CN108195327B - Robot-based additional axis calibration method and terminal - Google Patents
Robot-based additional axis calibration method and terminal Download PDFInfo
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- CN108195327B CN108195327B CN201711480724.0A CN201711480724A CN108195327B CN 108195327 B CN108195327 B CN 108195327B CN 201711480724 A CN201711480724 A CN 201711480724A CN 108195327 B CN108195327 B CN 108195327B
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Abstract
The embodiment of the invention relates to the field of intelligent machines, and discloses an additional axis calibration method and terminal based on a robot. The invention discloses an additional axis calibration method based on a robot, which comprises the following steps: respectively calculating the pose relationship of each axis to be calibrated in the additional axis under the reference coordinate system; when the pose relation of an axis to be calibrated in the reference coordinate system is calculated, the method specifically comprises the following steps: selecting mark points, wherein the mark points are used for an axis to be calibrated, obtaining coordinate values of the mark points in a reference coordinate system by using a teaching method, and calculating the pose relation of the axis to be calibrated in the reference coordinate system according to the coordinate values of the mark points; and determining the transformation relation between two adjacent axes to be calibrated by using the position and orientation relation. The method is not limited by the number of the additional shafts and the types of the shafts, and has wider application range and higher precision.
Description
Technical Field
The embodiment of the invention relates to the field of intelligent machines, in particular to an additional axis calibration technology based on a robot.
Background
Industrial robots are increasingly used in industrial production. The application scenes of industrial robots are various, but the working range of a single robot is limited, and the operation tasks such as welding and the like requiring a large working space cannot be met. In order to expand the working space of an industrial robot and to make the position and orientation of the industrial robot accessible, an additional axis system is usually connected to the robot as a peripheral device. However, in order to enable the additional axis system to move synchronously with the robot, the pose relationship between the additional axis system and the robot needs to be calibrated.
The inventor of the application finds that in the existing method, the relation between an additional shaft system and a robot is mostly measured, and the relation between the additional shaft system and the robot is configured after the relation between shafts in the additional shaft system is clarified. For example, a calibration method for determining the pose relationship between a robot and a positioner is provided, but the method is only suitable for calibrating a dual-axis positioner and has requirements on the position of an external axis. In addition, the method has more random factors and is difficult to control, so that the calibration error is often larger, and in addition, the number of axes and the application scene of the robot are also limited.
Disclosure of Invention
The embodiment of the invention aims to provide an additional axis calibration method and a terminal based on a robot, which are not limited by the number and types of axes in an additional axis system, have wider application range and higher precision.
In order to solve the above technical problem, an embodiment of the present invention provides a robot-based additional axis calibration method, including: respectively calculating the pose relationship of each axis to be calibrated in the additional axis under the reference coordinate system; when the pose relation of the axis to be calibrated in the reference coordinate system is calculated, the method specifically comprises the following steps: selecting mark points, wherein the mark points are used for an axis to be calibrated, obtaining coordinate values of the mark points in a reference coordinate system by using a teaching method, and calculating the pose relation of the axis to be calibrated in the reference coordinate system according to the coordinate values of the mark points; and determining a transformation relation between two adjacent axes to be calibrated by utilizing the posture relation.
An embodiment of the present invention further provides a terminal, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the robot-based additional axis calibration method as described above.
Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which when executed by a processor implements the above-mentioned robot-based additional axis calibration method.
Compared with the prior art, the implementation mode of the invention has the main differences and the effects that: the coordinate value of the tail end position of the robot under the world coordinate system can be directly obtained through the robot, so that the coordinate value of the calibration point is obtained by using a teaching method, and the calibration point is obtained after the robot and the additional shaft system are installed and fixed, so that the obtained position coordinate value is not influenced by the assembly error when the additional shaft is installed, the pose relation of each shaft to be calibrated is further obtained by using a reference coordinate system, the transformation relation among the shafts is obtained, the calibration can be completed without knowing the relation among the shafts in the additional shaft system, the limitation of the number of the shafts and the type of the shafts of the additional shaft is avoided, and the application range is wider.
