CN117733852A - Tool calibration method and device, industrial robot and storage medium - Google Patents
Tool calibration method and device, industrial robot and storage medium Download PDFInfo
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Abstract
The invention provides a tool calibration method, a tool calibration device, an industrial robot and a storage medium, and relates to the technical field of robot tool calibration. According to the method, the control points of the first tool before replacement and calibrated and the control points of the second tool after replacement and uncalibrated are aligned to the same preset external fixed position, so that a transformation matrix of a first tool coordinate system and a transformation matrix of a second tool coordinate system are obtained, and then the transformation matrix of the first tool coordinate system and the transformation matrix of the second tool coordinate system and the pre-stored pose relation of the first tool coordinate system relative to the first flange coordinate system are utilized to obtain the pose relation of the second tool coordinate system used for calibrating the second tool relative to the second flange coordinate system, so that the replaced tool can be calibrated quickly, and time cost is saved.
Description
Technical Field
The invention relates to the technical field of robot tool calibration, in particular to a tool calibration method, a tool calibration device, an industrial robot and a storage medium.
Background
Currently, in the process of using an industrial robot, a user is inevitably required to replace an end effector due to collision or other reasons. Most manufacturers calibrate the replaced end effector by a 6-point method or by mechanically making a measuring tool, and the end effector needs to be calibrated for a plurality of times in a traditional mode when the end effector has a plurality of control points. The 6-point method is relatively cumbersome and requires a lot of time. The gauge requires additional design and manufacturing costs.
Disclosure of Invention
The invention provides a tool calibration method, a tool calibration device, an industrial robot and a computer readable storage medium, which can be used for quickly calibrating a replaced end controller, so that the time cost is saved.
The technical scheme of the invention can be realized as follows:
in a first aspect, the present invention provides a method of tool calibration, the method comprising:
controlling a control point of a calibrated first tool installed at the tail end of an industrial robot to be aligned with a preset external fixed position, and obtaining a first pose relation of a calibrated tool coordinate system of the tail end of the industrial robot relative to a basic coordinate system of the industrial robot;
under the condition that the fact that an uncalibrated second tool is replaced at the tail end of the industrial robot is detected, a control point of the second tool is controlled to be aligned with the preset external fixed position, and a second pose relation of a calibrated tool coordinate system of the tail end of the industrial robot relative to a basic coordinate system of the industrial robot is obtained;
obtaining a transformation matrix of a first tool coordinate system and a second tool coordinate system according to the first pose relation and the second pose relation, wherein the first tool coordinate system is a tool coordinate system of the first tool, and the second tool coordinate system is a tool coordinate system of the second tool;
and obtaining the pose relation of the second tool coordinate system for calibrating the second tool relative to a second flange coordinate system by utilizing the transformation matrix of the first tool coordinate system and the second tool coordinate system and the pre-stored pose relation of the first tool coordinate system relative to the first flange coordinate system, wherein the first flange coordinate system is a flange coordinate system of a flange of the industrial robot end provided with the first tool, and the second flange coordinate system is a flange coordinate system of a flange of the industrial robot end provided with the second tool.
Optionally, the step of obtaining the transformation matrix of the first tool coordinate system and the second tool coordinate system according to the first pose relationship and the second pose relationship includes:
acquiring a first matrix and a second matrix, wherein the first matrix represents the first pose relationship, and the second matrix represents the second pose relationship;
inverting the second matrix, and generating a third matrix according to the inverted second matrix and the first matrix; the third matrix is a transformation matrix of the first tool coordinate system and the second tool coordinate system.
Optionally, the first matrix, the second matrix, and the third matrix satisfy the following formula:
wherein,for the first matrix,/a>For the second matrix, T T1T2 For the third matrix.
