CN110480638A - A kind of self-compensating palletizing method of articulated robot position and attitude error and its palletizing system - Google Patents
A kind of self-compensating palletizing method of articulated robot position and attitude error and its palletizing system Download PDFInfo
- Publication number
- CN110480638A CN110480638A CN201910769202.5A CN201910769202A CN110480638A CN 110480638 A CN110480638 A CN 110480638A CN 201910769202 A CN201910769202 A CN 201910769202A CN 110480638 A CN110480638 A CN 110480638A
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- motion vector
- axis
- pose
- base coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
Abstract
The invention discloses a kind of self-compensating palletizing method of articulated robot position and attitude error and its palletizing systems, belong to automatic field.Include the following steps: to establish robot base coordinate sys-tem；According to starting point and end point position and kinematic matrix relationship, resultant motion vector is calculated；The attained pose for executing end is detected by laser traces instrument；Calculate the theoretical pose and attained pose under the effect of resultant motion vector；Again the resultant motion vector corrected and exported.The present invention is by executing the multiple target balls of end installation, measure physical location known at least six, according to the relationship executed between ending coordinates system and base coordinate system, determine the attained pose information for executing end, it is compared with theoretical posture information, synthesis motion vector is modified and is exported, stacking task is completed.Solve the execution end attained pose and theoretical pose mismatch problem of articulated robot.
Description
Technical field
The invention belongs to automatic field, the self-compensating palletizing method of especially a kind of articulated robot position and attitude error and
Its palletizing system.
Background technique
Robot palletizer is the mechanical product organically combined with computer program.Higher production is provided for modern production
Efficiency.It has a wide range of applications in logistics and transportation industry, not only saves labour, save space, and improve Transportation Efficiency
Rate reduces transportation cost.Wherein, existing robot palletizer it is much using series connection articulated robot, have it is very high from
By spending, almost it is suitable for the work of any track or angle, can freely programs, completes full-automatic stacking work, improve
Production efficiency.
Robot completes stacking positioning according to the theoretical pose that offline processing program gives, but due to multi-joint of connecting
The presence of robot Installation posture, joint motions error, the theoretical reasons such as processing model and actual processing model.Repeatedly accumulating
After movement, work, robot not can guarantee the direction of motion and target execution position of end effector of robot usually in processing
The normal direction consistency for setting surface can have certain attitude angle deviation, i.e. the execution end attained pose of robot and theory
Pose mismatches.When pile heap is there are when certain deviation, in transport and later period fixation procedure, it is easy to cause pile heap to collapse, shape
At security risk.
Summary of the invention
Goal of the invention: providing a kind of self-compensating palletizing method of articulated robot position and attitude error and its palletizing system, with
It solves the problems, such as involved in above-mentioned background technique.
Technical solution: a kind of self-compensating palletizing method of articulated robot position and attitude error includes the following steps:
S1, robot base coordinate sys-tem is established；
S2, according to starting point and end point position and kinematic matrix relationship, calculate resultant motion vector；
S3, the attained pose for executing end is detected by laser traces instrument；
Theoretical pose and attained pose under S4, calculating resultant motion vector effect；
S5, the resultant motion vector corrected and exported again.
In further implementation process, robot base coordinate sys-tem is established in the S2 step method particularly includes: with machine
People's base central rotary shaft is Z axis, and the line of robot centre rotational axis and the performance objective is X-axis, according to the right-hand rule,
Establish cartesian coordinate system.
In further implementation process, the specific algorithm of resultant motion vector is calculated in the S2 step are as follows:
S21, using the pin shaft of joint junction as the benchmark of coordinate system, rotary joint coordinate is established respectively with the rotation axis of pin shaft
The Z axis of system, specially Zi-2, Zi-1, Zi；
S22, with Zi-1Axis and ZiThe common normal of axis is direction, as XiAxis establishes cartesian coordinate system according to the right-hand rule
Ti；
S23, kinematics matrix relationship A when obtaining from i-1 pin shaft to i pin shafti
Wherein,For base tangent length；For coordinate origin and coordinate origin along common normal at a distance from；For Zi-1To ZiIt
Between angle,For from coordinate system Ti-1To TiChange procedure in the angle that is rotated；
S24, likewise, establishing other each rotary shaft joint coordinate systems respectively, respectively、、……, held
The pose that row ending coordinates tie up to robot base coordinate sys-tem, which changes, is
Wherein, describedWhen for initial change, execute ending coordinates tie up to robot base coordinate system D-H parameter position
Appearance.
