CN114001622B - Robot movement distance measuring device and method based on double pull wire sensors - Google Patents
Robot movement distance measuring device and method based on double pull wire sensors Download PDFInfo
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- CN114001622B CN114001622B CN202111642983.5A CN202111642983A CN114001622B CN 114001622 B CN114001622 B CN 114001622B CN 202111642983 A CN202111642983 A CN 202111642983A CN 114001622 B CN114001622 B CN 114001622B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/02—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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Abstract
The invention discloses a robot movement distance measuring device and a measuring method based on double pull wire sensors, wherein the measuring device comprises: the robot is used for moving and driving the measuring device to move; the tail end connector is used for controlling the stay wire of the measuring device to be always intersected at the intersection point of the central line of the cylindrical boss and the rotation axis of the L-shaped rotating arm; the measuring device is used for feeding back the length change of the stay wire and the included angle between the stay wire and the gravity direction in the motion process of the robot.
Description
Technical Field
The invention belongs to the technical field of industrial robot measurement, and particularly relates to a robot movement distance measuring device and method based on a double-stay-wire sensor.
Background
With the rapid development of the robot technology, the industrial robot is gradually widely applied in the fields of welding, assembly and the like. The precision error of the industrial robot mainly relates to two stages; firstly, in the production stage, the geometric parameters of the robot are different from the theoretical design due to the processing and assembling errors of the parts of the robot body, so that the positioning accuracy of the robot is reduced; second, the application stage, along with industrial robot's continuous operation, all can lead to robot body positioning accuracy's decline because of operational environment changes, servo motor heat dissipation, joint friction etc. its leading cause is that the temperature arouses the thermal deformation of connecting rod and joint, and then causes robot geometric parameters's change, leads to industrial robot's positioning accuracy can't satisfy current job task demand.
The precision performance of the industrial robot can be effectively improved through a robot calibration technology, and geometric parameter calibration is one of the main adopted modes at present.
The basic steps of geometric parameter calibration are modeling, measurement, identification and compensation. At present, the measurement of the positioning error of the tail end of the industrial robot is mainly realized by adopting equipment such as a laser tracker, a laser interferometer, a stereo vision and the like, and the price of the equipment is usually higher and is generally more than 50 ten thousand even millions.
The robot tail end positioning error is divided into a position error, an attitude error and a pose error, and a position error model, an attitude error model and a pose error model are respectively established in a modeling stage. If the calculation of the error is realized, accurate conversion of a measurement coordinate system of the measurement equipment and a robot base coordinate system needs to be realized, and literature research shows that new errors are inevitably introduced into the conversion of the coordinate system. The robot geometric parameter calibration realized based on the distance error model can effectively avoid the problem, and is mainly divided into measurement systems based on a single pull line sensor, a three pull line sensor and a pull line sensor at present, wherein the measurement systems of the three pull line sensors and the four pull line sensors mainly realize position measurement.
The measuring system based on the single stay wire sensor can realize distance measurement, and does not consider the measuring error caused by the influence of the wire diameter and the material of the stay wire when the stay wire sensor is positioned on an inclined stay wire.
Therefore, it is desirable to provide a robot movement distance device and a robot movement distance measuring method based on a dual-pull sensor, which can not only ensure the measurement accuracy of the distance error of the industrial robot, but also effectively reduce the manufacturing cost of the measuring system.
Disclosure of Invention
The invention aims to provide a robot movement distance measuring device and a robot movement distance measuring method based on double pull wire sensors, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: robot movement distance measuring device based on two sensors that act as go-between, wherein, include:
the robot is used for moving and driving the measuring device to move;
the tail end connector comprises a transfer plate used for being connected with the robot, and a cylindrical boss is arranged on the transfer plate; the cylindrical boss is movably connected with a U-shaped rotating arm, and the U-shaped rotating arm is movably provided with an L-shaped rotating arm used for being connected with a pull wire of the measuring device;
the tail end connector is used for controlling the stay wire of the measuring device to be always intersected at the intersection point of the central line of the cylindrical boss and the rotation axis of the L-shaped rotating arm;
and the measuring device is used for feeding back the length change of the stay wire and the included angle between the stay wire and the gravity direction in the motion process of the robot.