Optionally, the step of obtaining the pose relationship of the second tool coordinate system for calibrating the second tool relative to the second flange coordinate system by using the transformation matrix of the first tool coordinate system and the second tool coordinate system and the pre-stored pose light relationship of the first tool coordinate system relative to the first flange coordinate system includes:
acquiring a fourth matrix, wherein the fourth matrix represents the pose relation of a pre-stored first tool coordinate system relative to a first flange coordinate system;
and multiplying the fourth matrix by the third matrix to obtain a fifth matrix, wherein the fifth matrix represents the pose relation of the second tool coordinate system relative to the second flange coordinate system.
Optionally, the third matrix, the fourth matrix, and the fifth matrix, the fourth matrix satisfy the following formula:
wherein T is T1T2 For the third matrix to be the one in question,for the fourth matrix,/a matrix>Is the fifth matrix.
Optionally, the method further comprises:
and controlling the second tool to work according to the pose relation of the second tool coordinate system relative to the second flange coordinate system so as to enable the working track of the second tool to be consistent with the working track of the first tool.
In a second aspect, the present invention provides a tool calibration device, the device comprising:
the acquisition module is used for controlling the control point of the calibrated first tool arranged at the tail end of the industrial robot to be aligned with a preset external fixed position, and acquiring a first pose relation of the calibrated tool coordinate system of the tail end of the industrial robot relative to the basic coordinate system of the industrial robot; under the condition that the fact that an uncalibrated second tool is replaced at the tail end of the industrial robot is detected, a control point of the second tool is controlled to be aligned with the preset external fixed position, and a second pose relation of a calibrated tool coordinate system of the tail end of the industrial robot relative to a basic coordinate system of the industrial robot is obtained;
the processing module is used for obtaining a transformation matrix of a first tool coordinate system and a second tool coordinate system according to the first pose relation and the second pose relation, wherein the first tool coordinate system is a tool coordinate system of the first tool, and the second tool coordinate system is a tool coordinate system of the second tool; and obtaining the pose relation of the second tool coordinate system for calibrating the second tool relative to a second flange coordinate system by utilizing the transformation matrix of the first tool coordinate system and the second tool coordinate system and the pre-stored pose relation of the first tool coordinate system relative to the first flange coordinate system, wherein the first flange coordinate system is a flange coordinate system of a flange of the industrial robot end provided with the first tool, and the second flange coordinate system is a flange coordinate system of a flange of the industrial robot end provided with the second tool.
Optionally, the device further comprises a calibration module;
and the calibration module is used for controlling the second tool to work according to the pose relation of the second tool coordinate system relative to the second flange coordinate system so as to enable the working track of the second tool to be consistent with the working track of the first tool.
In a third aspect, the present invention provides an industrial robot comprising a memory, a processor and a tool mounted at the end of the industrial robot, the memory storing a computer program which when executed by the processor implements the tool calibration method according to the first aspect.
In a fourth aspect, the present invention provides a computer readable storage medium storing a computer program which when executed by a processor implements the tool calibration method of the first aspect.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a coordinate system of an industrial robot according to an embodiment of the present invention;
FIG. 2 is a schematic block diagram of an industrial robot according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a tool calibration method according to an embodiment of the present invention;
FIG. 4 is a second flow chart of a tool calibration method according to an embodiment of the present invention;
FIG. 5 is a functional block diagram of a tool calibration device according to an embodiment of the present invention.
Icon: 100-an industrial robot; 110-memory; a 120-processor; 200-tool calibration device; 201-obtaining a module; 202-a processing module; 203-calibration module.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
As shown in fig. 1, a tool (for example, a welding gun) is mounted on a flange at the end of an industrial robot, and the base coordinate system of the industrial robot is a coordinate system inherent to the industrial robot body and can be used for explaining the position of the robot with reference to the world coordinate system. The flange of the end connecting tool of the industrial robot is provided with a flange coordinate system, and the control point of the tool, namely the end of the tool is provided with a tool coordinate system.
As shown in fig. 2, an industrial robot 100 according to an embodiment of the present invention includes a memory 110 and a processor 120.
The processor 120 may be a general purpose central processing unit (Central Processing Unit, CPU), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the tool calibration method provided by the method embodiments described below.