In further implementation process, the execution ending coordinates tie up to the D-H parameter of the base coordinate system of robot
Pose:
Wherein,,,,,,,,,To execute the posture changing point that ending coordinates tie up to base coordinate system
Amount,,,To execute the theoretical position transform component that ending coordinates tie up to base coordinate system.
In further implementation process, the attained pose tool of end is executed in the S3 step by the detection of laser traces instrument
Body algorithm are as follows:
S31, target ball is installed on executing end, laser traces instrument host emits after laser beam reaches and execute end, passes through target ball
On reflecting mirror laser beam is returned to laser tracker host, form optical circuit；
S32, according to the position of launch point in laser tracker host and Laser emission direction, calculate and execute the position of end and become
Change component are as follows:
=
Wherein, X, Y, Z be execute end in certain point base coordinate system physical location transform component,For laser traces instrument
Distance of the host to execution end, (X1, Y1, Z1) it is Laser emission origin, (m, n, s) is Laser emission direction；
S34, according to base coordinate system physical location transform componentAnd its it is mutual it is practical away from
It finds out certain point by solving a triangle from relationship and is executing the physical location transform component in ending coordinates system；
S35, the point for executing the known physical location in end 6 is at least chosen, by it in the evolution point for executing platform coordinate system
AmountWith the evolution component in base coordinate systemIt substitutes into
In, it solves known variables execution ending coordinates and ties up to the evolution component in base coordinate system, and
Ending coordinates system is executed successively around the X of base coordinate system, Y, the karr Dan Jiao of Z axis rotation；
S36, finally, obtain execute end attained poseFor。
In further implementation process, the specific method of the S5 step and S6 step is to execute multistage resultant motion vector,
By the deviation between comparison theoretical position and physical location, resultant motion vector is corrected, and exports revised resultant motion vector.
In further implementation process, it is not limited only to stacking, the fixed articulated robot meter of pedestal can also be applied to
Calculate movement synthesis and position and attitude error amendment.The robot is at least applied to stacking, carrying, drilling, welding, gluing field wherein
One of.
A kind of self-compensating palletizing system of articulated robot position and attitude error, including following module: for establishing robot
First module of base coordinate system；For calculating resultant motion vector according to starting point and end point position and kinematic matrix relationship
The second module；For executing the third module of the attained pose of end by the detection of laser traces instrument；For calculating resultant motion
4th module of theoretical pose and attained pose under vector effect；Resultant motion vector the 5th for correcting and exporting again
Module.
In further implementation process, first module is using robot base centre rotational axis as Z axis, robot center
The line of rotary shaft and the performance objective establishes cartesian coordinate system according to the right-hand rule for X-axis.
In further implementation process, second module is using the pin shaft of joint junction as the benchmark of coordinate system, with pin
The rotation axis of axis establishes the Z axis of rotary joint coordinate system, specially Z respectivelyi-2, Zi-1, Zi；With Zi-1Axis and ZiThe public method of axis
Line is direction, as XiAxis establishes cartesian coordinate system T according to the right-hand rulei；Movement when obtaining from i-1 pin shaft to i pin shaft
Learn matrix relationship
Wherein,For base tangent length；For coordinate origin and coordinate origin along common normal at a distance from；For Zi-1To ZiIt
Between angle,For from coordinate system Ti-1To TiChange procedure in the angle that is rotated；Likewise, establishing other each rotations respectively
Shaft joint coordinate system, respectively、、……, obtain executing the position that ending coordinates tie up to robot base coordinate sys-tem
Appearance variation, i.e., theoretical poseFor
Wherein, describedWhen for initial change, execute ending coordinates tie up to robot base coordinate system D-H parameter position
Appearance:
Wherein,,,,,,,,,To execute the posture changing point that ending coordinates tie up to base coordinate system
Amount,,,To execute the evolution component that ending coordinates tie up to base coordinate system.
