CN107932554A - Electronic joint calibration method and calibrating installation - Google Patents
Electronic joint calibration method and calibrating installation Download PDFInfo
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- CN107932554A CN107932554A CN201711011181.8A CN201711011181A CN107932554A CN 107932554 A CN107932554 A CN 107932554A CN 201711011181 A CN201711011181 A CN 201711011181A CN 107932554 A CN107932554 A CN 107932554A
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- 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
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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Abstract
A kind of electronic joint calibration method, for the joint of calibration machine people, wherein joint has motor.The electronic joint calibration method, which includes, controls the motor to rotate the first rotation current value for obtaining motor at the same time from initial position toward first direction, when first, which rotates current value, is equal to pre-defined maximum current value, detect the first measuring value, wherein described first measuring value corresponds to first rotational angle in joint, control motor rotates the second rotation current value for obtaining motor at the same time toward the second direction in contrast to first direction, when second, which rotates current value, is equal to pre-defined maximum current value, detect the second measuring value, wherein described second measuring value corresponds to second rotational angle in joint, and produce calibration value according to the first measuring value and the second measuring value.
Description
Technical field
The present invention relates to a kind of calibration method and calibrating installation, more particularly to a kind of electronic joint calibration method and calibration cartridge
Put.
Background technology
As industrial machinery development is flourishing, the technology such as automation equipment, wireless remote control is increasingly mature, and then starts to focus on
The research and development of robot, to perform the high or dangerous work of industrial repeatability.In recent years, in addition to industrial circle, robot
Application more expand to national defence, medical treatment, service trade and at home with robot.Robot is often designed to perform precision
Workflow is even more fine and smooth, the activity more to personalize.
However, when each body component of robot is when assembled, often there is the deviation in a little angle, cause each
The actual factory-default in the joint of robot may be different, so that these robots are receiving same central control system
Control command when, each exectorial result of robot may difference.For example, first robot when dispatching from the factory its
Arm is perpendicular to the ground, and second robot its arm when dispatching from the factory then has 1 degree of angle with the axle clamp perpendicular to ground（1°）.Such one
Come, when central control system indicates that the arm joint of first and second robot performs rotation unspecified angle, the execution of first and second robot
As a result 1 degree of angle will be had between（1°）Difference.
Therefore, above-mentioned the shortcomings of the prior art how is solved, is become as the problem of the invention to be researched and solved.
The content of the invention
The object of the present invention is to provide a kind of electronic joint calibration method and calibrating installation.
To reach above-mentioned purpose, the present invention is in the technical solution that method aspect uses：
A kind of electronic joint calibration method, for calibrating a joint of a robot, which has a motor, the electronic joint
Calibration method includes：
One first for controlling the motor to be rotated from an initial position toward first direction while obtaining the motor rotates current value；
When described first, which rotates current value, is equal to a pre-defined maximum current value, one first measuring value is detected, this first
Measuring value corresponds to one first rotational angle in the joint；
One second for controlling the motor to be rotated toward the second direction in contrast to the first direction while obtaining the motor rotates
Current value；
When described second, which rotates current value, is equal to the pre-defined maximum current value, one second measuring value is detected, this
Two measuring values correspond to one second rotational angle in the joint；And
A calibration value is produced according to first measuring value and second measuring value.
Related content in above-mentioned technical proposal is explained as follows：
1. in such scheme, produce the calibration value according to first measuring value and second measuring value and include according to described in
The result of calculation that the half of second measuring value cuts first measuring value produces the calibration value.
2. in such scheme, produce the calibration value according to first measuring value and second measuring value and include foundation
The half of second measuring value cuts first measuring value and obtains a result of calculation, and the result of calculation is multiplied by one
Regulation coefficient is to produce the calibration value.
3. in such scheme, produce the calibration value according to first measuring value and second measuring value and include foundation
The half of second measuring value cuts first measuring value and obtains a result of calculation, and the result of calculation is added one
Adjusted value is to produce the calibration value.