MEMory 110 may be, but is not limited to, ROM or other type of static storage device that may store static information and instructions, RAM or other type of dynamic storage device that may store information and instructions, or an electrically erasable programmable Read-Only MEMory (EEPROM), compact Read-Only MEMory (CD-ROM) or other optical disk storage, optical disk storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 110 may be stand alone and be coupled to the processor 120 via a communication bus. Memory 110 may also be integrated with processor 120. Wherein the memory 110 is used to store machine executable instructions for performing aspects of the present application. Processor 120 is operative to execute machine executable instructions stored in memory 110 to implement method embodiments described below.
At present, in the process of using the industrial robot, a user is inevitably required to replace a tool due to collision or other reasons, and in order to quickly calibrate the replaced tool, time cost is saved.
Referring to fig. 3, the tool calibration method includes steps S101 to S104.
S101, controlling a control point of a calibrated first tool installed at the tail end of the industrial robot to be aligned with a preset external fixed position, and obtaining a first pose relation of a calibrated tool coordinate system of the tail end of the industrial robot relative to a basic coordinate system of the industrial robot.
The process of calibrating the tool can be regarded as obtaining the pose relation of the tool coordinate system of the tool relative to the flange coordinate system of the flange of the industrial robot end connecting tool, and the pose relation of the tool coordinate system of the first calibrated tool, namely the tool before replacement, relative to the flange coordinate system of the flange of the first tool connected with the industrial robot end is obtained in the process of calibrating the first calibrated tool.
Since the tool coordinate system of the tool mounted at the end of the industrial robot is stored as the calibrated tool coordinate system by the operating system of the industrial robot after being calibrated, it is understood that the first tool coordinate system is stored by the operating system of the industrial robot, and thus the calibrated tool coordinate system at the end of the industrial robot is the first tool coordinate system.
The preset external fixed position may be any position in the working environment in which the industrial robot is located.
In a possible implementation, the control point of the first tool is the origin of the tool coordinate system of the first tool, and since the industrial robot stores the first tool coordinate system as a calibrated tool coordinate system, when the control point of the first tool is aligned with the preset external fixed position, a relative position of the first tool coordinate system in this case can be obtained, which can reflect the pose relationship of the first tool coordinate system with respect to the base coordinate system of the industrial robot, that is, the first pose relationship of the calibrated tool coordinate system with respect to the base coordinate system of the industrial robot is the pose relationship of the first tool coordinate system with respect to the base coordinate system of the industrial robot.
And S102, under the condition that the fact that the uncalibrated second tool is replaced at the tail end of the industrial robot is detected, controlling the control point of the second tool to be aligned with the preset external fixed position, and obtaining a second pose relation of the calibrated tool coordinate system of the tail end of the industrial robot relative to the basic coordinate system of the industrial robot.
Since the second tool is uncalibrated, its tool coordinate system, i.e. the second tool coordinate system, is not stored by the operating system of the industrial robot, it will be appreciated that the operating system of the industrial robot still considers that the first tool is mounted on the industrial robot at this time, i.e. the uncalibrated second tool is replaced, while the calibrated tool coordinate system of the industrial robot still remains the first tool coordinate system. The control point of the second tool is the origin of the second tool coordinate system, and when the control point of the second tool is aligned with the preset external fixed position, the relative position of the calibrated tool coordinate system is obtained, and the relative position can reflect the pose relation of the calibrated tool coordinate system relative to the basic coordinate system of the industrial robot because the industrial robot does not store the second tool coordinate system as the calibrated tool coordinate system.
Although the position of the base coordinate system of the industrial robot remains unchanged in both cases, there is a difference between the first tool and the second tool (e.g. the model or the spatial position of the control point), the relative positions of the calibrated tool coordinate systems obtained in both cases are different.
The first tool is arranged at the tail end of the industrial robot, the first tool coordinate system is also stored as a calibrated tool coordinate system by the operating system of the industrial robot, and the obtained relative position of the calibrated tool coordinate system is the relative position of the first tool coordinate system and can reflect the pose relation of the first tool coordinate system relative to the industrial robot base coordinate system.