In further implementation process, the third module installs target ball, laser traces instrument host hair on executing end
After penetrating laser beam arrival execution end, laser beam is returned to laser tracker host, shape by the reflecting mirror in target ball
At optical circuit；According to the position of launch point in laser tracker host and Laser emission direction, the position for executing end is calculated
Set transform component are as follows:
=
Wherein, X, Y, Z be execute end in certain point base coordinate system physical location transform component,For laser traces instrument
Distance of the host to execution end, (X1, Y1, Z1) it is Laser emission origin, (m, n, s) is Laser emission direction；According in pedestal
The physical location transform component of coordinate systemAnd its mutual actual range relationship, by solving triangle
Shape finds out certain point and is executing the physical location transform component in ending coordinates system；It at least chooses and executes end
The point for holding 6 known physical locations, by it in the evolution component for executing platform coordinate systemWith in pedestal
Evolution component in coordinate systemIt substitutes into
In, it solves known variables execution ending coordinates and ties up to the evolution component in base coordinate system, and
Ending coordinates system is executed successively around the X of base coordinate system, Y, the karr Dan Jiao of Z axis rotation；End is executed finally, obtaining
The attained pose at endFor。
In further implementation process, the 4th module and the 5th module execute multistage resultant motion vector, pass through comparison
Deviation between theoretical position and physical location corrects resultant motion vector, and exports revised resultant motion vector.
The utility model has the advantages that the present invention relates to a kind of self-compensating palletizing method of articulated robot position and attitude error and its stacking systems
System measures physical location known at least six by installing multiple target balls executing end, according to execute ending coordinates system with
Relationship between base coordinate system determines the attained pose information for executing end, compares with theoretical posture information, to synthesis
Motion vector is modified and exports, and completes stacking task.Solve the execution end attained pose and reason of articulated robot
By pose mismatch problem.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
A kind of self-compensating palletizing method of articulated robot position and attitude error, includes the following steps
S1, robot base coordinate sys-tem is established: using robot base centre rotational axis as Z axis, robot centre rotational axis and institute
It states the line of performance objective and cartesian coordinate system is established according to the right-hand rule for X-axis.
S2, according to starting point and end point position and kinematic matrix relationship, calculate resultant motion vector.
Wherein, specific motion vector composition algorithm is as follows:
S21, using the pin shaft of joint junction as the benchmark of coordinate system, rotary joint coordinate is established respectively with the rotation axis of pin shaft
The Z axis of system, specially Zi-2, Zi-1, Zi。
S22, with Zi-1Axis and ZiThe common normal of axis is direction, as XiAxis establishes cartesian coordinate according to the right-hand rule
It is Ti。
S23, kinematics matrix relationship A when obtaining from i-1 pin shaft to i pin shafti
Wherein,For base tangent length；For coordinate origin and coordinate origin along common normal at a distance from；For Zi-1To ZiIt
Between angle,For from coordinate system Ti-1To TiChange procedure in the angle that is rotated.
S24, likewise, establishing other each rotary shaft joint coordinate systems respectively, respectively、、……, obtain
The pose that execution ending coordinates tie up to robot base coordinate sys-tem, which changes, is
Wherein, describedWhen for initial change, execute ending coordinates tie up to robot base coordinate system D-H parameter position
Appearance.
In further implementation process, the execution ending coordinates tie up to the D-H parameter of the base coordinate system of robot
Pose:
Wherein,,,,,,,,,To execute the posture changing point that ending coordinates tie up to base coordinate system
Amount,,,To execute the theoretical position transform component that ending coordinates tie up to base coordinate system.
S3, the attained pose for executing end is detected by laser traces instrument.