To reach above-mentioned purpose, the present invention is in another technical solution that method aspect uses：
A kind of electronic joint calibration method, suitable for an electronic joint calibrating installation, the electronic joint calibrating installation have one away from
From sensor, to calibrate a joint of a robot, which there is the electronic joint calibration method motor to drive this
The body component of robot rotates, which includes：
Control the motor to be rotated from an initial position toward a direction and detect one first distance, which indicates the body
The distance between body component and the range sensor；
When the described first distance is equal to a pre-determined distance, a measuring value is detected, which corresponds to one turn of the joint
Dynamic angle；And
Measuring value is preset according to the measuring value and corresponding to the one of the pre-determined distance, produces a calibration value.
Related content in above-mentioned technical proposal is explained as follows：
1. in such scheme, institute is produced according to first measuring value and corresponding to the default measuring value of the pre-determined distance
State calibration value and include the result of calculation generation calibration value that the measuring value is cut according to the default measuring value.
2. in such scheme, produced according to first measuring value and corresponding to the default measuring value of the pre-determined distance
The raw calibration value is included cuts one result of calculation of the measuring value acquirement according to the default measuring value, by the result of calculation
A regulation coefficient is multiplied by produce the calibration value.
3. in such scheme, produced according to first measuring value and corresponding to the default measuring value of the pre-determined distance
The raw calibration value is included cuts one result of calculation of the measuring value acquirement according to the default measuring value, by the result of calculation
Plus an adjusted value to produce the calibration value.
To reach above-mentioned purpose, the present invention is in the technical solution that structural level uses：
A kind of electronic joint calibrating installation, to calibrate a joint of a robot, which has a motor to drive this
The body component of robot rotates, which includes：
Multiple position-limiting fixtures, make a rotation electric current of the motor have one to pre-define to stop that the body component rotates
Maximum current value；
One current-sensing circuit, to detect the rotation electric current of the motor；
One angular transducer, to detect the measuring value for the rotational angle for corresponding to the joint；And
One controller, is connected to the current-sensing circuit and the angular transducer, to connect and control the motor past
First direction, which rotates, simultaneously to be obtained one first from the current-sensing circuit and rotates current value, when judging the first rotation current value etc.
When the pre-defined maximum current value, one first measuring value is obtained from the angular transducer, then control the motor
Rotated toward the second direction in contrast to the first direction and obtain one second from the current-sensing circuit and rotate current value, when
Judge that second when rotating current value and being equal to the pre-defined maximum current value, one second is obtained from the angular transducer for this
Measuring value, and produce a calibration value according to first measuring value and second measuring value.
To reach above-mentioned purpose, the present invention is in another technical solution that structural level uses：
A kind of electronic joint calibrating installation, to calibrate a joint of a robot, which has a motor to drive this
The body component of robot rotates, which includes：
One range sensor, to detect one first distance between the body component and the range sensor；
One angular transducer, to detect the measuring value for the rotational angle for corresponding to the joint；And
One controller, is connected to the range sensor and the angular transducer, to connect and control the motor toward one
Direction rotates and obtains first distance from the range sensor, when judging that first distance is equal to a pre-determined distance,
A measuring value is read from the angular transducer, and measurement is preset according to the measuring value and corresponding to the one of the pre-determined distance
Value, produces a calibration value.
The operation principle and advantage of the present invention is as follows：
Compared to existing technologies, disclosed electronic joint calibration method and calibrating installation, can obtain robot
Joint actual factory default position and preferable default location between differential seat angle, and produce calibration value according to this so that rear
, can be according to calibration value to adjust control instruction in the control of continuous robot, hoisting machine people performs the precision of control instruction.
Brief description of the drawings
Attached drawing 1A is the side view according to the electronic joint calibrating installation depicted in one embodiment of the invention；
Attached drawing 1B is the partial front elevation view according to the electronic joint calibrating installation depicted in one embodiment of the invention；
Attached drawing 2 is the flow chart according to the electric diarthrodial calibration method depicted in one embodiment of the invention；
Attached drawing 3A~3C is the running schematic diagram according to the electronic joint calibrating installation depicted in one embodiment of the invention；
Attached drawing 4A is the side view according to the electronic joint calibrating installation depicted in another embodiment of the present invention；
Attached drawing 4B is the partial front elevation view according to the electronic joint calibrating installation depicted in another embodiment of the present invention；
Attached drawing 5 is the flow chart according to the electronic joint calibration method depicted in another embodiment of the present invention；
Attached drawing 6A and 6B are the running schematic diagram according to the electronic joint calibrating installation depicted in another embodiment of the present invention；
Attached drawing 7A is the front view according to the electronic joint calibrating installation depicted in further embodiment of this invention；
Attached drawing 7B and 7C are the side view according to the electronic joint calibrating installation depicted in further embodiment of this invention.