The latter is that the end of the industrial robot is provided with a second tool, but the calibrated tool coordinate system stored by the operating system of the industrial robot is the first tool coordinate system, the obtained relative position of the calibrated tool coordinate system is the relative position of the first tool coordinate system in the view of the industrial robot, but the relative position of the second tool coordinate system actually can reflect the pose relation of the second tool coordinate system relative to the industrial robot base coordinate system.
It will be appreciated that the first pose relationship of the calibrated tool coordinate system of the industrial robot tip with respect to the base coordinate system of the industrial robot is the pose relationship of the first tool coordinate system with respect to the base coordinate system of the industrial robot, and the second pose relationship of the calibrated tool coordinate system of the industrial robot tip with respect to the base coordinate system of the industrial robot is the pose relationship of the second tool coordinate system with respect to the base coordinate system of the industrial robot.
In the embodiment of the invention, the first pose relationship can be represented by using a first matrix with a dimension of 4*4.
The elements of the first 3 columns in the first 3 rows of the first matrix characterize a first pose relationship of the calibrated tool coordinate system of the industrial robot tip with respect to the base coordinate system of the industrial robot.
Column 4 elements in the first 3 rows of the first matrix characterize a first positional relationship of the calibrated tool coordinate system of the industrial robot tip with respect to the base coordinate system of the industrial robot.
The 4 th row elements of the first matrix are constant, e.g. the 4 th row elements are all 1.
Likewise, a second pose relationship may be characterized using a second matrix of dimensions 4*4.
The elements of the first 3 columns in the first 3 rows of the second matrix characterize a second pose relationship of the calibrated tool coordinate system of the industrial robot tip with respect to the base coordinate system of the industrial robot.
Column 4 elements in the first 3 rows of the second matrix characterize the positional relationship of the calibrated tool coordinate system of the industrial robot tip with respect to the base coordinate system of the industrial robot.
The elements of row 4 of the second matrix are constant, e.g. the elements of row 4 are all 1.
S103, according to the first pose relation and the second pose relation, a transformation matrix of the first tool coordinate system and the second tool coordinate system is obtained.
In a possible implementation, step S103 may include substeps S103-1 through S103-2.
S103-1, acquiring a first matrix and a second matrix;
the first matrix can be written asThe second matrix is marked->Wherein T1 is a first tool coordinate system, T2 is a second tool coordinate system, B is a base coordinate system of the industrial robot, and A is a preset external fixed position.
S103-2, inverting the second matrix, and generating a third matrix according to the inverted second matrix and the first matrix.
The third matrix is a transformation matrix of the first tool coordinate system and the second tool coordinate system.
The third matrix can be denoted as T T1T2 In the embodiment of the invention, T T1T2 、The following formula is satisfied:
it will be appreciated that asAnd +.>T T1T2 Is also 4*4.
And S104, obtaining the pose relation of the second tool coordinate system for calibrating the second tool relative to the second flange coordinate system by utilizing the transformation matrix of the first tool coordinate system and the second tool coordinate system and the pre-stored pose relation of the first tool coordinate system relative to the first flange coordinate system.
The first flange coordinate system is a flange coordinate system of a flange of the industrial robot end provided with the first tool, and the second flange coordinate system is a flange coordinate system of a flange of the industrial robot end provided with the second tool.
In a possible implementation, step S104 may include substeps S104-1 through S104-2.
S104-2, acquiring a fourth matrix.
Wherein the fourth matrix characterizes a pre-stored pose relationship of the first tool coordinate system relative to the first flange coordinate system, and can be recorded asF is a flange coordinate system of a flange at the tail end of the industrial robot.
In an embodiment of the present invention, in the present invention,the dimension of (2) may be 4*4, < >>The first 3 columns of elements in the first 3 rows of (c) characterize the pose relationship of the first tool coordinate system with respect to the first flange coordinate system.
Column 4 of the first 3 lines of (c) characterizes the positional relationship of the first tool coordinate system with respect to the first flange coordinate system.
