CN117428758A - Robot position accurate calibration method and system based on three-coordinate measurement - Google Patents
Robot position accurate calibration method and system based on three-coordinate measurement Download PDFInfo
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a robot position accurate calibration method, a system, equipment and a storage medium based on three-coordinate measurement, wherein a fixture is positioned by a three-coordinate measuring instrument and a fixture body coordinate system is constructed in three-coordinate measuring software; driving a robot end effector to teach to a measuring point, and acquiring a first coordinate of the measuring point in a robot initial user coordinate system and a second coordinate of the measuring point in a fixture body coordinate system; and acquiring first coordinates and second coordinates corresponding to at least three measuring points, solving and calculating a first constraint relation between the fixture body coordinate system and the initial user coordinate system of the robot, and calibrating the offline programming position accuracy of the robot based on the first constraint relation. According to the invention, through the auxiliary calibration of the three-coordinate measuring instrument, the spatial relative relation between the robot body and the processed workpiece (and/or clamp) in the simulation environment can be accurately corrected, the project risk is greatly reduced, the calibration precision of the offline programming program of the robot is improved, and the thread debugging efficiency is improved.
Description
Technical Field
The invention relates to the technical field of robot calibration, in particular to a robot position accurate calibration method and system based on three-coordinate measurement.
Background
Along with the rapid development of technology, industrial robots are widely applied to the automatic production and manufacture of automobile industry body assemblies and sub-assemblies thereof, automatic wire bodies in various fields such as body welding and the like are widely used by various large vehicle enterprises, and corresponding simulation and off-line programming technologies are rapidly growing and perfecting. The off-line programming is a method for programming the robot track planning under the off-line condition by using a special or general program under the special simulation environment. Compared with teaching programming, off-line programming has the advantages of high programming efficiency, high track precision and the like. There are also limitations in off-line programming in production applications: the inconsistency between the simulation environment and the real environment causes errors in the actual application of the off-line programming, and usually, the calibration of the simulation environment and the real environment is performed to cope with the position errors of the off-line programming.
In the prior art, feature points are often selected in a simulation environment, corresponding feature points are acquired in a real environment, and offline programs are compensated based on matching calculation of the feature points. The process is generally ruler measurement or program point uploading simulation environment calibration, manual repeated and fine adjustment is needed, and the accuracy degree is judged by means of eyes, so that the problems of low efficiency and large deviation exist, and the process can only be used for rough position calibration.
With the market competition in force, automobile manufacturers want to shorten the debugging time and reduce the debugging risk as much as possible, and bring new vehicle models to the market as early as possible, which requires that the relative positions of three-dimensional models in the virtual simulation environment and the relative positions of real objects in the field environment are highly matched. Aiming at the problems that the existing offline programming calibration efficiency and position accuracy are too low and the requirements of field practical application cannot be met, a precise relative position calibration method of a robot and a clamp is needed, the position relation in a real environment is highly restored in a virtual environment, and the virtual environment is used for guiding the real environment.
Disclosure of Invention
In view of the above-mentioned drawbacks or improvements of the prior art, it is an object of the present invention to provide a method, system, device and storage medium for accurately calibrating a position of a robot based on three-coordinate measurement.
To achieve the purpose, the invention adopts the following technical scheme:
the invention provides a robot position accurate calibration method based on three-coordinate measurement, a three-coordinate measuring instrument is connected with a robot workstation, and the method comprises the following steps:
positioning a clamp through a three-coordinate measuring instrument and determining a measuring reference position of the clamp so as to construct a clamp vehicle body coordinate system in three-coordinate measuring software;
driving a robot end effector to teach to a measuring point, acquiring a first coordinate of the measuring point in a robot initial user coordinate system, and measuring a second coordinate of the measuring point in a fixture body coordinate system through a three-coordinate measuring instrument;
and acquiring the first coordinates and the second coordinates corresponding to at least three measuring points, solving and calculating a first constraint relation between the fixture body coordinate system and the initial user coordinate system of the robot, and calibrating the offline programming position precision of the robot based on the first constraint relation.
Further, the measured reference positions of the jig include measured reference positions of at least three reference holes.