In the figures above：1. robot；10. joint；12. body component；100. motor；102. gear set；2. electronic pass
Save calibrating installation；3. electronic joint calibrating installation；4. electronic joint calibrating installation；21A. position-limiting fixtures；21B. position-limiting fixtures；
23. current-sensing circuit；25. angular transducer；35. angular transducer；27. controller；37. controller；Y. preferable acquiescence position
Put；P0. initial position；0. misalignment angles of θ；D1. first direction；P1. first position；1. first rotational angles of θ；D2. second party
To；P2. the second place；2. second rotational angles of θ；31. range sensor；41A~41N. range sensors；W0. pre-determined distance；
W1. the first distance；D3. third direction；P3. the third place；The 3rd rotational angles of θ 3..
Embodiment
The invention will be further described with reference to the accompanying drawings and embodiments：
Embodiment：It is respectively to be suitable for machine according to depicted in one embodiment of the invention to please refer to Fig.1 A and 1B, Figure 1A and 1B
The side view and partial front elevation view of the electronic joint calibrating installation 2 in the joint 10 of people 1.As illustrated by figures 1 a and 1b, electronic joint school
For standard apparatus 2 to the joint 10 of calibration machine people 1, the wherein joint 10 of robot 1 is electronic joint, has motor 100 with band
The body component 12 of mobile robot rotates.Electronic joint calibrating installation 2 includes multiple position-limiting fixture 21A and 21B, current sense
Circuit 23, angular transducer 25 and controller 27, wherein controller 27 are connected to current-sensing circuit 23 and angular transducer
25。
Position-limiting fixture 21A and 21B causes the rotation electric current tool of motor to stop the body component 12 of robot 1 to rotate
There is pre-defined maximum current value.Specifically, the embodiment presented with Figure 1A and 1B explains, in 100 band of motor
To leave during body component 12 rotates counterclockwise, body component 12, which can be limited gauge 21A, to be stopped and can not rotate, that is,
Say, motor 100 can be in locked rotor condition, and motor 100 rotates electric current by with pre-defined maximum current value at this time, wherein in advance
The maximum current value first defined is the locked rotor current value of motor 100.On the other hand, 12 up time of body component is driven in motor 100
During pin rotates, body component 12, which can be limited gauge 21B, to be stopped and is in locked rotor condition, makes the rotation electric current of motor 100
By with pre-defined maximum current value.In this embodiment, the quantity of position-limiting fixture 21A and 21B exemplified by two, but
The present invention is not limited thereto.In this embodiment, electronic joint calibrating installation 2 to calibration machine people 1 joint 10, wherein closing
Section 10 is in this instance shoulder joint, but the present invention is not limited thereto, also available for neck joint or extremities joint.
Current-sensing circuit 23 be controlled by controller 27 and to be connected to motor 100 with obtain the rotation of motor 100 electricity
Stream.Specifically, current-sensing circuit 23 can regularly obtain the rotation electricity of motor 100 according to the control instruction of controller 27
Stream, then it is back to controller 27.
Angular transducer 25 then to detect correspond to joint 10 rotational angle measuring value.As shown in Figure 1B, angle
Sensor 25 is set in a manner of the gear set 102 corresponding to joint 10.In this embodiment, angular transducer 25 is, for example, to increase
The magnetic angle sensor of amount type, its measuring value are magnitude of voltage, and scope can be 0~3.3 volt（V）, and measuring value and angle of rotation
There is proportionate relationship, depending on this 25 scalable rotational angle range of proportionate relationship angle sensor between degree.
For example, it is 0~180 degree in 25 scalable rotational angle range of angular transducer（0°~180°）Situation
Under, angular transducer 25 detect 1.1V measuring value i.e. correspond to 60 degree（60°）Rotational angle；That is, work as angle
When the measuring value that sensor 25 is detected is 1.1V, you can judge that joint 10 have rotated 60 degree（60°）.For another example,
0~360 degree is designed as in 25 scalable rotational angle range of angular transducer（0°~360°）In the case of, work as angle sensor
When device 25 detects the measuring value of 1.1V, you can judge that joint 10 have rotated 120 degree（120°）.Those skilled in the art be able to according to
According to it is actually required come the scalable angular range of design angle sensor.By taking the neck joint of robot as an example, in order to meet people
The limb action of class, it is 0~180 degree that can design rotational angle range（0°~180°）Angular transducer.And with shoulder joint
Exemplified by, then rotational angle range can be designed as 0~360 degree（0°~360°）Angular transducer.