Preferably, the number of the U-shaped rotating arms is 2, and the U-shaped rotating arms are a and b respectively; the number of the L-shaped rotating arms is 2, and the L-shaped rotating arms are respectively an L-shaped rotating arm a and an L-shaped rotating arm b.
Preferably, the axes of rotation of the two L-shaped rotating arms are collinear.
Preferably, the L-shaped rotating arm is provided with a stay wire mounting hole concentric with the center line of the cylindrical boss, and the stay wire mounting hole is used for controlling the stay wire of the measuring device to be always intersected at the intersection point of the center line of the cylindrical boss and the rotating axis of the L-shaped rotating arm.
Preferably, the measuring device comprises a mounting plate, pull line sensors for feeding back length changes of pull lines are arranged at two ends of the mounting plate, and the pull lines of the pull line sensors are connected with the L-shaped rotating arms.
Preferably, the pull wire of the pull wire sensor is fixedly sleeved with a cylinder, and the cylinder is fixedly sleeved with a biaxial inclinometer for feeding back an included angle between the pull wire and the gravity direction.
Preferably, the number of the pull-line sensors is 2, and the pull-line sensors are respectively a pull-line sensor a and a pull-line sensor b; the number of the biaxial inclinometers is 2, and the biaxial inclinometers are a biaxial inclinometer a and a biaxial inclinometer b respectively.
Another object of the present invention is to provide a robot movement distance measuring method based on a dual pull line sensor, wherein the method comprises the following steps:
step 1: fixedly installing a measuring device on the front side of the robot, controlling the stay wires of the stay wire sensor a and the stay wire sensor b to always intersect at the intersection point of the central line of the cylindrical boss and the rotation axis of the L-shaped rotating arm, and controlling the distance between the stay wire outlets of the stay wire sensor a and the stay wire sensor b to be L;
step 2: when the robot moves to a point P1, the stay wire sensor a and the stay wire sensor b respectively output stay wire length values, the biaxial inclinometer a and the biaxial inclinometer b respectively output three included angles with the gravity direction, and two direction vectors of a stay wire and an included angle theta 1 of the two direction vectors are calculated;
and step 3: when the robot moves to a point P2, the stay wire sensor a and the stay wire sensor b respectively output stay wire length values, the biaxial inclinometer a and the biaxial inclinometer b respectively output three included angles with the gravity direction, and two direction vectors of a stay wire and an included angle theta 2 of the two direction vectors are calculated;
and 4, step 4: determining that the linear distance from a point P1 to a point P2 is D through an included angle theta 3 of direction vectors of the stay wires of one stay wire sensor at the point P1 and the point P2 and an included angle theta 4 of direction vectors of the stay wires of the other stay wire sensor at the point P1 and the point P2;
and 5: the measurement error is compensated by an error model.
Preferably, in step 5: the measurement error is proportional to the angle of inclination of the wire, and therefore, the error model is defined as:
wherein delta is the included angle between the stay wire and the vertical line.
The robot movement distance measuring device and the measuring method based on the double-stay-wire sensor have the advantages that:
1. the radian error of the stay wire sensor can be effectively solved, the distance error measurement precision of the robot is ensured, and the guarantee is provided for improving the tail end positioning precision of the industrial robot;
2. the accurate measurement of the distance error of the industrial robot is realized only by two conventional sensors, namely the stay wire sensor and the biaxial inclinometer, so that the manufacturing cost of a measurement system is effectively reduced.
Drawings
FIG. 1 is a schematic view of the robot motion distance measuring system installation of the present invention;
FIG. 2 is a schematic view of a distance measuring device of the present invention;
FIG. 3 is a schematic view of the tip connector installation of the present invention;
FIG. 4 is a block diagram of the tip connector of the present invention;
FIG. 5 is a functional schematic of the tip connector of the present invention;
FIG. 6 is a schematic view of a two-axis inclinometer installation of the present invention;
FIG. 7 is a schematic view of the distance of movement measurement calculation of the present invention;
fig. 8 is a schematic view illustrating a measurement error of the pull sensor of the present invention.