As a further improvement, the axis to be calibrated belongs to a positioner, and the reference coordinate system is a world coordinate system; the step of calculating the pose relationship of the axis to be calibrated in the reference coordinate system according to the coordinate values of the mark points specifically includes: if the axis to be calibrated is a rotating axis, calculating a circular plane corresponding to the rotating axis according to the coordinate values of the mark points, and calculating a position relationship of the rotating axis in the world coordinate system according to the circular plane; if the calibration axis is a linear axis, establishing a coordinate system of the linear axis according to each coordinate value of the mark point, and determining the pose relationship of the coordinate system of the linear axis in the world coordinate system according to the coordinate system of the linear axis and the world coordinate system. And a calibration axis is further defined as a positioner, and a calibration method is refined, so that calibration is more accurate.
As a further improvement, the obtaining of the coordinate values of the mark point in the reference coordinate system by using the teaching method specifically includes: teaching the mark point for multiple times, and obtaining multiple coordinate values of the mark point in a reference coordinate system; the teaching times of the mark points are related to the type of the axis to be calibrated; if the axis to be calibrated is a rotating axis, teaching the mark point for at least 3 times; and if the axis to be calibrated is a linear axis, teaching the mark point for at least 2 times. And the teaching times of the mark points are limited, so that more data can be obtained when the pose relationship is obtained, and the obtained pose relationship is more accurate.
As a further improvement, when teaching is performed on the mark point for multiple times, the joint angle of the axis to be calibrated is different during teaching each time. The joint angles of the fixed axis are further limited to be different during each teaching, so that the obtained data are richer, and the accuracy of the obtained pose relationship is further improved.
As a further improvement, the position of the marking point is related to the type of the shaft to be calibrated; and if the shaft to be calibrated is a rotating shaft, the distance between the mark point and the rotating axis of the shaft to be calibrated is greater than or equal to a preset value. When the limiting fixed shaft is the rotating shaft, the mark point and the rotating shaft are separated by a certain distance, so that the obtained pose relation is more accurate.
As a further improvement, the shaft to be calibrated belongs to a guide rail, and the reference coordinate system is a base coordinate system of the robot; the selected ones of the selected landmark points satisfy the following conditions: when the guide rail moves, the guide rail is static relative to a world coordinate system; the step of calculating the pose relationship of the axis to be calibrated in the reference coordinate system according to the coordinate values of the mark points specifically includes: calculating a translation vector of each marker point relative to the base coordinate system; converting the translation vector into a translation vector in the world coordinate system; and obtaining the pose relation of the axis to be calibrated in the world coordinate system according to the converted translation vector. In the embodiment, the calibration axis is defined as the guide rail, and the calibration method is refined, so that the calibration is more accurate when the calibration axis of the guide rail is calibrated.
As a further improvement, the transformation relation between two adjacent axes to be calibrated is represented by a pose matrix or a conversion formula. The transformation relation is expressed by using a matrix or a conversion expression, so that the transformation relation is clearer and more direct.
As a further improvement, the additional shaft to be calibrated comprises two types, one type belongs to the positioner, and the other type belongs to the guide rail; the robot-based additional axis calibration method further comprises the following steps: and preferentially calibrating the additional shaft group to be calibrated of the guide rail. And the calibration sequence when two types of additional axes exist simultaneously is limited, so that the calibration process is simpler and more convenient, and the transformation relation is more accurate.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a flow chart of a robot-based additional axis calibration method according to a first embodiment of the present invention;
FIG. 2 is a flowchart of a method taught in a robot-based additional axis calibration method according to a first embodiment of the present invention;
fig. 3 is a terminal according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.
The first embodiment of the invention relates to an additional axis calibration method based on a robot.
Existing additional shaft systems are generally divided into: a positioner system and a guide rail system. The embodiment is specifically described by taking an example that the additional axis belongs to a positioner, and the flow is shown in fig. 1, specifically as follows:
Specifically, the marking point can be selected from the axis to be marked, and the selected marking point can be any point which moves along with the point to be marked. If the shaft to be calibrated is a rotating shaft, the marking point may be a point having a certain distance from the rotating axis of the shaft to be calibrated, and the distance between the marking point and the rotating axis may be greater than or equal to a preset value, wherein the preset value may be set by a technician according to actual conditions.