Controller 27 is to be connected to motor 100, to control motor 100 to be rotated toward a direction, and judges at the same time from electricity
Flow the pre-defined maximum current value for rotating current value and whether being equal to motor 100 of circuit for detecting 23.When controller 27 judges
When rotating current value equal to pre-defined maximum current value, controller 27 controls the detecting of angular transducer 25 to correspond to angle of rotation
The measuring value of degree, and then control motor 100 to be rotated toward other direction, obtain another measurement to be same as above-mentioned judgment step
Value, then calibration value is produced to complete the calibration in the joint 10 of robot 1 according to two measuring values.
In another embodiment, angular transducer 25 also can be the component for being built into robot 1, and electronic joint calibration cartridge
Put 2 can include wireless transceiver wirelessly perform drive motor 100, detect motor 100 electric current and reading
The action of the measuring value of angular transducer 25.
Detailed calibration method is please also refer to Figure 1B, Fig. 2 and Fig. 3 A~3C.Fig. 2 is according to one embodiment of the invention institute
The flow chart of the electronic joint calibration method of the joint of robot illustrated, and Fig. 3 A~3C are then for according to one embodiment of the invention institute
The running schematic diagram of the electronic joint calibrating installation of the joint of robot illustrated.As shown in Figure 3A, electronic joint calibrating installation 2 exists
When being calibrated to the joint 10 of robot 1, the controller 27 of electronic joint calibrating installation 2 can first control the motor in joint 10
100 rotate, and body component 12 is turned to initial position P0, i.e., actual factory default position.It can be learnt by Fig. 3 A, initial position
Misalignment angle θ 0 is accompanied between P0 and preferable default location Y.Since multiple robots may each have different misalignment angles,
Therefore when these robots receive the control command of same central control system（Such as arm is lifted forward to 30 degree（30°））When, Mei Geji
The exectorial result of device people may difference.Therefore may determine that by the electronic joint calibration method shown in Fig. 2
Misalignment angle θ 0 as shown in fig. 3, then calibration value is calculated according to this misalignment angle θ 0, for the subsequently control to robot
System uses.
Specifically, as shown in Fig. 2,3A and 3B, in step S101, controller 27 controls motor 100 by initial position
P0 is rotated toward first direction D1, while is controlled current-sensing circuit 23 to obtain the first of motor 100 and rotated electric current（That is motor 100
Current value when D1 is rotated in the first direction）.When motor 100 drives body component 12 to turn to first position P1, body group
Part 12 is limited gauge 21A and stops and can not be rotated further that motor 100 is in locked rotor condition at this time, and its rotation current value will be
Pre-defined maximum current value.Therefore, in step S103, when controller 27 judges acquired by current-sensing circuit 23
When one rotation electric current is equal to pre-defined maximum current value, that is, motor 100 is represented because body component 12 is obstructed and stall, at this time
Controller 27 controls angular transducer 25 to detect the first measuring value, this first measuring value corresponds to first rotational angle in joint 10
Angle between θ 1, i.e. initial position P0 and first position P1.
Then, as shown in Fig. 2,3B and 3C, in step S105, controller 27 controls motor 100 past from first position P1
Second direction D2 is rotated, while is controlled current-sensing circuit 23 to obtain the second of motor 100 and rotated electric current（That is motor 100 is along
Current value when two direction D2 are rotated）.The principle of foregoing judgement motor lock-rotor is same as, in step S107, when controller 27 is sentenced
When the second rotation electric current acquired by disconnected current-sensing circuit 23 is equal to pre-defined maximum current value, that is, represent motor 100
Stop and stall because body component 12 is limited gauge 21B in second place P2, the detecting of angular transducer 25 at this time second measures
Value, this second measuring value correspond to the second rotational angle θ 2 in joint 10, i.e. folder between first position P1 and second place P2
Angle.