In the figure: 1. a robot; 2. a measuring device; 3. a terminal connector; 4. a pull wire;
21. mounting a plate; 22. a pull wire sensor a; 23. a pull wire sensor b; 24. a cylinder; 25. a biaxial inclinometer a; 26. a biaxial inclinometer b;
31. an adapter plate; 32. a cylindrical boss; 33. a U-shaped rotating arm a; 34. a U-shaped rotating arm b; 35. an L-shaped rotating arm a; 36. an L-shaped rotating arm b; 37. a stay wire mounting hole.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 8 in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The present invention provides a robot movement distance measuring apparatus based on a double pull line sensor as shown in fig. 1 to 5, wherein it comprises:
and the robot 1 is used for moving and driving the measuring device 2 to move.
The tail end connector 3 comprises an adapter plate 31 used for being connected with the robot 1, the adapter plate 31 is fixedly arranged on a flange plate at the tail end of the robot 1 through screws, and a cylindrical boss 32 is arranged on the adapter plate 31; swing joint has U type swinging boom on the cylinder boss 32, and two U type swinging booms cup joint on the cylinder boss 32 of keysets 31 through the bearing, through the setting of bearing, make U type swinging booms can rotate for cylinder boss 32, just the side activity of U type swinging booms is equipped with the L shape swinging boom that is used for 4 connections of acting as go-between with measuring device 2, and L shape swinging boom can rotate for U type swinging boom.
And the end connector 3 is used for controlling the stay wire 4 of the measuring device 2 to always intersect at the intersection point of the central line of the cylindrical boss 32 and the rotation axis of the L-shaped rotating arm.
And the measuring device 2 is used for feeding back the length change of the stay wire 4 and the included angle between the stay wire 4 and the gravity direction in the movement process of the robot 1.
Specifically, the number of the U-shaped rotating arms is 2, and the U-shaped rotating arms are U-shaped rotating arm a33 and U-shaped rotating arm b 34; the number of the L-shaped rotating arms is 2, and the L-shaped rotating arms are respectively L-shaped rotating arm a35 and L-shaped rotating arm b 36.
Specifically, the rotation axes of the two L-shaped rotating arms are collinear, that is, the rotation axes of L-shaped rotating arm a35 and L-shaped rotating arm b36 are collinear.
In the present invention, the U-shaped rotating arms are sleeved on the cylindrical bosses 32 of the adapter plate 31 through bearings, and the rotation axes of the two U-shaped rotating arms are collinear with the center lines of the cylindrical bosses 32, that is, the rotation axes of the U-shaped rotating arm a33 and the U-shaped rotating arm b34 are collinear with the center lines of the cylindrical bosses 32.
Specifically, the L-shaped rotating arm is provided with a stay wire mounting hole 37 concentric with the center line of the cylindrical boss 32, and the stay wire mounting hole 37 provided on the L-shaped rotating arm is concentric with the center line of the cylindrical boss 32, and the rotation axis of the stay wire mounting hole 37 is the rotation axis of the L-shaped rotating arm, so that when the L-shaped rotating arm rotates, the stay wire mounting hole 37 is always intersected at the intersection point of the center line of the cylindrical boss 32 and the rotation axis of the L-shaped rotating arm, and is used for further controlling the stay wire 4 of the measuring device 2 to be always intersected at the intersection point of the center line of the cylindrical boss 32 and the rotation axis of the L-shaped rotating arm.
Specifically, the measuring device 2 comprises a mounting plate 21, pull-wire sensors for feeding back the length change of the pull wire 4 are arranged at two ends of the mounting plate 21, and the pull-wire sensors are respectively fixedly mounted at two ends of the fixed mounting plate 21 through screws, in the invention, the number of the pull-wire sensors is 2, namely the pull-wire sensors a22 and b23, and through the arrangement of the 2 pull-wire sensors, the measuring error caused by the influence of the wire diameter and the material of the pull wire 4 can be effectively solved while the distance measurement is realized, so that the measuring precision of the distance error of the industrial robot 1 can be ensured, and the manufacturing cost of a measuring system can be effectively reduced.