And 102, obtaining coordinate values of the mark points in a reference coordinate system by using a teaching method.
Specifically, the reference coordinate system in the present embodiment is a world coordinate system, which is an absolute coordinate system of the system, and the coordinates of all points are determined by the origin of the coordinate system. The method can be used for teaching the mark point under the conditions that a non-to-be-calibrated shaft is kept still and the joint angle of the to-be-calibrated shaft is different, and coordinate values obtained through teaching are values in a world coordinate system (world). Wherein each amount of movement may be slightly larger, and if a rotation axis, may be any value not exceeding 360 °. A specific teaching process may be as shown in fig. 2.
More specifically, the step may teach the selected landmark point a plurality of times and obtain a plurality of coordinate values of the landmark point in the reference coordinate system. The teaching times of the mark points are related to the types of the axes to be calibrated; if the axis to be calibrated is a rotating axis, teaching the mark point for at least 3 times; and if the axis to be calibrated is a linear axis, teaching the mark point for at least 2 times. Further, when teaching is performed on the mark points for multiple times, the joint angles of the axes to be calibrated are different during teaching each time.
And 103, calculating the position and attitude relationship of the axis to be calibrated in the reference coordinate system according to the coordinate values of the mark points.
Specifically, since the positioner may be composed of a rotational axis and/or a linear axis, the following description will be made in this embodiment:
firstly, if the axis to be calibrated is a rotating axis, a specific method for obtaining the pose relationship of the axis to be calibrated in a reference coordinate system among the axes is as follows:
A. calculating a rotation axis
First, the circular plane on which the three points of rotation of the ith axis lie can be found:
the circular plane equation is: aix + Biy + Ciz + Di 0 (1)
Wherein:
Ai＝yi1*zi2+zi1*yi3+yi2*zi3-yi1*zi3-zi1*yi2-yi3*zi2
Bi＝-xi1*zi2-zi1*xi3-xi2*zi3+yi1*zi3+zi1*yi2+yi3*zi2
Ci＝xi1*yi2+yi1*xi3+xi2*yi3-xi1*yi3-yi1*xi2-xi3*yi2
Di＝-xi1*yi2*zi3-xi3*yi1*zi2-xi2*yi3*zi1+xi1*yi3*zi2+xi2*yi1*zi3+xi3*yi2*zi1
thus, the direction vector of the rotation axis of axis i is:
D_vector＝[Ai,Bi,Ci] (2)
then, calculating the center of a space circle where the three points of the rotation of the ith axis are located, wherein the distances from the three points to the coordinates of the center of the space circle are equal, and obtaining the following formula:
(x-xi1)2+(y-yi1)2+(z-zi1)2＝R2
(x-xi2)2+(y-yi2)2+(z-zi2)2＝R2
(x-xi3)2+(y-yi3)2+(z-zi3)2＝R2
the coordinate of the center Oi is solved as follows:
wherein: ai2 ═ 2 (x)i2-xi1)，Bi2＝2(yi2-yi1)，Ci2＝2(zi2-zi1)，
Di2＝xi1 2+yi1 2+zi1 2-xi2 2-yi2 2-zi2 2。
Ai3＝2(xi3-xi1)，Bi3＝2(yi3-yi1)，Ci3＝2(zi3-zi1)，
Di3＝xi1 2+yi1 2+zi1 2-xi3 2-yi3 2-zi3 2
B. Establishing an axis coordinate system:
using the center of a circle as the origin of coordinates of the ith axis and OiPi0The direction is an x axis, a direction vector D _ vector of the rotating shaft is used as a z axis, and the y axis direction is determined according to the right hand rule, so that a coordinate system of the ith axis is determined; the unit direction vector of the x axis is ni＝[xi0-xi，yi0-yi，zi0-zi]TThe unit direction vector of the z-axis is ai ═ (D _ vector)/| | D _ vector |, and the unit direction vector of the y-axis is oi＝ai×ni。
Therefore, a position matrix of the axis coordinate system relative to the world coordinate system can be obtained:
secondly, if the axis to be calibrated is a linear axis, the specific method for obtaining the pose relationship of the axis to be calibrated in the reference coordinate system is as follows:
A. determining the z-axis:
the z-axis of the coordinate system of the axis to be calibrated is the direction vector of the straight line where the two teaching points are located, namely the z-axis of the axis i is ai＝±(Pi1-Pi0)/||Pi1-Pi0| | (the sign value is determined by the positive and negative directions of the axis movement).
