CN109304713A - Scaling method, device and the computer readable storage medium of tool coordinates system - Google Patents
Scaling method, device and the computer readable storage medium of tool coordinates system Download PDFInfo
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- CN109304713A CN109304713A CN201811379246.9A CN201811379246A CN109304713A CN 109304713 A CN109304713 A CN 109304713A CN 201811379246 A CN201811379246 A CN 201811379246A CN 109304713 A CN109304713 A CN 109304713A
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- coordinate system
- arm tooling
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- characteristic point
- default joint
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Mechanical Engineering (AREA)
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Abstract
This application involves a kind of scaling method of tool coordinates system, device and computer readable storage medium, this method comprises: the default joint of adjustment target robot is to predeterminated position；Acquire the characteristic point for the end-of-arm tooling being connected with the default joint；Record the motion profile of the characteristic point of the end-of-arm tooling；Using the predeterminated position relationship between the motion profile of the characteristic point of the end-of-arm tooling and the coordinate system in the default joint, the position orientation relation of the coordinate system of the end-of-arm tooling relative to the coordinate system in the default joint is determined.According to the technical solution of the embodiment of the present application, the posture that target robot is varied multiple times is not needed, complicated calculation formula is not needed, simplify the calibration process of tool coordinates system and the calculating process of calibration algorithm, reduce demand of the calibration to power is calculated, calibration efficiency is improved, reduces bringing into for correlated error amount, improves stated accuracy.
Description
Technical field
This application involves machinery field more particularly to a kind of scaling methods of tool coordinates system, device and computer-readable
Storage medium.
Background technique
There are many present tool coordinates system (TCS, Tool Coordinate System) scaling method type, including mark certainly
Determine method and the auxiliary calibration method by other precision instruments, but these scaling methods are not only with high costs, but also demarcate
Process also time and effort consuming, such as common 6 self-calibration algorithms, in addition to needing to convert robot difference posture teaching before calibration
The taught point of specified quantity, it is also necessary to by complicated formula calculate tool coordinates system TCP (Tool Center Point,
Tool center point) pose, not only the precision of robot body transmission mechanism is required, is still had to the control algolithm of robot
It is required that these factors all have larger impact to the precision that robot is finally demarcated, accordingly, it is desirable to provide a kind of scaling method, energy
Enough influences for reducing correlative factor to the greatest extent during the calibration process, reduce the accumulation of calibrated error.
Summary of the invention
In order to solve the above-mentioned technical problem or it at least is partially solved above-mentioned technical problem, this application provides a kind of works
Have scaling method, device and the computer readable storage medium of coordinate system.
In a first aspect, being applied to industrial robot, the side this application provides a kind of scaling method of tool coordinates system
Method includes:
The default joint of target robot is adjusted to predeterminated position；
Acquire the characteristic point for the end-of-arm tooling being connected with the default joint；
Record the motion profile of the characteristic point of the end-of-arm tooling；
Utilize the default position between the motion profile of the characteristic point of the end-of-arm tooling and the coordinate system in the default joint
Relationship is set, determines the position orientation relation of the coordinate system of the end-of-arm tooling relative to the coordinate system in the default joint.
With reference to first aspect, described to record the end-of-arm tooling in first aspect in the first possible embodiment
The motion profile of characteristic point, comprising:
Establish the basic point coordinate system, the coordinate system in the default joint and the seat of the end-of-arm tooling of the target robot
Mark system；
The end-of-arm tooling is controlled to make rotating motion along the preset coordinate axis of the coordinate system in the default joint.
With reference to first aspect, described to establish the target robot in second of first aspect possible embodiment
Basic point coordinate system, the coordinate system in the default joint and the coordinate system of the end-of-arm tooling, comprising:
The coordinate system for controlling the default joint is rotated according to default spin matrix, with the determination end-of-arm tooling
Coordinate system.