Come again in step S109, controller 27 produces calibration value according to the first measuring value and the second measuring value.It is more detailed
For thin, as shown in fig.3 a 3 c, misalignment angle θ 0 can be calculated by the first rotational angle θ 1 and the second rotational angle θ 2 and pushed away, i.e.,
Equation θ 0=1/2* θ 2- θ 1.Furthermore the as it was previously stated, measuring value that angular transducer 25 is measured（For example, magnitude of voltage）With
There is proportionate relationship between the rotational angle in joint 10.In an embodiment, calibration value can be that the half of the second measuring value subtracts
Fall the result of calculation of the first measuring value, that is to say, that calibration value is the magnitude of voltage corresponding to misalignment angle θ 0.And in another implementation
In example, the result of calculation that calibration value cuts the first measuring value for the half of the second measuring value is obtained multiplied by with regulation coefficient.
In another embodiment, calibration value then cuts the result of calculation of the first measuring value along with tune for the half of the second measuring value
It is whole value and obtain.Consequently, it is possible to when half of the preferable default location not at the second rotational angle θ 2, ideal can be given tacit consent to position
Put and be set as the adjusted value with the difference of the half of the second rotational angle θ 2, correspond to the preferable default location to obtain
Calibration value.
In addition, above-described embodiment is using counterclockwise as first direction D1 again using clockwise as exemplified by second direction D2,
But the present invention can also first order counterclockwise be calibrated again clockwise.
It is respectively according to the electronic pass depicted in another embodiment of the present invention referring next to Fig. 4 A and 4B, Fig. 4 A and 4B
Save the side view and partial front elevation view of calibrating installation.As shown in fig. 4 a and 4b, electronic joint calibrating installation 3 is same as Figure 1A and 1B institutes
The electronic joint calibrating installation 2 shown, for the joint 10 of calibration machine people 1, wherein joint 10 has motor 100 with band movement machine
The body component 12 of people 1 rotates.Electronic joint calibrating installation 3 includes range sensor 31, angular transducer 35 and controller
37, wherein controller 37 is connected to range sensor 31 and angular transducer 35.
Range sensor 31 is, for example, infrared ray sensor, for detecting between body component 12 and range sensor 31
Distance.Angular transducer 35 to detect correspond to joint 10 rotational angle measuring value.Similar in the embodiment of Figure 1B
The angular transducer 25, as shown in Figure 4 B, angular transducer 35 correspond to the gear set 102 in joint 10 to set, its amount
Measured value is, for example, magnitude of voltage and has proportionate relationship between the rotational angle in joint 10, detailed proportionate relationship as it was previously stated, in
This is repeated no more.
Controller 37 is used to be connected to motor 100 to control it to rotate toward a direction, and judges that range sensor 31 is detectd
Whether the distance of survey is equal to pre-determined distance.When controller 37 judges that the distance that range sensor 31 is detected is equal to pre-determined distance
When, controller 37 controls measuring value of the detecting of angular transducer 35 corresponding to rotational angle, then according to this measuring value and correspondence
Calibration value is produced in the default measuring value of pre-determined distance.
In another embodiment, angular transducer 35 also can be the component for being built into robot 1, and electronic joint calibration cartridge
The measurement that wireless transceiver wirelessly performs drive motor 100 and reading angular sensor 25 can be included by putting 3
The action of value.
Detailed calibration method is please also refer to Fig. 4 B, 5,6A and 6B.Fig. 5 is according to depicted in another embodiment of the present invention
Joint of robot electronic joint calibration method flow chart, Fig. 6 A and 6B are then according to depicted in another embodiment of the present invention
Electronic joint calibrating installation running schematic diagram.As shown in Figure 6A, electronic joint calibrating installation 3 is in the joint to robot 1
10 when being calibrated, and the controller 37 of electronic joint calibrating installation 3 first can control the motor 100 in joint 10 to rotate, and make body group
Part 12 turns to initial position P0（Actual factory default position）, accompanied between wherein initial position P0 and preferable default location Y
Misalignment angle θ 0.