B. Establishing an axial coordinate system
If the axis to be calibrated is the first axis in the additional axis system, taking the origin of the world coordinate system as the origin of the axis coordinate system; otherwise, the origin of the above one axis coordinate system is used as the origin of the axis.
The determination method of the x axis comprises the following steps: taking the cross of the axis which is not parallel to the z axis of the axis in the coordinate system before the axis (when the axis is the first axis of the additional axis system, the coordinate system before the axis is the world coordinate system) and ai as the x axis of the coordinate system, and selecting the axes in the sequence of z- > y- > x. The y-axis is determined as a right hand system. The origin of the coordinate system is taken to be the origin of the coordinate system preceding the axis. The position matrix of the axis coordinate system relative to the world coordinate system can be obtained.
Thirdly, establishing a flange coordinate system:
selecting three mark points on the flange under the condition that each axis is not moved, teaching the mark points to obtain coordinate values under a world coordinate system (world), and establishing a pose matrix of the flange coordinate system under the world coordinate system through the three points
The steps 101 to 103 actually calculate the pose relationship of each axis to be calibrated in the additional axis under the reference coordinate system.
And 104, determining a transformation relation between two adjacent axes to be calibrated by using the posture relation.
Specifically, when all axes are at zero, there are
So that a transformation matrix of adjacent axes can be obtained
A transformation matrix of a flange coordinate system of the positioner system with n axes relative to the previous axis is
When the joint angle θ i (i is 1, …, n) of each axis is known, the next point T of the flange coordinate system isflangeThe coordinates in the world coordinate system can be transformed by the following formula.
Wherein the content of the first and second substances,
when the axis is a rotary axis
When the axis is a linear axis
It can be seen that, compared with the prior art, the main differences and effects of the present embodiment are as follows: the coordinate value of the tail end position of the robot under the world coordinate system can be directly obtained through the robot, so that the coordinate value of the calibration point is obtained by using a teaching method, the calibration point is obtained after the robot and the additional axis system are installed and fixed, the obtained position coordinate value is not influenced by assembly errors during installation, the pose relation of each axis to be calibrated is further obtained by using a reference coordinate system, the transformation relation among the axes is obtained, calibration can be completed without knowing the relation among the axes in the additional axis system, the limitation of the number of the axes and the type of the axes is avoided, and the application range is wider.
The second embodiment of the invention relates to an additional axis calibration method based on a robot. The second embodiment is substantially the same as the first embodiment, and mainly differs therefrom in that: in the first embodiment, the axis to be calibrated is defined as a positioner, and in the second embodiment of the invention, the additional axis system to be calibrated is defined as a guide rail.
The flowchart of the robot-based additional axis calibration method in this embodiment is also shown in fig. 1, and the reference coordinate system is a base coordinate system (i.e., a base coordinate system, i.e., a robot base coordinate system), and the following is mainly described in detail with respect to the differences from the first embodiment, and the flowchart is also shown in fig. 1:
the method for obtaining the coordinate values of the mark points in the step 102 by using the teaching mode is as follows:
(1) taking a mark point which is static relative to the world coordinate system when the guide rail moves as a subsequent mark point;
(2) teaching the mark points Pi0＝[xi0,yi0,zi0]’；
(3) Moving the axis i for a distance, and teaching the mark point Pi1＝[xi1,yi1,zi1]' (Forward and reverse directions are indicated);
(4) repeating the steps (2) to (3) to obtain coordinate values of corresponding teaching mark points during movement of other axes;
and 103, calculating the pose relation of the axis to be calibrated in the reference coordinate system according to the coordinate values of the mark points. Specifically, z-axis direction vectors of the axes in the base coordinate system are established as follows: when one axis moves, the translation direction of the mark point in the base coordinate system of the robot is opposite to the movement direction of the axis, and the translation amounts of the two axes are the same. The unit translation direction vector in the z-axis direction (relative to the robot base coordinate system) is ai'＝±(Pi0-Pi1)/||Pi0-Pi1I (positive and negative values are positive and negative directions of axial movement). Converting the vector into a world coordinate system to obtain a unit direction vector of the translation of the ith axis of the guide rail in the world coordinate system
In addition, the method for determining the xy axis and the origin of the coordinate system is similar to the step of establishing the calibration-linear axis coordinate system of the positioning machine system in the first embodiment, and is not described herein again.
