordinates system coordinate；Step 3：The coordinate system of unified laser tracker and the basis coordinates system of industrial machinery arm；Step 4：Series of points is randomly selected in the space of industrial machinery arm, the theoretical position as tool center point；Step 5：Driving industrial machinery arm reaches these points successively, at the same laser tracker successively survey tool central point at these The physical location of point；Step 6：Solve the theoretical position of tool center point and the site error of physical location of these points：Step 7：Survival function is established along X, Y and the semivariable function of Z axis according to the theoretical position of these points and site error；Step 8：Site error is established along X, Y and the drift function of Z axisStep 9：The site error in industrial machinery arm operating space at certain point is carried out according to survival function and drift function to estimate；The industrial machinery arm precision calibration method based on general Ke Lijin, its benefit are：1) the modeling scaling method of abandoning tradition, it is simple and easy to do, suitable for the industrial machinery arm of various models；2) polyphyly of error is taken into full account, site error is divided into drift and remaining two parts, geometric error can be demarcated simultaneously It is high with non-geometric error, stated accuracy；3) semivariable function of residual error is obtained by solving the semivariable function of site error, solves survival function and drift Move the simultaneously unknown situation of function；4) site error demarcation is based on the semivariable function and drift function that early stage, observation station was established, suitable for off-line programing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710942110.3A CN107717988A (en) | 2017-10-11 | 2017-10-11 | A kind of industrial machinery arm precision calibration method based on general Ke Lijin |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710942110.3A CN107717988A (en) | 2017-10-11 | 2017-10-11 | A kind of industrial machinery arm precision calibration method based on general Ke Lijin |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107717988A true CN107717988A (en) | 2018-02-23 |
Family
ID=61210339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710942110.3A Pending CN107717988A (en) | 2017-10-11 | 2017-10-11 | A kind of industrial machinery arm precision calibration method based on general Ke Lijin |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107717988A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110110428A (en) * | 2019-04-30 | 2019-08-09 | 哈尔滨工程大学 | It is a kind of based on Kriging model preferably with the compressor characteristics prediction technique of neural network |
| WO2020124935A1 (en) * | 2018-12-17 | 2020-06-25 | 南京埃斯顿机器人工程有限公司 | Method for improving calibration accuracy of industrial robot tool coordinate system |
| CN111693084A (en) * | 2020-06-23 | 2020-09-22 | 南京航空航天大学 | Measurement error compensation method based on error similarity |
| CN113094642A (en) * | 2021-04-14 | 2021-07-09 | 电子科技大学 | Newly-added sampling method for estimating positioning error of mechanical arm in region |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015070010A1 (en) * | 2013-11-08 | 2015-05-14 | Board Of Trustees Of Michigan State University | Calibration system and method for calibrating industrial robot |
| CN106595485A (en) * | 2017-01-17 | 2017-04-26 | 北京航空航天大学 | CoKriging-based absolute positioning error estimation method of mechanical arm |
| CN106799745A (en) * | 2017-01-17 | 2017-06-06 | 北京航空航天大学 | A kind of industrial machinery arm precision calibration method based on collocating kriging |
-
2017
- 2017-10-11 CN CN201710942110.3A patent/CN107717988A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015070010A1 (en) * | 2013-11-08 | 2015-05-14 | Board Of Trustees Of Michigan State University | Calibration system and method for calibrating industrial robot |
| CN106595485A (en) * | 2017-01-17 | 2017-04-26 | 北京航空航天大学 | CoKriging-based absolute positioning error estimation method of mechanical arm |
| CN106799745A (en) * | 2017-01-17 | 2017-06-06 | 北京航空航天大学 | A kind of industrial machinery arm precision calibration method based on collocating kriging |
Non-Patent Citations (3)
| Title |
|---|
| 何涛等: "泛克里金的漂移函数参数估计新方法", 《石油机械》 * |
| 谷振飞等: "泛克里金法在化探数据处理中的应用", 《物探化探计算技术》 * |
| 费兰等: "面向零件平面度误差估计的空间泛克里金插值建模", 《机械工程学报》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020124935A1 (en) * | 2018-12-17 | 2020-06-25 | 南京埃斯顿机器人工程有限公司 | Method for improving calibration accuracy of industrial robot tool coordinate system |
| CN110110428A (en) * | 2019-04-30 | 2019-08-09 | 哈尔滨工程大学 | It is a kind of based on Kriging model preferably with the compressor characteristics prediction technique of neural network |
| CN111693084A (en) * | 2020-06-23 | 2020-09-22 | 南京航空航天大学 | Measurement error compensation method based on error similarity |
| CN111693084B (en) * | 2020-06-23 | 2021-07-20 | 南京航空航天大学 | Measurement error compensation method based on error similarity |
| CN113094642A (en) * | 2021-04-14 | 2021-07-09 | 电子科技大学 | Newly-added sampling method for estimating positioning error of mechanical arm in region |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109623656B (en) | Mobile double-robot cooperative polishing device and method based on thickness online detection | |
| CN106247932B (en) | A kind of online error-compensating apparatus of robot based on camera chain and method | |
| CN108748159B (en) | Self-calibration method for tool coordinate system of mechanical arm | |
| CN107717988A (en) | A kind of industrial machinery arm precision calibration method based on general Ke Lijin | |
| Xiang et al. | Using a double ball bar to identify position-independent geometric errors on the rotary axes of five-axis machine tools | |
| Norman et al. | Validation of iGPS as an external measurement system for cooperative robot positioning | |
| CN105643369A (en) | Cooperation system having machine tool and robot | |
| CN106799745A (en) | A kind of industrial machinery arm precision calibration method based on collocating kriging | |
| CN110682289B (en) | Automatic calibration method for curved surface workpiece coordinate system based on industrial robot | |
| CN106595485A (en) | CoKriging-based absolute positioning error estimation method of mechanical arm | |
| CN107443388A (en) | A kind of mechanical arm absolute positioning error method of estimation based on general Ke Lijin | |
| Tian et al. | Kinematic calibration of a 3-DOF spindle head using a double ball bar | |
| CN108214476A (en) | Mechanical arm absolute fix precision calibration method based on modified radial base neural net | |
| CN111426270B (en) | Industrial robot pose measurement target device and joint position sensitive error calibration method | |
| CN108942918A (en) | A kind of solid locating method based on line-structured light | |
| CN110977963A (en) | Self-adaptive alignment control method of industrial robot calibration system | |
| Wang et al. | A plane projection based method for base frame calibration of cooperative manipulators | |
| CN108332688A (en) | A kind of ball line slideway auxiliary raceway straightness On-line Measuring Method | |
| CN106272429A (en) | Additional shaft motion planning method in a kind of planer-type lifting machine people working cell | |
| CN109048887A (en) | A kind of single-shaft position changing machine scaling method based on 3 standardizations | |
| CN110193816A (en) | Industrial robot teaching method, handle and system | |
| CN106141810B (en) | The ensuring method of cylindrical workpiece embedded SMA actuators wall thickness under robot manipulation | |
| Nieves et al. | A reflected laser line approach for industrial robot calibration | |
| Kubela et al. | High accurate robotic machining based on absolute part measuring and on-line path compensation | |
| Yin et al. | Pose accuracy calibration of a serial five dof robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180223 |