Further, the constructing the fixture body coordinate system in the three-coordinate measurement software includes:
importing a fixture design model into three-coordinate measurement software, and extracting a design reference position coordinate value in the fixture design model;
positioning the clamp through a three-coordinate measuring instrument, determining a measuring point reference position of the clamp, matching a design reference position coordinate value of a clamp design model with a measuring reference position of the clamp in three-coordinate measuring software, and establishing a clamp equipment coordinate system;
and constructing a fixture body coordinate system in three-coordinate measurement software based on a second constraint relation between the fixture device coordinate system and the fixture body coordinate system.
Further, the step of driving the robot end effector to teach to a measurement point, and acquiring the first coordinate of the measurement point in the initial user coordinate system of the robot includes:
and calibrating a robot tool coordinate system by a six-point calibration method.
Further, the step of driving the robot end effector to teach to a measurement point and acquiring a first coordinate of the measurement point in a robot initial user coordinate system includes:
determining a tool center point according to the robot tool coordinate system;
acquiring the position and the posture of a robot through a robot control system;
and determining a first coordinate of the measuring point in an initial user coordinate system of the robot according to the tool center point and the position and the gesture of the robot.
Further, the step of solving and calculating a first constraint relation between the fixture body coordinate system and the initial user coordinate system of the robot includes:
and solving a coordinate transformation matrix of the fixture body coordinate system and the initial user coordinate system of the robot according to the first coordinates and the second coordinates corresponding to the at least three measuring points.
The invention also provides a robot position accurate calibration system based on three-coordinate measurement, which comprises:
the coordinate system establishing module is configured to establish a clamp equipment coordinate system based on the clamp measurement reference position and the clamp design model of the three-coordinate measuring instrument positioning, and further establish a clamp vehicle body coordinate system;
a coordinate acquisition module configured to acquire a first coordinate of a measurement point in a robot initial user coordinate system and a second coordinate in a fixture body coordinate system when the robot end effector teaches to the measurement point; and
and the constraint relation determining module is configured to calculate a first constraint relation between the fixture body coordinate system and the initial user coordinate system of the robot based on the first coordinates and the second coordinates of at least three measuring points.
Further, the acquiring the first coordinates of the measurement point in the initial user coordinate system of the robot includes: and determining a tool center point based on a robot tool coordinate system, acquiring the position and the gesture of the robot through a robot control system, and further determining a first coordinate of the measuring point in the initial user coordinate system of the robot according to the tool center point and the position and the gesture of the robot.
The invention also provides electronic equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the robot position accurate calibration method based on three-coordinate measurement when executing the computer program.
The invention also provides a computer readable storage medium storing computer instructions that cause the computer to perform the robot position accuracy calibration method based on three-coordinate measurement.
The invention has the beneficial effects that:
the invention provides a robot position accurate calibration method, a system, equipment and a storage medium based on three-coordinate measurement, wherein a clamp is positioned by a three-coordinate measuring instrument and a measurement reference position of the clamp is determined so as to construct a clamp vehicle body coordinate system in three-coordinate measuring software; driving a robot end effector to teach to a measuring point, acquiring a first coordinate of the measuring point in a robot initial user coordinate system, and measuring a second coordinate of the measuring point in a fixture vehicle body coordinate system through a three-coordinate measuring instrument; and acquiring first coordinates and second coordinates corresponding to at least three measuring points, solving and calculating a first constraint relation between the fixture body coordinate system and the initial user coordinate system of the robot, and calibrating the offline programming position accuracy of the robot based on the first constraint relation.
Through the process, the auxiliary calibration of the three-coordinate measuring instrument is realized, the spatial relative relation between the robot body and the processed workpiece (and/or clamp) in the simulation environment can be accurately corrected, the project risk is greatly reduced, the calibration precision of the offline programming program of the robot is improved, and the thread debugging efficiency is improved.
Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a robot position accuracy calibration device based on three-coordinate measurement in an embodiment of the present invention;
FIG. 2 is a flow chart of a method for calibrating positional accuracy of a robot based on three-coordinate measurement in an embodiment of the invention;
fig. 3 is a schematic diagram of a robot position accuracy calibration system based on three-coordinate measurement in an embodiment of the invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It will be understood by those skilled in the art that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs unless defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The embodiment provides a robot position accurate calibration method, a system, equipment and a storage medium based on three-coordinate measurement, which are applied to offline programming calibration of robots in automatic line bodies in the field of vehicle body welding, and are used for measuring the reference position of a clamp based on a three-coordinate measuring instrument so as to establish a clamp vehicle body coordinate system in three-coordinate measuring software; obtaining a first constraint relation of two coordinate systems by carrying out coordinate joint solution on a plurality of measuring points in a fixture body coordinate system and a robot initial user coordinate system; and correcting the position of the three-dimensional model in the simulation environment according to the first constraint relation, so that clamp modeling in the simulation environment accurately corresponds to clamp real objects in the real environment, thereby accurately correcting the relative positions of the robot and the clamp, improving the position accuracy of offline programming of the robot, shortening the debugging time and reducing the debugging risk.
The automotive industry is an important field of application for industrial robots, with welding production being the most representative. In robot simulation, offline programming has the advantages of high programming efficiency and track accuracy. The offline programming can remarkably reduce the workload of field teaching and improve the pose precision of robot operation. However, due to the installation error of the real-world robot and the tooling equipment, there is a positional deviation of the spatial relative relationship between the robot and the workpiece (and/or the jig) being processed in the real-world environment and the spatial relative relationship in the simulation environment. The embodiment effectively solves the problems of low calibration efficiency and poor calibration precision of off-line programming position deviation in the prior art by using the three-coordinate measuring instrument for auxiliary calibration.
Referring to fig. 1, the robot position accuracy calibration device based on three-coordinate measurement in this embodiment includes a robot system, a jig, a three-coordinate measuring instrument, and a workstation.
With continued reference to fig. 1, the robotic system includes a robot body, an end effector, a robotic control cabinet, and a robotic manipulation box. The robot body is used for accurately executing the position, the gesture and the motion track required by the mechanical tail end, and the robot body generally adopts a six-axis joint type manipulator driven by a servo motor. The end flange of the robot body is provided with an end effector which is used for carrying out corresponding process operation on a processed workpiece, and the end effector can be an effector such as a spot welding clamp, a welding gun and the like based on the production process. The robot body is connected with a robot control cabinet, and the robot control cabinet is used for processing information in the working process of the robot body and controlling actions of the robot body; the robot control cabinet is connected with a robot operation box, and the robot operation box is used for reading and writing data, operating the movement of the robot and executing programs.
The robot body in this embodiment can be installed on the ground, also can adopt modes such as side hang, hang upside down, base connection, steel structure etc. to be fixed in other positions.
Further, the clamp is arranged in the movement reach range of the robot body and the end effector and is used for fixing the processed workpiece at a correct processing position. In this embodiment, the clamp may be horizontally or obliquely disposed.
Further, the three-dimensional measuring instrument is arranged on one side of the clamp and used for measuring the robot body, the actuator and the clamp.
Furthermore, the workstation is connected with the three-coordinate measuring instrument through a signal wire, and three-coordinate measuring software is carried in the workstation and used for working cooperatively with the three-coordinate measuring instrument. The workstation can be simultaneously carried with simulation design software for acquiring theoretical data and calibrating simulation environment. In addition, the workstation is also used for realizing the related calculation of coordinate conversion in the robot position accuracy calibration method based on three-coordinate measurement in the embodiment.
The flow chart of the robot position accuracy calibration method based on three-coordinate measurement in this embodiment is shown in fig. 2, and includes steps S10-S30.
In this embodiment, the jig in the real environment is measured and positioned by the three-coordinate measuring instrument, and the jig in the real environment is matched with the jig design model.
And S10, positioning the clamp through a three-coordinate measuring instrument and determining the measurement reference position of the clamp so as to construct a clamp vehicle body coordinate system in three-coordinate measuring software.
The measurement reference positions of the jig in this embodiment include measurement reference positions of at least three reference holes.
Specifically, the jig design model is imported into three-coordinate measurement software, and coordinate values of a design reference position in the jig design model are extracted. And positioning the clamp through a three-coordinate measuring instrument, determining the reference position of the measuring point of the clamp, matching the coordinate value of the design reference position of the clamp design model with the measurement reference position of the clamp in three-coordinate measuring software, and establishing a clamp equipment coordinate system.
For example, if the design reference position is three reference holes, coordinate values of center points of the three reference holes in the jig design model are obtained. And measuring the center positions of three reference holes in the clamp in the real environment through a three-coordinate measuring instrument, and restoring and constructing the center positions of the three reference holes in the real environment in three-coordinate measuring software. In three-coordinate measuring software, the center positions of the three reference holes are matched with coordinate values of the center points of the three reference holes in the fixture design model, and then a fixture equipment coordinate system is established.