With reference to first aspect, described using the end-of-arm tooling in first aspect in the third possible embodiment
Predeterminated position relationship between the motion profile of characteristic point and the coordinate system in the default joint, determines the seat of the end-of-arm tooling
Position orientation relation of the mark system relative to the coordinate system in the default joint, comprising:
Measure the characteristic point of the end-of-arm tooling to the default joint preset coordinate axis central point distance；
Using the predeterminated position relationship between the characteristic point of the end-of-arm tooling and the coordinate system in the default joint, determine
The characteristic point of the end-of-arm tooling is relative to the offset relationship between the coordinate system of the preset relation；
According to the motion profile of the characteristic point of the end-of-arm tooling and the offset relationship, the spy of the end-of-arm tooling is calculated
Sign point arrives the offset distance of three reference axis of the coordinate system in the default joint respectively；
The coordinate system of the characteristic point of the end-of-arm tooling relative to the default joint is determined using the offset distance
Excursion matrix；
By the excursion matrix and default spin matrix, determine the coordinate system of the end-of-arm tooling relative to described default
The position orientation relation of the coordinate system in joint.
With reference to first aspect, in the 4th kind of possible embodiment of first aspect, the measurement end-of-arm tooling
Characteristic point to the default joint preset coordinate axis central point distance, comprising:
Determine that the distance between the first default endpoint and second default endpoint of the motion profile is the first measurement data；
The distance of central point of the plane to the preset coordinate axis is the second measurement data where determining the motion profile；
It is preset using the characteristic point that first measurement data and the second measurement data calculate the end-of-arm tooling to described
The distance of the central point of the preset coordinate axis in joint.
Second aspect, this application provides a kind of caliberating devices of tool coordinates system, are applied to industrial robot, the dress
It sets and includes:
Position adjustment unit is configured to the default joint of adjustment target robot to predeterminated position；
Acquisition unit is configured to the characteristic point for the end-of-arm tooling that acquisition is connected with the default joint；
Recording unit is configured to record the motion profile of the characteristic point of the end-of-arm tooling；
Position orientation relation determination unit is configured to preset using the motion profile of the characteristic point of the end-of-arm tooling with described
Predeterminated position relationship between the coordinate system in joint determines seat of the coordinate system of the end-of-arm tooling relative to the default joint
Mark the position orientation relation of system.
In conjunction with second aspect, in second aspect in the first possible embodiment, the recording unit includes:
Establishment of coordinate system subelement is configured to establish the basic point coordinate system of the target robot, the default joint
Coordinate system and the end-of-arm tooling coordinate system；
First motion control subelement is configured to control the end-of-arm tooling along the coordinate system in the default joint
Preset coordinate axis makes rotating motion.
In conjunction with second aspect, in second of second aspect possible embodiment, the establishment of coordinate system subelement packet
It includes:
Second motion control subelement, be configured to control the coordinate system in the default joint according to default spin matrix into
Row rotation, with the coordinate system of the determination end-of-arm tooling.
In conjunction with second aspect, in second aspect in the third possible embodiment, the position orientation relation determination unit, packet
It includes:
Range measurement subelement is configured to measure the characteristic point of the end-of-arm tooling to the default seat in the default joint
The distance of the central point of parameter；
Offset relationship determines subelement, is configured to the characteristic point using the end-of-arm tooling and the seat in the default joint
Predeterminated position relationship between mark system, determines between coordinate system of the characteristic point of the end-of-arm tooling relative to the preset relation
Offset relationship；
Offset distance computation subunit, be configured to according to the motion profile of the characteristic point of the end-of-arm tooling and it is described partially
Shifting relationship, calculate the end-of-arm tooling characteristic point arrive respectively the default joint coordinate system three reference axis offset distance
From；
Excursion matrix determines subelement, is configured to determine the characteristic point phase of the end-of-arm tooling using the offset distance
For the excursion matrix of the coordinate system in the default joint；
Position orientation relation determines subelement, is configured to the excursion matrix and default spin matrix, determines institute
State the position orientation relation of the coordinate system of end-of-arm tooling relative to the coordinate system in the default joint.
The third aspect, this application provides a kind of computer readable storage medium, on the computer readable storage medium
It is stored with the calibrating procedure of tool coordinates system, such as first party is realized when the calibrating procedure of the tool coordinates system is executed by processor
The step of scaling method of tool coordinates system described in face.