In order to obtain misalignment angle θ 0 to calculate calibration value, as shown in Fig. 5,6A and 6B, in step S201, controller
37 control motors 100 are rotated from initial position P0 toward third direction D3, and command range sensor 31 detect body component 12 with
The distance between range sensor 31 is used as the first distance W1.When controller 37 obtains the first distance W1 from range sensor 31
When, it can judge whether the first distance W1 is equal to pre-determined distance W0, wherein pre-determined distance W0 corresponds to a default rotational angle.Yu Bu
In rapid S203, as shown in Figure 6B, when the motor 100 in joint 10 drives body component 12 to turn to the third place P3 and at this time body
When the first distance W1 between component 12 and range sensor 31 is equal to pre-determined distance W0, controller 37 can control angular transducer
The 3rd rotational angle θ 3 in 35 detecting joints 10 is to obtain measuring value, wherein the 3rd rotational angle θ 3 is initial position P0 and the
Angle between three position P3.
Ideally, if zero deflection angle between the initial position of the body component of robot and preferable default location Y, when
When the distance between body component and range sensor 31 are equal to pre-determined distance W0, joint have rotated acquiescence from initial position and rotate
Angle, therefore the rotational angle corresponding to the measuring value measured by angular transducer 35 should be equal to default rotational angle.However, in
In the embodiment of Fig. 6 A~6B, there is deviation between the initial position P0 of the body component 12 of robot 1 and preferable default location Y
Angle, θ 0, therefore when the distance between body component 12 and range sensor 31 are equal to pre-determined distance W0, angular transducer 35
Rotational angle corresponding to measured measuring value（3rd rotational angle θ 3）Default rotational angle is will be equal to, between the two
Difference is misalignment angle θ 0.
Therefore in step S205, controller 37 is according to the measuring value corresponding to the 3rd rotational angle θ 3 and corresponding to pre-
If the default measuring value of distance W0 is to produce calibration value.As it was previously stated, pre-determined distance W0, which corresponds to, presets rotational angle, i.e., the 3rd
Angle between position P3 and preferable default location Y.Controller 37 can be by default rotational angle according to angular transducer 35 again
Rotational angle-measuring value proportionate relationship obtains corresponding default measuring value, then subtracts the measurement corresponding to the 3rd rotational angle θ 3
Value corresponds to the result of calculation of misalignment angle θ 0 to obtain.In an embodiment, calibration value is as described to correspond to misalignment angle θ
0 result of calculation, and in another embodiment, calibration value is obtains with this result of calculation multiplied by regulation coefficient, in another reality
Apply in example, calibration value with this result of calculation plus adjusted value then to be obtained.
Electronic joint calibrating installation 2 or 3 in above-described embodiment can be more electrically connected at comprising memory controller 27 or
37 pass through calibration value caused by electronic joint calibration method with storage, therefore in the control of subsequent robot 1, can foundation
The calibration value adjusts control instruction.For example, when robot 1 joint 10 initial position P0（Actual factory default position
Put）When misalignment angle θ 0 between preferable default location Y is 1 degree of angle, electronic joint calibrating installation 2 through above-described embodiment or
3 calibration, can produce and store the calibration value corresponding to 1 degree of angle.And in the control of subsequent robot 1, when effector makes
Body component 12 is praised 20 degree of angles by robot 1（20°）, it is to praise 19 degree that central control system can adjust control instruction according to calibration value
Angle（19°）, thus robot 1 body component 12 accurately can be praised into 20 degree of angles（20°）.
Above-described embodiment is only explained with the calibration of the wherein body component to robot.Fig. 7 A~7C are refer to,
Fig. 7 A~7C are the front view and side view according to the electronic joint calibrating installation depicted in further embodiment of this invention.Such as Fig. 7 A
Shown in~7C, electronic joint calibrating installation 4 has multiple range sensor 41A~41N, can be sequentially or concurrently to multiple joints
Calibrated to obtain the calibration value in each joint.For example, robot 1 can be directed to by range sensor 41A and 41F
New line angle produces calibration value；The rotary head angle that robot 1 can be directed to by range sensor 41B and 41C produces calibration value；
The opening angle that right large arm can be directed to by range sensor 41D produces the quasi- value in angle；Can by range sensor 41G and 41H
To produce calibration value for the swing angle of right large arm；Before right forearm being directed to by range sensor 41I and 41J
Angle or elbow direction produce calibration value afterwards, and detailed calibration method is just repeated no more in this as previously described.