Further, the fixture device coordinate system is a coordinate system established by taking the fixture as a reference system, and the origin of the coordinate system is usually set at a certain fixed point of the fixture. In off-line programming, the motion track of the robot is usually designed based on the workpiece to be processed, which is a vehicle body workpiece in this embodiment, so that the coordinate system of the fixture device and the coordinate system of the vehicle body also need to be converted.
Specifically, the fixture body coordinate system is constructed in three-coordinate measurement software based on a second constraint relationship of the fixture device coordinate system and the fixture body coordinate system. It can be appreciated that in this embodiment, the deviation value of the fixture coordinate system and the vehicle body coordinate system may be determined based on the relative positional relationship between the fixture design model and the vehicle body workpiece design model in the simulation environment, so that the second constraint relationship may be determined.
Therefore, the fixture body coordinate system can be built in the three-coordinate measurement software through the process, and the calibration of the fixture body coordinate system and the initial user coordinate system of the robot can be further carried out.
S20, driving a robot end effector to teach to a measuring point, acquiring a first coordinate of the measuring point in an initial user coordinate system of the robot, and measuring a second coordinate of the measuring point in a fixture body coordinate system through a three-coordinate measuring instrument.
The embodiment selects and adopts a robot initial user coordinate system UF 0 And robot tool coordinate system UT i Accurate trajectory control can be achieved, and programming procedures are generic after resetting the robot user coordinate system and the robot work coordinate system. Further, the initial user coordinate system of the robot is a reference for calculation of the data of the robot itself.
In order to avoid the influence of machining errors of a robot body and an end effector on calibration accuracy, a robot tool coordinate system is calibrated by a six-point calibration method.
Specifically, the six-point calibration method comprises the steps of calibrating the position and the gesture of a tool center point, wherein the position of the tool center point is calibrated by enabling the first four calibration points to coincide with the position of the tool center point, so that the tool center point is calculated. The gesture calibration of the tool center point is to calculate the gesture of the tool coordinate system relative to the initial user coordinate system of the robot through the last three calibration points with special azimuth relations.
In this embodiment, after calibration of the robot tool coordinate system is completed by the six-point calibration method, measurement calibration may be performed: the robot end effector is driven to teach to the measuring point, and a first coordinate of the measuring point in a robot initial user coordinate system and a second coordinate in a fixture body coordinate system are obtained.
The step of acquiring the first coordinate of the measuring point in the initial user coordinate system of the robot comprises the following steps: determining a tool center point according to a robot tool coordinate system; acquiring the position and the posture of a robot through a robot control system; and determining a first coordinate of the measuring point in the initial user coordinate system of the robot according to the tool center point and the position and the gesture of the robot.
The step of obtaining the second coordinates of the measuring point in the fixture body coordinate system includes: when the robot end effector teaches to the measuring point, the position of the robot end effector is measured by a three-coordinate measuring instrument, position data of the measuring point is transmitted to three-coordinate measuring software, and second coordinates of the measuring point are determined based on a fixture body coordinate system in the three-coordinate measuring software.
In this embodiment, the measurement points are points near the fixture, and the measurement points are not less than three. It will be appreciated that each time the robotic end effector is controlled to teach to a measurement point, a coordinate acquisition is made, wherein the coordinate acquisition includes a first coordinate acquisition and a second coordinate acquisition.
After the first coordinates and the second coordinates of each measuring point are obtained, the relative position relation between the fixture body coordinate system and the initial user coordinate system of the robot is solved according to a plurality of groups of the first coordinates and the second coordinates.
S30, acquiring first coordinates and second coordinates corresponding to at least three measuring points, solving and calculating a first constraint relation between a fixture body coordinate system and a robot initial user coordinate system, and calibrating the robot offline programming position precision based on the first constraint relation.
Specifically, according to the first coordinates and the second coordinates corresponding to at least three measuring points, a coordinate transformation matrix of a fixture body coordinate system and a robot initial user coordinate system is solved.