And 104, determining a transformation relation between two adjacent axes to be calibrated by using the posture relation.
Specifically, the method of establishing the transmission relationship between the axes is similar to that in the first embodiment. After determining the transfer relationship from world to the last axis in the last guideway system, the transfer relationship from the last axis to the robot base coordinate system needs to be determined. A guide rail system with n axes is arranged, and a homogeneous matrix of a coordinate system of the last axis relative to a world coordinate system is
The homogeneous matrix of the base coordinate system relative to the world coordinate system is
Then the transmission from the n-axis to the base coordinate systemThe rank matrix is:
therefore, the robot with the guide rail system has the following transmission relationship from the world coordinate line to the base coordinate system:
wherein the content of the first and second substances,
therefore, the additional shaft calibration method refines the additional shaft calibration method under the guide rail system, and has the advantages of convenient steps and accurate calibration result.
The third embodiment of the invention relates to an additional axis calibration method based on a robot. The third embodiment is a further improvement on the first embodiment or the second embodiment, and the main improvement is that: the additional axes to be calibrated in the first embodiment or the second embodiment belong to either the positioner or the guide rail, while some of the additional axes to be calibrated in the present embodiment belong to the additional axes of the positioner and others belong to the additional axes of the guide rail.
Specifically, the additional axis calibration method in the embodiment specifically includes: and preferentially calibrating the additional shaft system to be calibrated of the guide rail. That is to say, the additional axis in this embodiment may include two types, one type belongs to the positioner, and the other type belongs to the guide rail, so that in the calibration process, the additional axis group of the guide rail to which the additional axis group belongs may be calibrated first, and then the additional axis group of the positioner to which the additional axis group belongs may be calibrated after the calibration is completed, so that the relationship between the robot base coordinate system and the world coordinate system may be determined first, so that the calibration process is simpler and more convenient, and the transformation relationship is more accurate.
In practical application, a plurality of additional shaft systems can be included, such as a plurality of positioner systems.
Therefore, the additional axis calibration method can be applied to not only a positioner system, but also a guide rail system, wherein the additional axis system formed by linear axes, rotating axes or a mixture of the linear axes and the rotating axes can be calibrated, the application scene is very wide, and meanwhile, the additional axis calibration method is not influenced by the number of axes and the internal structure of the additional axis system, and is convenient to popularize.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are all within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
A fourth embodiment of the present invention relates to a terminal, as shown in fig. 3, including:
at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any one of the robot-based additional axis calibration methods as in the first through third embodiments.
Where the memory and processor are connected by a bus, the bus may comprise any number of interconnected buses and bridges, the buses connecting together one or more of the various circuits of the processor and the memory. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor.
The processor is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And the memory may be used to store data used by the processor in performing operations.
A fifth embodiment of the present invention relates to a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.