But it is not limited to laser traces instrument, can also be industrial camera, gyroscope and pressure sensor are (true by gravity center shift
Surely the attained pose of end is executed) etc..Wherein, the measurement method of the attained pose of end is specifically executed by taking laser traces instrument as an example
It is as follows:
S31, target ball is installed on executing end, laser traces instrument host emits after laser beam reaches and execute end, passes through target ball
On reflecting mirror laser beam is returned to laser tracker host, form optical circuit.
S32, according to the position of launch point in laser tracker host and Laser emission direction, calculate the position for executing end
Set transform component are as follows:
=
Wherein, X, Y, Z be execute end in certain point base coordinate system physical location transform component,For laser traces instrument
Distance of the host to execution end, (X1, Y1, Z1) it is Laser emission origin, (m, n, s) is Laser emission direction.
S34, according to base coordinate system physical location transform componentAnd its mutual reality
Border distance relation finds out certain point and is executing the physical location transform component in ending coordinates system by solving a triangle。
S35, the point for executing the known physical location in end 6 is at least chosen, it is become in the position for executing platform coordinate system
Change componentWith the evolution component in base coordinate systemIt substitutes into
In, it solves known variables execution ending coordinates and ties up to the evolution component in base coordinate system, and
Ending coordinates system is executed successively around the X of base coordinate system, Y, the karr Dan Jiao of Z axis rotation。
S36, finally, obtain execute end attained poseFor。
S4, multistage resultant motion vector is being executed, by calculating, comparing theoretical pose and reality under the effect of resultant motion vector
The deviation of pose.
S5, amendment resultant motion vector, and export revised resultant motion vector.
In further implementation process, the present invention is not limited in stacking, can also be applied to the fixed multi-joint of pedestal
Robot calculates movement synthesis and position and attitude error amendment.Those skilled in the art can be according to its actual conditions by the robot
Applied to different fields such as stacking, carrying, drilling, welding, gluings.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the present invention to it is various can
No further explanation will be given for the combination of energy.
Claims (10)
1. a kind of self-compensating palletizing method of articulated robot position and attitude error, which comprises the steps of:
S1, robot base coordinate sys-tem is established；
S2, according to starting point and end point position and kinematic matrix relationship, calculate resultant motion vector；
S3, the attained pose for executing end is detected by laser traces instrument；
Theoretical pose and attained pose under S4, calculating resultant motion vector effect；
S5, the resultant motion vector corrected and exported again.
2. the self-compensating palletizing method of articulated robot position and attitude error according to claim 1, which is characterized in that the S2
Robot base coordinate sys-tem is established in step method particularly includes: using robot base centre rotational axis as Z axis, the rotation of robot center
The line of shaft and the performance objective establishes cartesian coordinate system according to the right-hand rule for X-axis.
3. the self-compensating palletizing method of articulated robot position and attitude error according to claim 1, which is characterized in that the S2
The specific algorithm of resultant motion vector is calculated in step are as follows:
S21, using the pin shaft of joint junction as the benchmark of coordinate system, rotary joint coordinate is established respectively with the rotation axis of pin shaft
The Z axis of system, specially Zi-2, Zi-1, Zi；
S22, with Zi-1Axis and ZiThe common normal of axis is direction, as XiAxis establishes cartesian coordinate system according to the right-hand rule
Ti；
S23, kinematics matrix relationship A when obtaining from i-1 pin shaft to i pin shafti
Wherein,For base tangent length；For coordinate origin and coordinate origin along common normal at a distance from；For Zi-1To ZiIt
Between angle,For from coordinate system Ti-1To TiChange procedure in the angle that is rotated；
S24, likewise, establishing other each rotary shaft joint coordinate systems respectively, respectively、、……, executed
The pose that ending coordinates tie up to robot base coordinate sys-tem, which changes, is
Wherein, describedWhen for initial change, execute ending coordinates tie up to robot base coordinate system D-H parameter pose.
4. the self-compensating palletizing method of articulated robot position and attitude error according to claim 3, which is characterized in that described to hold
Row ending coordinates tie up to the pose of the D-H parameter of the base coordinate system of robot:
Wherein,,,,,,,,,To execute the posture changing component that ending coordinates tie up to base coordinate system,,,To execute the theoretical position transform component that ending coordinates tie up to base coordinate system.