For any measurement point, its first sitting in the fixture body coordinate system is marked as [ X ] A Y A Z A ]A second sitting mark of the robot in the initial user coordinate system is [ X ] B Y B Z B ]. For the measurement point, the coordinate conversion relationship between its first coordinate and its second coordinate can be represented by a rotation matrix and a translation amount:
wherein R is a rotation matrix, delta X 、Δ Y 、Δ z Is the translation amount.
Obviously, the rotation matrix R is a third-order orthogonal matrix, and the rotation matrix R can be constructed by using an antisymmetric matrix Q.
R＝(E+Q)(E-Q) -1 ；
Wherein, the antisymmetric matrix Q:
from the properties of the orthogonal matrix, one can obtain:
R＝(E+Q)(E-Q) -1 ；
wherein E is an identity matrix.
In a specific embodiment, if three measurement points are provided, the first measurement point P 1 Second measuring point P 2 Third measuring point P 3 The first coordinates of (a) are: [ X ] A1 Y A1 Z A1 ]、[X A2 Y A2 Z A2 ]、[X A3 Y A3 Z A3 ]. First measuring point P 1 Second measuring point P 2 Third measuring point P 3 The method comprises the following steps: [ X ] B1 Y B1 Z B1 ]、[X B2 Y B2 Z B2 ]、[X B3 Y B3 Zx 3 ]。
In this embodiment, the calculation of the rotation matrix R includes:
the first measuring point P 1 And a second measuring point P 2 The coordinate values of (2) are brought into a formula of a coordinate conversion relation and subtracted to obtain:
for simplicity of representation, X is used A12 X represents A1 -X A2 And the like, the simplification is obtained:
further, the rotation matrix in the above expression is represented by an antisymmetric matrix, and it is possible to obtain:
substituting the antisymmetric matrix into the above formula can result in:
further, the simplification calculation results in:
similarly, based on the first measuring point P 1 And a third measuring point P 3 The first and second coordinates of (a) may be obtained:
further, based on the above formula, simultaneous solving can be achieved:
solving to obtain an antisymmetric matrix, and further calculating a rotation matrix according to the property of the orthogonal matrix:
converting the rotation matrix into Euler angles, wherein the rotation angles of the initial user coordinate system of the robot relative to the fixture body coordinate system at X, Y, Z axes are alpha, beta and gamma respectively:
in this embodiment, the calculation of the translation amount includes:
bringing the first coordinate, the second coordinate and the rotation matrix of the first measuring point into a formula of a coordinate conversion relation, and solving to obtain:
in summary, the first constraint relation between the fixture body coordinate system and the robot initial user coordinate system is obtained by solving and calculating a coordinate transformation matrix of the robot initial user coordinate system relative to the fixture body coordinate system.
Further, the robot offline programming procedure is calibrated according to the first constraint relationship. In this embodiment, the coordinate transformation matrix in the first constraint relationship may be input into the simulation environment to correct the spatial relative relationship between the robot and the workpiece (and/or the fixture) to be processed in the simulation environment, or may be input into the robot controller through the robot operation box to calibrate the offline programming program.
The embodiment also provides a robot position accurate calibration system based on three-coordinate measurement, a schematic diagram of the system is shown in fig. 3, and the system comprises a coordinate system establishment module, a coordinate acquisition module and a constraint relation determination module.
The coordinate system establishment module is configured to establish a fixture device coordinate system based on the fixture determination reference position and the fixture design model of the three-coordinate measuring instrument positioning, and further establish a fixture vehicle body coordinate system.
The coordinate acquisition module is configured to acquire a first coordinate of the measurement point in a robot initial user coordinate system and a second coordinate in a fixture body coordinate system when the robot end effector teaches to the measurement point.
Further, the step of obtaining the first coordinates includes: the method comprises the steps of determining a tool center point based on a robot tool coordinate system, acquiring the position and the gesture of a robot through a robot control system, and further determining a first coordinate of a measuring point in a robot initial user coordinate system according to the tool center point and the position and the gesture of the robot.
The constraint relation determination module is configured to solve a first constraint relation between the calculated fixture body coordinate system and the robot initial user coordinate system based on the first coordinates and the second coordinates of the at least three measurement points.
The embodiment also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the robot position accurate calibration method based on three-coordinate measurement in the embodiment when executing the computer program.