In the invention, the stay wire 4 of the stay wire sensor is connected with the stay wire mounting hole 37 arranged on the L-shaped rotating arm, so that the stay wire 4 of the stay wire sensor always intersects at the intersection point of the central line of the cylindrical boss 32 and the rotating axis of the L-shaped rotating arm.
Referring to fig. 6, specifically, a cylinder 24 is fixedly sleeved on the pull wire 4 of the pull wire sensor, the cylinder 24 does not move on the pull wire 4, and a biaxial inclinometer for feeding back an included angle between the pull wire 4 and the gravity direction is fixedly sleeved outside the cylinder 24, the static angle measurement accuracy of the biaxial inclinometer is high and can reach 0.005 degrees, in the present invention, the number of the biaxial inclinometer is 2, and the biaxial inclinometer is a biaxial inclinometer a25 and a biaxial inclinometer b 26.
Referring to fig. 7 and 8, another object of the present invention is to provide a robot movement distance measuring method based on a dual pull line sensor, wherein the method comprises the following steps:
step 1: after the robot 1 is fixedly installed, the adapter plate 31 arranged on the end connector 3 is fixedly installed with a flange plate at the end of the robot 1 through screws, and is respectively connected with the stay wires 4 on the stay wire sensor a22 and the stay wire sensor b23 through the stay wire installation holes 37 arranged on the L-shaped rotating arm a35 and the L-shaped rotating arm b36, and the stay wire installation holes 37 are concentric with the central line of the cylindrical boss 32, so that the stay wires 4 on the stay wire sensor a22 and the stay wire sensor b23 can be controlled to be always intersected at the intersection point of the central line of the cylindrical boss 32 and the rotating axis of the L-shaped rotating arm, and the measuring device 2 is fixedly installed at the front side of the robot 1, and at the moment, the outlet distance of the stay wire 4 of the stay wire sensor a22 and the stay wire sensor b23 is L.
Step 2: after the robot 1 has moved to a certain point in space, point P1.
The pull sensor a22 and the pull sensor b23 output the length of the pull wire 4, L11 and L21, respectively, wherein: the first subscript value is the mark of the pull-wire sensor, the second value is the serial number of the measured value, and in the present invention, the subscript of the pull-wire sensor a22 is 1, and the subscript of the pull-wire sensor b23 is 2.
The biaxial inclinometer a25 and the biaxial inclinometer b26 output three included angles with the gravity direction respectively, which are respectively α 11, β 11, γ 11, α 21, β 21, γ 21, wherein: the first subscript value is the designation of the biaxial inclinometer and the second value is the serial number of the measurement, and in the present invention, the subscript of the biaxial inclinometer a25 is 1 and the subscript of the biaxial inclinometer b26 is 2.
The γ angle can be obtained by the direction cosine theorem, and the direction vectors m11 and m21 of the stay wire 4 can be calculated according to the above angle values, and the calculation formula is as follows:
m11=（cos（α11），cos（β11），cos（γ11））；
m21=（cos（α21），cos（β21），cos（γ21））；
the angle between the direction vector m11 and m21 is θ 1, then cos θ 1= m11 · m 21/(| m11 |. m21 |).
And step 3: after the robot 1 has moved to a certain point in space, point P2.
The pull sensor a22 and the pull sensor b23 output the length of the pull wire 4, L12 and L22, respectively, wherein: the first subscript value is the mark of the pull-wire sensor, the second value is the serial number of the measured value, and in the present invention, the subscript of the pull-wire sensor a22 is 1, and the subscript of the pull-wire sensor b23 is 2.
The biaxial inclinometer a25 and the biaxial inclinometer b26 output three included angles with the gravity direction respectively, which are respectively alpha 12, beta 12, gamma 12, alpha 22, beta 22 and gamma 22, wherein: the first subscript value is the designation of the biaxial inclinometer and the second value is the serial number of the measurement, and in the present invention, the subscript of the biaxial inclinometer a25 is 1 and the subscript of the biaxial inclinometer b26 is 2.