5. the self-compensating palletizing method of articulated robot position and attitude error according to claim 1, which is characterized in that the S3
The attained pose specific algorithm of end is executed in step by the detection of laser traces instrument are as follows:
S31, target ball is installed on executing end, laser traces instrument host emits after laser beam reaches and execute end, passes through target ball
On reflecting mirror laser beam is returned to laser tracker host, form optical circuit；
S32, according to the position of launch point in laser tracker host and Laser emission direction, calculate and execute the position of end and become
Change component are as follows:
=
Wherein, X, Y, Z be execute end in certain point base coordinate system physical location transform component,For laser traces instrument
Distance of the host to execution end, (X1, Y1, Z1) it is Laser emission origin, (m, n, s) is Laser emission direction；
S34, according to base coordinate system physical location transform componentAnd its it is mutual it is practical away from
It finds out certain point by solving a triangle from relationship and is executing the physical location transform component in ending coordinates system；
S35, the point for executing the known physical location in end 6 is at least chosen, by it in the evolution point for executing platform coordinate system
AmountWith the evolution component in base coordinate systemIt substitutes into
In, it solves known variables execution ending coordinates and ties up in base coordinate system, and
Ending coordinates system is executed successively around the X of base coordinate system, Y, the karr Dan Jiao of Z axis rotation；
S36, finally, obtain execute end attained poseFor。
6. the self-compensating palletizing method of articulated robot position and attitude error according to claim 1, which is characterized in that the S5
The specific method of step and S6 step is to execute multistage resultant motion vector, by between comparison theoretical position and physical location
Deviation corrects resultant motion vector, and exports revised resultant motion vector.
7. the self-compensating palletizing method of articulated robot position and attitude error according to claim 1, which is characterized in that not only limit
In stacking, the fixed articulated robot of pedestal can also be applied to and calculate movement synthesis and position and attitude error amendment.
8. the self-compensating palletizing method of articulated robot position and attitude error according to claim 7, which is characterized in that the machine
Device people is at least applied to one of stacking, carrying, drilling, welding, gluing field.
9. a kind of self-compensating palletizing system of articulated robot position and attitude error, which is characterized in that including following module:
For establishing the first module of robot base coordinate sys-tem；
For calculating the second module of resultant motion vector according to starting point and end point position and kinematic matrix relationship；
For executing the third module of the attained pose of end by the detection of laser traces instrument；
For calculating the 4th module of theoretical pose and attained pose under the effect of resultant motion vector；
The 5th module of resultant motion vector for correcting and exporting again.
10. the self-compensating palletizing system of articulated robot position and attitude error according to claim 9, which is characterized in that
First module is using robot base centre rotational axis as Z axis, robot centre rotational axis and the performance objective
Line is X-axis, according to the right-hand rule, establishes cartesian coordinate system；
Second module establishes rotation using the pin shaft of joint junction as the benchmark of coordinate system, with the rotation axis of pin shaft respectively
The Z axis of joint coordinate system, specially Zi-2, Zi-1, Zi；With Zi-1Axis and ZiThe common normal of axis is direction, as XiAxis, according to the right side
Hand rule establishes cartesian coordinate system Ti；Kinematics matrix relationship when obtaining from i-1 pin shaft to i pin shaft
Wherein,For base tangent length；For coordinate origin and coordinate origin along common normal at a distance from；For Zi-1To ZiIt
Between angle,For from coordinate system Ti-1To TiChange procedure in the angle that is rotated；Likewise, establishing other each rotations respectively
Shaft joint coordinate system, respectively、、……, obtain executing the position that ending coordinates tie up to robot base coordinate sys-tem