The present embodiment also provides a computer-readable storage medium, where the computer scale storage medium stores computer instructions that cause a computer to execute the robot position accurate calibration method based on three-coordinate measurement in the present embodiment.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
The foregoing is only a partial embodiment of the present application, and it should be noted that, for a person skilled in the art, several improvements and modifications can be made without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (10)
1. A method for accurately calibrating a position of a robot based on three-coordinate measurement, the method comprising:
positioning a clamp through a three-coordinate measuring instrument and determining a measuring reference position of the clamp so as to construct a clamp vehicle body coordinate system in three-coordinate measuring software;
driving a robot end effector to teach to a measuring point, acquiring a first coordinate of the measuring point in a robot initial user coordinate system, and measuring a second coordinate of the measuring point in a fixture body coordinate system through a three-coordinate measuring instrument;
and acquiring the first coordinates and the second coordinates corresponding to at least three measuring points, solving and calculating a first constraint relation between the fixture body coordinate system and the initial user coordinate system of the robot, and calibrating the offline programming position precision of the robot based on the first constraint relation.
2. The method of three-coordinate measurement based robotic position precision calibration of claim 1, wherein the measured reference positions of the fixture comprise measured reference positions of at least three reference holes.
3. The method for accurately calibrating a position of a robot based on three-coordinate measurement according to claim 1, wherein the constructing a jig body coordinate system in three-coordinate measurement software comprises:
importing a fixture design model into three-coordinate measurement software, and extracting a design reference position coordinate value in the fixture design model;
positioning the clamp through a three-coordinate measuring instrument, determining a measuring point reference position of the clamp, matching a design reference position coordinate value of a clamp design model with a measuring reference position of the clamp in three-coordinate measuring software, and establishing a clamp equipment coordinate system;
and constructing a fixture body coordinate system in three-coordinate measurement software based on a second constraint relation between the fixture device coordinate system and the fixture body coordinate system.
4. A method of accurately calibrating a position of a robot based on three-coordinate measurement according to any of claims 1-3, wherein said step of driving the robot end effector to teach to a measurement point, and acquiring a first coordinate of said measurement point in a robot initial user coordinate system, comprises:
and calibrating a robot tool coordinate system by a six-point calibration method.
5. The method for accurately calibrating a position of a robot based on three-coordinate measurement according to claim 4, wherein the step of driving the robot end effector to teach to a measurement point and acquiring a first coordinate of the measurement point in a robot initial user coordinate system comprises:
determining a tool center point according to the robot tool coordinate system;
acquiring the position and the posture of a robot through a robot control system;
and determining a first coordinate of the measuring point in an initial user coordinate system of the robot according to the tool center point and the position and the gesture of the robot.
6. The method for accurately calibrating a position of a robot based on three-coordinate measurement according to claim 1, wherein the step of solving and calculating a first constraint relation between the fixture body coordinate system and the initial user coordinate system of the robot comprises:
and solving a coordinate transformation matrix of the fixture body coordinate system and the initial user coordinate system of the robot according to the first coordinates and the second coordinates corresponding to the at least three measuring points.
7. A robot position accuracy calibration system based on three-coordinate measurement, comprising:
the coordinate system establishing module is configured to establish a clamp equipment coordinate system based on the clamp measurement reference position and the clamp design model of the three-coordinate measuring instrument positioning, and further establish a clamp vehicle body coordinate system;
a coordinate acquisition module configured to acquire a first coordinate of a measurement point in a robot initial user coordinate system and a second coordinate in a fixture body coordinate system when the robot end effector teaches to the measurement point; and
and the constraint relation determining module is configured to calculate a first constraint relation between the fixture body coordinate system and the initial user coordinate system of the robot based on the first coordinates and the second coordinates of at least three measuring points.
8. The three-coordinate measurement based robot position accuracy calibration system of claim 7, wherein the acquiring the first coordinates of the measurement point in the initial user coordinate system of the robot comprises: and determining a tool center point based on a robot tool coordinate system, acquiring the position and the gesture of the robot through a robot control system, and further determining a first coordinate of the measuring point in the initial user coordinate system of the robot according to the tool center point and the position and the gesture of the robot.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the robot position accurate calibration method based on three-coordinate measurement according to any of claims 1-6 when executing the computer program.
10. A computer readable storage medium storing computer instructions for causing the computer to perform the three-coordinate measurement based robot position accuracy calibration method of any one of claims 1-6.
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