By the revealed electronic joint calibration method of the invention described above and calibrating installation, the joint of robot can be obtained
Actual factory default position and preferable default location between differential seat angle, and produce calibration value according to this so that in follow-up machine
, can be according to calibration value to adjust control instruction in the control of people, hoisting machine people performs the precision of control instruction.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar can understand present disclosure and implement according to this, and it is not intended to limit the scope of the present invention.It is all according to the present invention
The equivalent change or modification that Spirit Essence is made, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of electronic joint calibration method, for calibrating a joint of a robot, which has a motor, its feature exists
In：The electronic joint calibration method includes：
One first for controlling the motor to be rotated from an initial position toward first direction while obtaining the motor rotates current value；
When described first, which rotates current value, is equal to a pre-defined maximum current value, one first measuring value is detected, this first
Measuring value corresponds to one first rotational angle in the joint；
One second for controlling the motor to be rotated toward the second direction in contrast to the first direction while obtaining the motor rotates
Current value；
When described second, which rotates current value, is equal to the pre-defined maximum current value, one second measuring value is detected, this
Two measuring values correspond to one second rotational angle in the joint；And
A calibration value is produced according to first measuring value and second measuring value.
2. electronic joint calibration method according to claim 1, it is characterised in that：According to first measuring value and described
Second measuring value produces the calibration value and cuts first measuring value comprising the half according to second measuring value
One result of calculation produces the calibration value.
3. electronic joint calibration method according to claim 1, it is characterised in that：According to first measuring value and described
The second measuring value generation calibration value cuts first measuring value comprising the half according to second measuring value and takes
A result of calculation is obtained, and the result of calculation is multiplied by a regulation coefficient to produce the calibration value.
4. electronic joint calibration method according to claim 1, it is characterised in that：According to first measuring value and described
The second measuring value generation calibration value cuts first measuring value comprising the half according to second measuring value and takes
A result of calculation is obtained, and the result of calculation is added into an adjusted value to produce the calibration value.
5. a kind of electronic joint calibration method, suitable for an electronic joint calibrating installation, which has one
Range sensor, to calibrate a joint of a robot, which there is the electronic joint calibration method motor to drive
The body component of the robot rotates, it is characterised in that：The electronic joint calibration method includes：
Control the motor to be rotated from an initial position toward a direction and detect one first distance, which indicates the body
The distance between body component and the range sensor；
When the described first distance is equal to a pre-determined distance, a measuring value is detected, which corresponds to one turn of the joint
Dynamic angle；And
Measuring value is preset according to the measuring value and corresponding to the one of the pre-determined distance, produces a calibration value.
6. electronic joint calibration method according to claim 5, it is characterised in that：According to first measuring value and correspondence
Included in the default measuring value generation calibration value of the pre-determined distance and cut the amount according to the default measuring value
One result of calculation of measured value produces the calibration value.
7. electronic joint calibration method according to claim 5, it is characterised in that：According to first measuring value and correspondence
Included in the default measuring value generation calibration value of the pre-determined distance and cut the amount according to the default measuring value
Measured value obtains a result of calculation, and the result of calculation is multiplied by a regulation coefficient to produce the calibration value.
8. electronic joint calibration method according to claim 5, it is characterised in that：According to first measuring value and correspondence
Included in the default measuring value generation calibration value of the pre-determined distance and cut the amount according to the default measuring value
Measured value obtains a result of calculation, and the result of calculation is added an adjusted value to produce the calibration value.
9. a kind of electronic joint calibrating installation, to calibrate a joint of a robot, which has a motor to drive
The body component of the robot rotates, it is characterised in that：The electronic joint calibrating installation includes：
Multiple position-limiting fixtures, make a rotation electric current of the motor have one to pre-define to stop that the body component rotates
Maximum current value；
One current-sensing circuit, to detect the rotation electric current of the motor；
One angular transducer, to detect the measuring value for the rotational angle for corresponding to the joint；And
One controller, is connected to the current-sensing circuit and the angular transducer, to connect and control the motor past
First direction, which rotates, simultaneously to be obtained one first from the current-sensing circuit and rotates current value, when judging the first rotation current value etc.
When the pre-defined maximum current value, one first measuring value is obtained from the angular transducer, then control the motor
Rotated toward the second direction in contrast to the first direction and obtain one second from the current-sensing circuit and rotate current value, when
Judge that second when rotating current value and being equal to the pre-defined maximum current value, one second is obtained from the angular transducer for this
Measuring value, and produce a calibration value according to first measuring value and second measuring value.