Appearance variation, i.e., theoretical poseFor
Wherein, describedWhen for initial change, execute ending coordinates tie up to robot base coordinate system D-H parameter pose:
Wherein,,,,,,,,,To execute the posture changing component that ending coordinates tie up to base coordinate system,,,To execute the evolution component that ending coordinates tie up to base coordinate system；
The third module installs target ball on executing end, after laser traces instrument host emits laser beam arrival execution end,
Laser beam is returned to laser tracker host by the reflecting mirror in target ball, forms optical circuit；It is tracked according to laser
The position of launch point and Laser emission direction in instrument host calculate the evolution component for executing end are as follows:
=
Wherein, X, Y, Z be execute end in certain point base coordinate system physical location transform component,For laser traces instrument
Distance of the host to execution end, (X1, Y1, Z1) it is Laser emission origin, (m, n, s) is Laser emission direction；According in pedestal
The physical location transform component of coordinate systemAnd its mutual actual range relationship, by solving triangle
Shape finds out certain point and is executing the physical location transform component in ending coordinates system；It at least chooses and executes end
The point for holding 6 known physical locations, by it in the evolution component for executing platform coordinate systemWith in pedestal
Evolution component in coordinate systemIt substitutes into
In, it solves known variables execution ending coordinates and ties up to the evolution component in base coordinate system, and
Ending coordinates system is executed successively around the X of base coordinate system, Y, the karr Dan Jiao of Z axis rotation；End is executed finally, obtaining
The attained pose at endFor；
4th module and the 5th module execute multistage resultant motion vector, by between comparison theoretical position and physical location
Deviation corrects resultant motion vector, and exports revised resultant motion vector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910769202.5A CN110480638A (en) | 2019-08-20 | 2019-08-20 | A kind of self-compensating palletizing method of articulated robot position and attitude error and its palletizing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910769202.5A CN110480638A (en) | 2019-08-20 | 2019-08-20 | A kind of self-compensating palletizing method of articulated robot position and attitude error and its palletizing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110480638A true CN110480638A (en) | 2019-11-22 |
Family
ID=68552329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910769202.5A Pending CN110480638A (en) | 2019-08-20 | 2019-08-20 | A kind of self-compensating palletizing method of articulated robot position and attitude error and its palletizing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110480638A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300484A (en) * | 2020-03-13 | 2020-06-19 | 达闼科技成都有限公司 | Method for determining joint positioning error of robot, robot and storage medium |
| CN111536874A (en) * | 2020-05-22 | 2020-08-14 | 吉林省计量科学研究院 | Robot pose detection system and method |
| CN111590594A (en) * | 2020-06-22 | 2020-08-28 | 南京航空航天大学 | Robot trajectory tracking control method based on visual guidance |
| CN113028987A (en) * | 2021-03-03 | 2021-06-25 | 中国科学院光电技术研究所 | High-precision six-degree-of-freedom measuring method and device based on laser range finder |
| CN113386136A (en) * | 2021-06-30 | 2021-09-14 | 华中科技大学 | Robot posture correction method and system based on standard spherical array target estimation |
| CN115057245A (en) * | 2022-07-28 | 2022-09-16 | 广东科伺智能科技有限公司 | Code-breaking and stacking system based on bus controller and servo system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101231749A (en) * | 2007-12-20 | 2008-07-30 | 昆山华恒工程技术中心有限公司 | Method for calibrating industry robot |
| CN102692873A (en) * | 2012-05-07 | 2012-09-26 | 上海理工大学 | Industrial robot positioning precision calibration method |
| KR20130094496A (en) * | 2012-02-16 | 2013-08-26 | 주식회사 맘스오피스 | Push stick type cleaner |
| CN105058387A (en) * | 2015-07-17 | 2015-11-18 | 北京航空航天大学 | Industrial robot base coordinate system calibration method based on laser tracker |
| CN109304730A (en) * | 2017-07-28 | 2019-02-05 | 华中科技大学 | A kind of robot kinematics' parameter calibration method based on laser range finder |
-
2019