Above-mentioned technical proposal provided by the embodiments of the present application has the advantages that compared with prior art
This method provided by the embodiments of the present application, by adjusting target robot default joint to predeterminated position, acquisition
The characteristic point for the end-of-arm tooling being connected with the default joint records the motion profile of the characteristic point of the end-of-arm tooling, will
The geometric figure that the profile of the end-of-arm tooling of target robot end irregular shape is converted to convenient for measurement, utilizes the end
Predeterminated position relationship between the motion profile of the characteristic point of tool and the coordinate system in the default joint determines the end work
Position orientation relation of the coordinate system of tool relative to the coordinate system in the default joint, i.e., calculate end-of-arm tooling phase by geometric algorithm
For the TCP of target robot.
The embodiment of the present application does not need the posture that target robot is varied multiple times, and does not need complicated calculation formula, simplifies
The calibration process of tool coordinates system and the calculating process of calibration algorithm reduce demand of the calibration to power is calculated, improve calibration
Efficiency reduces bringing into for correlated error amount, improves stated accuracy.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, without any creative labor, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of flow chart of the scaling method of tool coordinates system provided by the embodiments of the present application；
Fig. 2 is a kind of flow chart of the scaling method for tool coordinates system that another embodiment of the application provides；
Fig. 3 is a kind of flow chart of the scaling method for tool coordinates system that another embodiment of the application provides；
Fig. 4 is a kind of flow chart of the scaling method for tool coordinates system that another embodiment of the application provides；
Fig. 5 be high frequency provided by the embodiments of the present application acquire camera and target robot put relation schematic diagram；
Fig. 6 is the basic point coordinate system { B } of target robot provided by the embodiments of the present application, the default joint of target robot
Coordinate system { E } and end-of-arm tooling coordinate system { T } schematic diagram；
Fig. 7 is the motion profile of the TCP point of end-of-arm tooling provided by the embodiments of the present application and the default pass of target robot
The positional diagram of the coordinate system { E } of section；
Fig. 8 is a kind of structural schematic diagram of the caliberating device of tool coordinates system provided by the embodiments of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the application, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
Fig. 1 is a kind of scaling method of tool coordinates system provided by the embodiments of the present application, is applied to industrial robot, the mark
Determine method the following steps are included:
S101, the default joint of target robot is adjusted to predeterminated position.
The characteristic point for the end-of-arm tooling that S102, acquisition are connected with default joint.
The motion profile of the characteristic point of S103, recording terminal end tool.
S104, it is closed using the predeterminated position between the motion profile of characteristic point and the coordinate system in default joint of end-of-arm tooling
System determines the position orientation relation of the coordinate system of end-of-arm tooling relative to the coordinate system in default joint.
In another embodiment of the application, as shown in Fig. 2, the characteristic point of above-mentioned steps S103, recording terminal end tool
Motion profile, comprising the following steps:
S1031, the basic point coordinate system for establishing target robot, the coordinate system in default joint and end-of-arm tooling coordinate system.
S1032, control end-of-arm tooling make rotating motion along the preset coordinate axis of the coordinate system in default joint.
In another embodiment of the application, above-mentioned steps S1031, the basic point coordinate system for establishing target robot, preset
The coordinate system in joint and the coordinate system of end-of-arm tooling, comprising: the coordinate system for controlling default joint is carried out according to default spin matrix
Rotation, to determine the coordinate system of end-of-arm tooling.
In another embodiment of the application, as shown in figure 3, above-mentioned steps S104, the characteristic point using end-of-arm tooling
Predeterminated position relationship between motion profile and the coordinate system in default joint determines the coordinate system of end-of-arm tooling relative to default pass
The position orientation relation of the coordinate system of section, comprising the following steps:
S1041, measure end-of-arm tooling characteristic point to preset joint preset coordinate axis central point distance.
S1042, the predeterminated position relationship between the characteristic point of end-of-arm tooling and the coordinate system in default joint, determining end are utilized
The characteristic point of ending tool is relative to the offset relationship between the coordinate system of preset relation.
S1043, motion profile and offset relationship according to the characteristic point of end-of-arm tooling calculate the characteristic point point of end-of-arm tooling
It is clipped to the offset distance of three reference axis of the coordinate system in default joint.
S1044, the offset square of the characteristic point of end-of-arm tooling relative to the coordinate system in default joint is determined using offset distance
Battle array.
S1045, pass through excursion matrix and default spin matrix, determine the coordinate system of end-of-arm tooling relative to default joint
The position orientation relation of coordinate system.