Is a constant, e.g. the elements of row 4 are all 1.
S10, multiplying the fourth matrix by the third matrix to obtain a fifth matrix.
Wherein the fifth matrix characterizes a pose relationship of the second tool coordinate system relative to the second flange coordinate system.
The fifth matrix may be noted asIn the embodiment of the invention, T T1T2 、/>And +.>The following formula is satisfied:
as same asAnd T T1T2 Likewise, the->Is also 4*4.
The first 3 columns of elements in the first 3 rows of (c) characterize the pose relationship of the second tool coordinate system with respect to the second flange coordinate system.
Column 4 of elements in the first 3 rows characterizes the positional relationship of the second tool coordinate system with respect to the second flange coordinate system.
Is a constant, e.g. the elements of row 4 are all 1.
It will be appreciated that the process of obtaining the pose relationship of the second tool coordinate system relative to the second flange coordinate system is a process of calibrating the second tool.
Referring to fig. 4, the tool calibration method further includes step S105.
S105, controlling the second tool to work according to the pose relation of the second tool coordinate system relative to the second flange coordinate system so that the working track of the second tool is consistent with the working track of the first tool.
In an embodiment of the invention, the pose relationship of the tool coordinate system relative to the flange coordinate system of the flange at the end of the industrial robot is used for guiding the working process of the tool.
Writing the obtained fifth matrix representing the pose relation of the second tool coordinate system relative to the second flange coordinate system into a tool operation program, wherein the tool number recorded in the tool operation program is required to be replaced by the tool number of the second tool from the tool number of the first tool.
By running the tool working program, the industrial robot can execute according to the program point position, so that the execution track of the second tool is consistent with the first tool working track.
It should be noted that the first tool and the second tool may be tools mounted on the flange at the end of the industrial robot before and after any replacement, and the calibration process of the tools mounted on the flange at the end of the industrial robot is realized by performing calibration through a 6-point method or mechanically making a measuring tool, and the method provided by the embodiment of the invention can be used for realizing quick calibration for each subsequent tool replacement.
In order to perform the corresponding steps of the above method embodiments and of the various possible embodiments, an implementation of a tool calibration device 200 applied to a processor of an industrial robot is given below.
Referring to fig. 5, the tool calibration device 200 includes an obtaining module 201, a processing module 202, and a calibration module 203.
An obtaining module 201, configured to control a control point of a calibrated first tool installed at an end of an industrial robot to align with a preset external fixed position, and obtain a first pose relationship of a calibrated tool coordinate system of the end of the industrial robot with respect to a base coordinate system of the industrial robot; under the condition that the fact that an uncalibrated second tool is replaced at the tail end of the industrial robot is detected, a control point of the second tool is controlled to be aligned with a preset external fixed position, and a second pose relation of a calibrated tool coordinate system of the tail end of the industrial robot relative to a basic coordinate system of the industrial robot is obtained;
the processing module 202 is configured to obtain a transformation matrix of a first tool coordinate system and a second tool coordinate system according to the first pose relationship and the second pose relationship, where the first tool coordinate system is a tool coordinate system of the first tool, and the second tool coordinate system is a tool coordinate system of the second tool; and obtaining the pose relation of the second tool coordinate system for calibrating the second tool relative to the second flange coordinate system by utilizing the transformation matrix of the first tool coordinate system and the second tool coordinate system and the pre-stored pose relation of the first tool coordinate system relative to the first flange coordinate system, wherein the first flange coordinate system is a flange coordinate system of a flange of the industrial robot end provided with the first tool, and the second flange coordinate system is a flange coordinate system of a flange of the industrial robot end provided with the second tool.
And the calibration module 203 controls the operation of the second tool according to the pose relation of the second tool coordinate system relative to the second flange coordinate system so that the operation track of the second tool is consistent with the operation track of the first tool.
It will be clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the tool calibration device 200 described above may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
The embodiment of the invention also provides a computer readable storage medium containing a computer program, which when executed can be used for executing the related operations in the tool calibration method provided by the method embodiment.