10. a kind of electronic joint calibrating installation, to calibrate a joint of a robot, which has a motor to drive
The body component of the robot rotates, it is characterised in that：The electronic joint calibrating installation includes：
One range sensor, to detect one first distance between the body component and the range sensor；
One angular transducer, to detect the measuring value for the rotational angle for corresponding to the joint；And
One controller, is connected to the range sensor and the angular transducer, to connect and control the motor toward one
Direction rotates and obtains first distance from the range sensor, when judging that first distance is equal to a pre-determined distance,
A measuring value is read from the angular transducer, and measurement is preset according to the measuring value and corresponding to the one of the pre-determined distance
Value, produces a calibration value.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711011181.8A CN107932554A (en) | 2017-10-26 | 2017-10-26 | Electronic joint calibration method and calibrating installation |
| PCT/CN2018/072503 WO2019080379A1 (en) | 2017-10-26 | 2018-01-12 | Electric joint calibration method and calibration device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711011181.8A CN107932554A (en) | 2017-10-26 | 2017-10-26 | Electronic joint calibration method and calibrating installation |
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| CN107932554A true CN107932554A (en) | 2018-04-20 |
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| CN201711011181.8A Pending CN107932554A (en) | 2017-10-26 | 2017-10-26 | Electronic joint calibration method and calibrating installation |
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| Country | Link |
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| CN (1) | CN107932554A (en) |
| WO (1) | WO2019080379A1 (en) |
Cited By (2)
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|---|---|---|---|---|
| CN112262023A (en) * | 2018-08-30 | 2021-01-22 | 平田机工株式会社 | Calibration method for operating device, operating device system, and control device |
| CN113021411A (en) * | 2019-12-24 | 2021-06-25 | 株式会社日立制作所 | Robot failure prediction device, robot failure prediction system, and robot failure prediction method |
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| CN102310407A (en) * | 2011-04-22 | 2012-01-11 | 三一重工股份有限公司 | Bionic control method and control system of mechanical arm |
| CN103913621A (en) * | 2013-01-07 | 2014-07-09 | 致茂电子(苏州)有限公司 | Motor monitoring system and current detection device thereof |
| CN106826918A (en) * | 2017-01-03 | 2017-06-13 | 深圳市众为创造科技有限公司 | Mechanical arm adjusting process, mechanical arm calibration apparatus and mechanical arm |
| CN106945049A (en) * | 2017-05-12 | 2017-07-14 | 深圳智能博世科技有限公司 | A kind of method of robot joints zero adjustment |
| CN107263543A (en) * | 2017-06-27 | 2017-10-20 | 深圳诺欧博智能科技有限公司 | The calibration method and computing device of a kind of joint of robot |
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2017
- 2017-10-26 CN CN201711011181.8A patent/CN107932554A/en active Pending
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- 2018-01-12 WO PCT/CN2018/072503 patent/WO2019080379A1/en active Application Filing
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| JPH08276390A (en) * | 1995-04-05 | 1996-10-22 | Matsushita Electric Ind Co Ltd | Joint angle calibration device for robot |
| CN102310407A (en) * | 2011-04-22 | 2012-01-11 | 三一重工股份有限公司 | Bionic control method and control system of mechanical arm |
| CN103913621A (en) * | 2013-01-07 | 2014-07-09 | 致茂电子(苏州)有限公司 | Motor monitoring system and current detection device thereof |
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|---|---|---|---|---|
| CN112262023A (en) * | 2018-08-30 | 2021-01-22 | 平田机工株式会社 | Calibration method for operating device, operating device system, and control device |
| CN112262023B (en) * | 2018-08-30 | 2023-06-09 | 平田机工株式会社 | Calibration method for operation device, operation device system, and control device |
| CN113021411A (en) * | 2019-12-24 | 2021-06-25 | 株式会社日立制作所 | Robot failure prediction device, robot failure prediction system, and robot failure prediction method |
| CN113021411B (en) * | 2019-12-24 | 2023-06-20 | 株式会社日立制作所 | Robot failure prediction device and system, and robot failure prediction method |
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| Publication number | Publication date |
|---|---|
| WO2019080379A1 (en) | 2019-05-02 |
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