The γ angle can be obtained by the direction cosine theorem, and the direction vectors m12 and m22 of the stay wire 4 can be calculated according to the above angle values, and the calculation formula is as follows:
m12=（cos（α12），cos（β12），cos（γ12））；
m22=（cos（α22），cos（β22），cos（γ22））；
the angle between the direction vector m12 and m22 is θ 2, then cos θ 2= m12 · m 22/(| m12 |. m22 |).
The following formula can be obtained according to the cosine theorem:
and 4, step 4: a straight-line distance D from the point P1 to the point P2 is defined.
The angle between the direction vectors m12 and m11 of the stay wires 4 of the stay wire sensor a22 defining the point P1 and the point P2 is θ 3, and the calculation formula of the angle is: cos θ 3= m12 · m 11/(| m12| · | m11 |).
The angle between the direction vectors m22 and m21 of the stay wire 4 of the stay wire sensor b23 defining the point P1 and the point P2 is θ 4, then the calculation formula of the angle is: cos θ 4= m21 · m 22/(| m21| · | m22 |).
The following formula can be obtained according to the cosine theorem:
and 5: because the influence of the wire diameter and the material of the stay wire 4 of the stay wire sensor can cause the measurement error, the stay wire 4 of the stay wire sensor usually adopts a steel wire, and in the invention, the diameter of the stay wire 4 of the stay wire sensor is 0.8mm, so an arc curve is formed at the outlet of the stay wire 4 of the stay wire sensor a22 and the stay wire sensor b23, which inevitably causes the measurement length of the stay wire sensor a22 and the stay wire sensor b23 to be larger, therefore, the error needs to be compensated, and the error is in direct proportion to the inclination angle of the stay wire 4.
Therefore, the error model is defined as
Wherein: delta is the angle of the stay wire 4 from the vertical, i.e. the angle gamma.
Therefore, the robot movement distance measuring device and the robot movement distance measuring method based on the double-stay-wire sensor can not only ensure the measuring precision of the distance error of the robot 1, but also effectively reduce the manufacturing cost of a measuring system.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (9)
1. Robot movement distance measuring device based on two sensors that act as go-between, its characterized in that includes:
the robot (1) is used for moving and driving the measuring device (2) to move;
the tail end connector (3) comprises an adapter plate (31) used for being connected with the robot (1), and a cylindrical boss (32) is arranged on the adapter plate (31);
the cylindrical boss (32) is movably connected with a U-shaped rotating arm, and the U-shaped rotating arm is movably provided with an L-shaped rotating arm used for being connected with a pull wire (4) of the measuring device (2);
the tail end connector (3) is used for controlling the pull wire (4) of the measuring device (2) to be always intersected at the intersection point of the central line of the cylindrical boss (32) and the rotating axis of the L-shaped rotating arm;
and the measuring device (2) is used for feeding back the length change of the stay wire (4) and the included angle between the stay wire (4) and the gravity direction in the movement process of the robot (1).
2. The robot movement distance measuring device based on the double pull wire sensor according to claim 1, wherein: the number of the U-shaped rotating arms is 2, and the U-shaped rotating arms are a (33) and a b (34) respectively;
the number of the L-shaped rotating arms is 2, and the L-shaped rotating arms are respectively an L-shaped rotating arm a (35) and an L-shaped rotating arm b (36).
3. The robot movement distance measuring device based on the double pull wire sensor according to claim 1, wherein: the rotation axes of the two L-shaped rotating arms are collinear.
4. The robot movement distance measuring device based on the double pull wire sensor according to claim 1, wherein: the L-shaped rotating arm is provided with a stay wire mounting hole (37) concentric with the center line of the cylindrical boss (32) and used for controlling the stay wire (4) of the measuring device (2) to be always intersected at the intersection point of the center line of the cylindrical boss (32) and the rotating axis of the L-shaped rotating arm.
5. The robot movement distance measuring device based on the double pull wire sensor according to claim 1, wherein: the measuring device (2) comprises a mounting plate (21), pull-wire sensors for feeding back length changes of the pull wires (4) are arranged at two ends of the mounting plate (21), and the pull wires (4) of the pull-wire sensors are connected with the L-shaped rotating arms.