In another embodiment of the application, as shown in figure 4, the characteristic point of above-mentioned steps S1041, measurement end-of-arm tooling arrive
The distance of the central point of the preset coordinate axis in default joint, comprising the following steps:
The distance between S10411, the first default endpoint for determining motion profile and second default endpoint are the first measurement number
According to.
S10412, the distance of central point for determining plane where motion profile to preset coordinate axis are the second measurement data.
S10413, the characteristic point of end-of-arm tooling is calculated using the first measurement data and the second measurement data to presetting joint
The distance of the central point of preset coordinate axis.
As shown in figure 5, putting relationship for what high frequency acquired camera and target robot, the posture of target robot is adjusted,
Six-joint robot is preferably used, keeps the ZE axis in the 6th joint of target robot parallel to the ground；It adjusts high frequency and acquires camera
Position, make the end-of-arm tooling of high frequency acquisition camera face target robot, the end-of-arm tooling in the embodiment of the present application is preferred
Using welding gun.
As shown in fig. 6, establishing the basic point coordinate system { B } of target robot, the coordinate system in the default joint of target robot
The coordinate system { T } of { E } and end-of-arm tooling.For ease of calculation, the coordinate system { T } of the end-of-arm tooling of foundation and target robot
The coordinate system { E } in default joint is consistent, i.e. the coordinate of the coordinate system { E } in the default joint of target robot to end-of-arm tooling
It is the spin matrix of { T } are as follows:
As shown in fig. 7, being the motion profile and target robot of the TCP point of end-of-arm tooling
The positional relationship of the coordinate system { E } in default joint individually controls default joint (the 6th joint) and it is allowed to rotate around zE axis direction
Movement, and the end-of-arm tooling for being fixed on target robot end flange also rotates together, by the TCP point mark of end-of-arm tooling
Be denoted as characteristic point, high frequency acquires camera and captures characteristic point, draw out the motion profile of TCP point, due to end-of-arm tooling TCP point around
ZE axis rotary motion, therefore the track of TCP point is in the regular picture circle in space.
Can measure the longest two-end-point TCP of motion profile by the positional relationship of Fig. 7 is L at a distance from TCP'.Due to
Plane of movement perpendicular to rotational alignment zE, can measure plane of movement to target robot end-of-arm tooling distance, i.e. OO '=
D, the distance of the distal point of end-of-arm tooling to the rotation axis z for presetting joint are L/2 according to geometrical relationship.By space geometry
Coordinate system O-xyz offset relationship of the TCP point relative to default joint of end-of-arm tooling can be obtained in relationship, according to measurement data
Distal point deviate zE wheelbase from be L/2, deviation xE axis be d, it is contemplated that the coordinate of the symmetrical section of end-of-arm tooling and default joint
It is that Oxz plane is overlapped, the distance for deviateing yE axis is 0.The TCP of { T } can be obtained relative to the default of target robot by measurement data
The excursion matrix of the coordinate system { E } in joint are as follows:
The coordinate system { E } in the default joint of combining target robot arrives the coordinate of end-of-arm tooling
It is the spin matrix of { T }, the position orientation relation that { E } arrives { T } can be obtained:
The coordinate system { E } of the coordinate system { T } of end-of-arm tooling relative to the default joint of target robot to sum up can be obtained
Position orientation relation, calibration process greatly reduce target robot pose and change the interference demarcated to tool coordinates system, simplify often
With calibration algorithm complexity formula.
As shown in figure 8, the embodiment of the present application provides a kind of caliberating device of tool coordinates system, it is applied to industrial machine
People, the device include:
Position adjustment unit 11 is configured to the default joint of adjustment target robot to predeterminated position；
Acquisition unit 12 is configured to the characteristic point for the end-of-arm tooling that acquisition is connected with default joint；
Recording unit 13 is configured to the motion profile of the characteristic point of recording terminal end tool；
Position orientation relation determination unit 14 is configured to motion profile and default joint using the characteristic point of end-of-arm tooling
Predeterminated position relationship between coordinate system determines that the coordinate system of end-of-arm tooling is closed relative to the pose of the coordinate system in default joint
System.
In another embodiment of the application, recording unit 13 includes:
Establishment of coordinate system subelement is configured to establish the coordinate system of the basic point coordinate system of target robot, default joint
With the coordinate system of end-of-arm tooling；
First motion control subelement is configured to control end-of-arm tooling along the preset coordinate of the coordinate system in default joint
Axis makes rotating motion.