- 2019-08-20 CN CN201910769202.5A patent/CN110480638A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101231749A (en) * | 2007-12-20 | 2008-07-30 | 昆山华恒工程技术中心有限公司 | Method for calibrating industry robot |
| KR20130094496A (en) * | 2012-02-16 | 2013-08-26 | 주식회사 맘스오피스 | Push stick type cleaner |
| CN102692873A (en) * | 2012-05-07 | 2012-09-26 | 上海理工大学 | Industrial robot positioning precision calibration method |
| CN105058387A (en) * | 2015-07-17 | 2015-11-18 | 北京航空航天大学 | Industrial robot base coordinate system calibration method based on laser tracker |
| CN109304730A (en) * | 2017-07-28 | 2019-02-05 | 华中科技大学 | A kind of robot kinematics' parameter calibration method based on laser range finder |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300484A (en) * | 2020-03-13 | 2020-06-19 | 达闼科技成都有限公司 | Method for determining joint positioning error of robot, robot and storage medium |
| CN111536874A (en) * | 2020-05-22 | 2020-08-14 | 吉林省计量科学研究院 | Robot pose detection system and method |
| CN111590594A (en) * | 2020-06-22 | 2020-08-28 | 南京航空航天大学 | Robot trajectory tracking control method based on visual guidance |
| CN111590594B (en) * | 2020-06-22 | 2021-12-07 | 南京航空航天大学 | Robot trajectory tracking control method based on visual guidance |
| CN113028987A (en) * | 2021-03-03 | 2021-06-25 | 中国科学院光电技术研究所 | High-precision six-degree-of-freedom measuring method and device based on laser range finder |
| CN113386136A (en) * | 2021-06-30 | 2021-09-14 | 华中科技大学 | Robot posture correction method and system based on standard spherical array target estimation |
| CN113386136B (en) * | 2021-06-30 | 2022-05-20 | 华中科技大学 | Robot posture correction method and system based on standard spherical array target estimation |
| CN115057245A (en) * | 2022-07-28 | 2022-09-16 | 广东科伺智能科技有限公司 | Code-breaking and stacking system based on bus controller and servo system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110480638A (en) | A kind of self-compensating palletizing method of articulated robot position and attitude error and its palletizing system | |
| CN110193829B (en) | Robot precision control method for coupling kinematics and rigidity parameter identification | |
| Yu et al. | An analytical solution for inverse kinematic of 7-DOF redundant manipulators with offset-wrist | |
| CN105773609A (en) | Robot kinematics calibration method based on vision measurement and distance error model | |
| CN113001535B (en) | Automatic correction system and method for robot workpiece coordinate system | |
| CN111203861B (en) | Calibration method and calibration system for robot tool coordinate system | |
| CN110480609A (en) | A kind of self-compensating robot palletizer of position and attitude error and its palletizing method | |
| Stadelmann et al. | End-effector pose correction for versatile large-scale multi-robotic systems | |
| CN112025772B (en) | Mechanical arm autonomous calibration method based on visual measurement | |
| CN114523477B (en) | Method, system and storage medium for calibrating joint pose | |
| CN110653137B (en) | Spraying method for keeping spray head vertical to spraying surface | |
| TWI701123B (en) | Automated calibration system and method for workpiece coordinate frame of a robot | |
| CN111590566A (en) | On-orbit calibration method for kinematic parameters of fully-configured space manipulator | |
| CN111216138A (en) | Robot calibration method, robot calibration system and readable storage medium | |
| CN109176487A (en) | A kind of cooperating joint section scaling method, system, equipment, storage medium | |
| CN113119112A (en) | Motion planning method and system suitable for vision measurement of six-degree-of-freedom robot | |
| CN110181522B (en) | Five-degree-of-freedom head-end symmetric mechanical arm inverse kinematics calculation optimization method | |
| CN112476435B (en) | Calibration method and calibration device for gravity acceleration direction and storage medium | |
| CN114474003A (en) | Vehicle-mounted construction robot error compensation method based on parameter identification | |
| CN110039548A (en) | A kind of assembling machine control method, device and equipment | |
| JP2012020388A (en) | Robot system and method for controlling robot | |
| CN109737902B (en) | Industrial robot kinematics calibration method based on coordinate measuring instrument | |
| Liu et al. | A TE-E optimal planning technique based on screw theory for robot trajectory in workspace | |
| Lin et al. | Calibration of a Robot's Tool Center Point Using a Laser Displacement Sensor | |
| CN110722557B (en) | Platform-mechanical arm integrated control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191122 |