6. The robot movement distance measuring device based on the double pull wire sensor according to claim 1, wherein: the stay wire (4) of the stay wire sensor is fixedly sleeved with a cylinder (24), and the cylinder (24) is externally and fixedly sleeved with a biaxial inclinometer for feeding back an included angle between the stay wire (4) and the gravity direction.
7. The robot movement distance measuring device based on the double pull-wire sensor according to claim 5 or 6, wherein: the number of the stay wire sensors is 2, and the stay wire sensors are respectively a stay wire sensor a (22) and a stay wire sensor b (23);
the number of biaxial inclinometers is 2, and biaxial inclinometer a (25) and biaxial inclinometer b (26), respectively.
8. The robot movement distance measuring method based on the double-stay-wire sensor is characterized by comprising the following steps of:
step 1: fixedly mounting a measuring device (2) on the front side of a robot (1), controlling a stay wire (4) of a stay wire sensor a (22) and a stay wire sensor b (23) to always intersect at the intersection point of the central line of a cylindrical boss (32) and the rotation axis of an L-shaped rotating arm, wherein the outlet distance of the stay wire (4) of the stay wire sensor a (22) and the stay wire sensor b (23) is L;
step 2: when the robot (1) moves to a point P1, the stay wire sensor a (22) and the stay wire sensor b (23) respectively output the length value of a stay wire (4), the two-axis inclinometer a (25) and the two-axis inclinometer b (26) respectively output three included angles with the gravity direction, and two direction vectors of the stay wire (4) and an included angle theta 1 of the two direction vectors are calculated;
and step 3: when the robot (1) moves to a point P2, the stay wire sensor a (22) and the stay wire sensor b (23) respectively output the length value of a stay wire (4), the two-axis inclinometer a (25) and the two-axis inclinometer b (26) respectively output three included angles with the gravity direction, and two direction vectors of the stay wire (4) and an included angle theta 2 of the two direction vectors are calculated;
and 4, step 4: determining that the linear distance from the point P1 to the point P2 is D through an included angle theta 3 of the direction vectors of the stay wires (4) of one stay wire sensor from the point P1 and the point P2 and an included angle theta 4 of the direction vectors of the stay wires (4) of the other stay wire sensor from the point P1 and the point P2;
and 5: the measurement error is compensated by an error model.
9. The method for measuring the moving distance of the robot based on the double pull wire sensors as claimed in claim 8, wherein in the step 5: the measurement error is proportional to the inclination angle of the wire (4), and therefore, the error model is defined as:
wherein δ isThe pull wire (4) forms an included angle with the vertical line.
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| AU2011202892A1 (en) * | 2010-06-17 | 2012-01-19 | Wireline Engineering Pty Ltd | Depth Encoder for Hoist Cable |
| CN104890013A (en) * | 2015-06-02 | 2015-09-09 | 南京航空航天大学 | Pull-cord encoder based calibration method of industrial robot |
| CN107471257A (en) * | 2017-08-17 | 2017-12-15 | 南京航空航天大学 | Robot geometric calibration method based on single stay encoder |
| CN109262652A (en) * | 2018-09-06 | 2019-01-25 | 上海大学 | A kind of interference detection method for early warning for more rod piece multi-joints mechanism |
| CN208557596U (en) * | 2018-06-29 | 2019-03-01 | 爱在工匠智能科技(苏州)有限公司 | Adjustable stay-supported Robot calibration device |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2011202892A1 (en) * | 2010-06-17 | 2012-01-19 | Wireline Engineering Pty Ltd | Depth Encoder for Hoist Cable |
| CN104890013A (en) * | 2015-06-02 | 2015-09-09 | 南京航空航天大学 | Pull-cord encoder based calibration method of industrial robot |
| CN107471257A (en) * | 2017-08-17 | 2017-12-15 | 南京航空航天大学 | Robot geometric calibration method based on single stay encoder |
| CN208557596U (en) * | 2018-06-29 | 2019-03-01 | 爱在工匠智能科技(苏州)有限公司 | Adjustable stay-supported Robot calibration device |
| CN109262652A (en) * | 2018-09-06 | 2019-01-25 | 上海大学 | A kind of interference detection method for early warning for more rod piece multi-joints mechanism |
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