In another embodiment of the application, establishment of coordinate system subelement includes:
Second motion control subelement, the coordinate system for being configured to control default joint are revolved according to default spin matrix
Turn, to determine the coordinate system of end-of-arm tooling.
In another embodiment of the application, position orientation relation determination unit, comprising:
Range measurement subelement is configured to the characteristic point of measurement end-of-arm tooling into the preset coordinate axis in default joint
The distance of heart point；
Offset relationship determines subelement, is configured to using between the characteristic point of end-of-arm tooling and the coordinate system in default joint
Predeterminated position relationship, determine the characteristic point of end-of-arm tooling relative to the offset relationship between the coordinate system of preset relation；
Offset distance computation subunit is configured to the motion profile and offset relationship of the characteristic point according to end-of-arm tooling,
The characteristic point of calculating end-of-arm tooling arrives the offset distance of three reference axis of the coordinate system in default joint respectively；
Excursion matrix determines subelement, is configured to determine the characteristic point of end-of-arm tooling relative to default using offset distance
The excursion matrix of the coordinate system in joint；
Position orientation relation determines subelement, is configured to excursion matrix and default spin matrix, determines end work
Position orientation relation of the coordinate system of tool relative to the coordinate system in default joint.
The embodiment of the present application provides a kind of computer readable storage medium, is stored with work on computer readable storage medium
Have the calibrating procedure of coordinate system, tool coordinates as shown in Figure 1 are realized when the calibrating procedure of tool coordinates system is executed by processor
The step of scaling method of system.
It should be noted that, in this document, the relational terms of such as " first " and " second " or the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to
Cover non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or setting
Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element.
The above is only a specific embodiment of the invention, is made skilled artisans appreciate that or realizing this hair
It is bright.Various modifications to these embodiments will be apparent to one skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and applied principle and features of novelty phase one herein
The widest scope of cause.
Claims (10)
1. the scaling method of tool coordinates system, which is characterized in that be applied to industrial robot, which comprises
The default joint of target robot is adjusted to predeterminated position；
Acquire the characteristic point for the end-of-arm tooling being connected with the default joint；
Record the motion profile of the characteristic point of the end-of-arm tooling；
It is closed using the predeterminated position between the motion profile of the characteristic point of the end-of-arm tooling and the coordinate system in the default joint
System determines the position orientation relation of the coordinate system of the end-of-arm tooling relative to the coordinate system in the default joint.
2. the scaling method of tool coordinates system according to claim 1, which is characterized in that described to record the end-of-arm tooling
Characteristic point motion profile, comprising:
Establish the basic point coordinate system, the coordinate system in the default joint and the coordinate of the end-of-arm tooling of the target robot
System；
The end-of-arm tooling is controlled to make rotating motion along the preset coordinate axis of the coordinate system in the default joint.
3. the scaling method of tool coordinates system according to claim 2, which is characterized in that described to establish the target machine
The coordinate system of the basic point coordinate system of people, the coordinate system in the default joint and the end-of-arm tooling, comprising:
The coordinate system for controlling the default joint is rotated according to default spin matrix, with the coordinate of the determination end-of-arm tooling
System.
4. the scaling method of tool coordinates system according to claim 3, which is characterized in that described to utilize the end-of-arm tooling
The motion profile of characteristic point and the coordinate system in the default joint between predeterminated position relationship, determine the end-of-arm tooling
Position orientation relation of the coordinate system relative to the coordinate system in the default joint, comprising:
Measure the characteristic point of the end-of-arm tooling to the default joint preset coordinate axis central point distance；
Using the predeterminated position relationship between the characteristic point of the end-of-arm tooling and the coordinate system in the default joint, determine described in
The characteristic point of end-of-arm tooling is relative to the offset relationship between the coordinate system of the preset relation；
According to the motion profile of the characteristic point of the end-of-arm tooling and the offset relationship, the characteristic point of the end-of-arm tooling is calculated
The offset distance of three reference axis of the coordinate system in the default joint is arrived respectively；
The offset of the characteristic point of the end-of-arm tooling relative to the coordinate system in the default joint is determined using the offset distance
Matrix；
By the excursion matrix and default spin matrix, determine the coordinate system of the end-of-arm tooling relative to the default joint
Coordinate system position orientation relation.