That is, as can be understood by those skilled in the art, all or part of the steps in the method according to the above embodiments may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (8)
1. An additional axis calibration method based on a robot is characterized by comprising the following steps:
respectively calculating the pose relationship of each axis to be calibrated in the additional axis under the reference coordinate system; when the pose relation of the axis to be calibrated in the reference coordinate system is calculated, the method specifically comprises the following steps: selecting a mark point, wherein the mark point is positioned on an axis to be calibrated, teaching the mark point for multiple times by using a teaching method, obtaining coordinate values of the mark point in a reference coordinate system during each teaching, and calculating the pose relation of the axis to be calibrated in the reference coordinate system according to the coordinate values of the mark point;
determining a transformation relation between two adjacent axes to be calibrated by utilizing the posture relation;
when the axis to be calibrated belongs to the positioner, the reference coordinate system is a world coordinate system;
the step of calculating the pose relationship of the axis to be calibrated in the reference coordinate system according to the coordinate values of the mark points specifically includes:
if the axis to be calibrated is a rotating axis, calculating a circular plane corresponding to the rotating axis according to the coordinate values of the mark points, and calculating a position relationship of the rotating axis in the world coordinate system according to the circular plane;
if the calibration axis is a linear axis, establishing a coordinate system of the linear axis according to each coordinate value of the mark point, and determining a pose relation of the coordinate system of the linear axis in the world coordinate system according to the coordinate system of the linear axis and the world coordinate system;
when the shaft to be calibrated belongs to the guide rail, the reference coordinate system is a base coordinate system of the robot;
the selected ones of the selected landmark points satisfy the following conditions: when the guide rail moves, the guide rail is static relative to a world coordinate system;
the step of calculating the pose relationship of the axis to be calibrated in the reference coordinate system according to the coordinate values of the mark points specifically includes:
calculating a translation vector of each marker point relative to the base coordinate system;
converting the translation vector into a translation vector in the world coordinate system;
and obtaining the pose relation of the axis to be calibrated in the world coordinate system according to the converted translation vector.
2. The robot-based additional axis calibration method according to claim 1, wherein the number of times taught to the mark points is related to the type of the axis to be calibrated;
if the axis to be calibrated is a rotating axis, teaching the mark point for at least 3 times;
and if the axis to be calibrated is a linear axis, teaching the mark point for at least 2 times.
3. The robot-based additional axis calibration method according to claim 2, wherein when teaching the marking point a plurality of times, the joint angle of the axis to be calibrated is different each time teaching is performed.
4. The robot-based additional axis calibration method according to claim 1, wherein the position of the marker point is related to the type of the axis to be calibrated;
and if the shaft to be calibrated is a rotating shaft, the distance between the mark point and the rotating axis of the shaft to be calibrated is greater than or equal to a preset value.
5. The robot-based additional axis calibration method according to claim 1, wherein the transformation relationship between two adjacent axes to be calibrated is represented by a pose matrix or a transformation formula.
6. The robot-based additional axis calibration method according to claim 1, wherein the additional axis to be calibrated comprises two types, one type belongs to a positioner, and the other type belongs to a guide rail;
the robot-based additional axis calibration method further comprises the following steps: and preferentially calibrating the additional shaft system to be calibrated of the guide rail.
7. A terminal, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the robot-based additional axis calibration method of any one of claims 1 to 6.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method for robot-based additional axis calibration according to any one of claims 1 to 6.
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| CN109015652A (en) * | 2018-08-29 | 2018-12-18 | 苏州艾利特机器人有限公司 | A kind of control method of robot and the positioner coordinated movement of various economic factors |
| CN109238199B (en) * | 2018-09-03 | 2020-04-03 | 清华大学 | Robot rotating shaft kinematic parameter calibration method |
| CN109483536B (en) * | 2018-11-09 | 2020-06-23 | 珠海格力电器股份有限公司 | Additional axis adding method and device for robot, storage medium and robot |
| CN111157004B (en) * | 2019-12-31 | 2024-03-19 | 上海新时达机器人有限公司 | Tool calibration method for flange downward four-axis robot |
| CN113124872A (en) * | 2021-03-30 | 2021-07-16 | 深圳市优必选科技股份有限公司 | Robot positioning navigation method and device, terminal equipment and robot |
| CN113459112B (en) * | 2021-09-03 | 2021-12-17 | 成都卡诺普机器人技术股份有限公司 | Method and device for cooperation of robot and external shaft |
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| JP2003181782A (en) * | 2001-12-19 | 2003-07-02 | Nachi Fujikoshi Corp | Industrial robot |
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| CN103264738B (en) * | 2013-06-07 | 2015-07-01 | 上海发那科机器人有限公司 | Automatic assembling system and method for vehicle windshield glass |
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