5. the scaling method of tool coordinates system according to claim 4, which is characterized in that the measurement end-of-arm tooling
Characteristic point to the default joint preset coordinate axis central point distance, comprising:
Determine that the distance between the first default endpoint and second default endpoint of the motion profile is the first measurement data；
The distance of central point of the plane to the preset coordinate axis is the second measurement data where determining the motion profile；
The characteristic point of the end-of-arm tooling is calculated to the default joint using first measurement data and the second measurement data
Preset coordinate axis central point distance.
6. the caliberating device of tool coordinates system, which is characterized in that be applied to industrial robot, described device includes:
Position adjustment unit is configured to the default joint of adjustment target robot to predeterminated position；
Acquisition unit is configured to the characteristic point for the end-of-arm tooling that acquisition is connected with the default joint；
Recording unit is configured to record the motion profile of the characteristic point of the end-of-arm tooling；
Position orientation relation determination unit is configured to motion profile and the default joint using the characteristic point of the end-of-arm tooling
Coordinate system between predeterminated position relationship, determine coordinate system of the coordinate system of the end-of-arm tooling relative to the default joint
Position orientation relation.
7. the caliberating device of tool coordinates system according to claim 6, which is characterized in that the recording unit includes:
Establishment of coordinate system subelement is configured to establish the seat of the basic point coordinate system of the target robot, the default joint
The coordinate system of mark system and the end-of-arm tooling；
First motion control subelement, be configured to control the end-of-arm tooling along the default joint coordinate system it is default
Reference axis makes rotating motion.
8. the caliberating device of tool coordinates system according to claim 7, which is characterized in that the establishment of coordinate system subelement
Include:
Second motion control subelement, the coordinate system for being configured to control the default joint are revolved according to default spin matrix
Turn, with the coordinate system of the determination end-of-arm tooling.
9. the caliberating device of tool coordinates system according to claim 8, which is characterized in that the position orientation relation determines single
Member, comprising:
Range measurement subelement is configured to measure the characteristic point of the end-of-arm tooling to the preset coordinate axis in the default joint
Central point distance；
Offset relationship determines subelement, is configured to the characteristic point using the end-of-arm tooling and the coordinate system in the default joint
Between predeterminated position relationship, determine the characteristic point of the end-of-arm tooling relative to inclined between the coordinate system of the preset relation
Shifting relationship；
Offset distance computation subunit is configured to be closed according to the motion profile of the characteristic point of the end-of-arm tooling and the offset
System, calculate the end-of-arm tooling characteristic point arrive respectively the default joint coordinate system three reference axis offset distance；
Excursion matrix determines subelement, be configured to determine using the offset distance characteristic point of the end-of-arm tooling relative to
The excursion matrix of the coordinate system in the default joint；
Position orientation relation determines subelement, is configured to the excursion matrix and default spin matrix, determines the end
Position orientation relation of the coordinate system of ending tool relative to the coordinate system in the default joint.
10. a kind of computer readable storage medium, which is characterized in that be stored with tool seat on the computer readable storage medium
The calibrating procedure for marking system is realized when the calibrating procedure of the tool coordinates system is executed by processor as any in claim 1 to 5
The step of scaling method of tool coordinates system described in.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112747675A (en) * | 2020-12-28 | 2021-05-04 | 许海波 | Calibration method capable of correcting offline track of robot based on software |
| CN112847441A (en) * | 2021-01-20 | 2021-05-28 | 广东工业大学 | Six-axis robot coordinate offset detection method and device based on gradient descent method |
| CN114794667A (en) * | 2022-03-31 | 2022-07-29 | 深圳市如本科技有限公司 | Tool calibration method, system, device, electronic equipment and readable storage medium |
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| CN112847441A (en) * | 2021-01-20 | 2021-05-28 | 广东工业大学 | Six-axis robot coordinate offset detection method and device based on gradient descent method |
| CN112847441B (en) * | 2021-01-20 | 2022-02-15 | 广东工业大学 | Six-axis robot coordinate offset detection method and device based on gradient descent method |
| CN114794667A (en) * | 2022-03-31 | 2022-07-29 | 深圳市如本科技有限公司 | Tool calibration method, system, device, electronic equipment and readable storage medium |
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