The present invention is not limited to the above embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. A method of tool calibration, the method comprising:
controlling a control point of a calibrated first tool installed at the tail end of an industrial robot to be aligned with a preset external fixed position, and obtaining a first pose relation of a calibrated tool coordinate system of the tail end of the industrial robot relative to a basic coordinate system of the industrial robot;
under the condition that the fact that an uncalibrated second tool is replaced at the tail end of the industrial robot is detected, a control point of the second tool is controlled to be aligned with the preset external fixed position, and a second pose relation of a calibrated tool coordinate system of the tail end of the industrial robot relative to a basic coordinate system of the industrial robot is obtained;
obtaining a transformation matrix of a first tool coordinate system and a second tool coordinate system according to the first pose relation and the second pose relation, wherein the first tool coordinate system is a tool coordinate system of the first tool, and the second tool coordinate system is a tool coordinate system of the second tool;
and obtaining the pose relation of the second tool coordinate system for calibrating the second tool relative to a second flange coordinate system by utilizing the transformation matrix of the first tool coordinate system and the second tool coordinate system and the pre-stored pose relation of the first tool coordinate system relative to the first flange coordinate system, wherein the first flange coordinate system is a flange coordinate system of a flange of the industrial robot end provided with the first tool, and the second flange coordinate system is a flange coordinate system of a flange of the industrial robot end provided with the second tool.
2. The method of claim 1, wherein the step of obtaining a transformation matrix of a first tool coordinate system and a second tool coordinate system from the first pose relationship and the second pose relationship comprises:
acquiring a first matrix and a second matrix, wherein the first matrix represents the first pose relationship, and the second matrix represents the second pose relationship;
inverting the second matrix, and generating a third matrix according to the inverted second matrix and the first matrix; the third matrix is a transformation matrix of the first tool coordinate system and the second tool coordinate system.
3. The method of claim 2, wherein the first matrix, the second matrix, and the third matrix satisfy the following formula:
wherein,for the first matrix,/a>For the second matrix, T T1T2 For the third matrix.
4. The method of claim 2, wherein the step of obtaining the pose relationship of the second tool coordinate system relative to the second flange coordinate system for calibrating the second tool using the transformation matrix of the first tool coordinate system and the second tool coordinate system and the pre-stored pose light relationship of the first tool coordinate system relative to the first flange coordinate system comprises:
acquiring a fourth matrix, wherein the fourth matrix represents the pose relation of a pre-stored first tool coordinate system relative to a first flange coordinate system;
and multiplying the fourth matrix by the third matrix to obtain a fifth matrix, wherein the fifth matrix represents the pose relation of the second tool coordinate system relative to the second flange coordinate system.
5. The method of claim 4, wherein the third matrix, the fourth matrix, and the fifth and fourth matrices satisfy the following formula:
wherein T is T1T2 For the third matrix to be the one in question,for the fourth matrix,/a matrix>Is the fifth matrix.
6. The method of claim 1, wherein the method further comprises:
and controlling the second tool to work according to the pose relation of the second tool coordinate system relative to the second flange coordinate system so as to enable the working track of the second tool to be consistent with the working track of the first tool.
7. A tool calibration device, the device comprising:
the acquisition module is used for controlling the control point of the calibrated first tool arranged at the tail end of the industrial robot to be aligned with a preset external fixed position, and acquiring a first pose relation of the calibrated tool coordinate system of the tail end of the industrial robot relative to the basic coordinate system of the industrial robot; under the condition that the fact that an uncalibrated second tool is replaced at the tail end of the industrial robot is detected, a control point of the second tool is controlled to be aligned with the preset external fixed position, and a second pose relation of a calibrated tool coordinate system of the tail end of the industrial robot relative to a basic coordinate system of the industrial robot is obtained;
the processing module is used for obtaining a transformation matrix of a first tool coordinate system and a second tool coordinate system according to the first pose relation and the second pose relation, wherein the first tool coordinate system is a tool coordinate system of the first tool, and the second tool coordinate system is a tool coordinate system of the second tool; and obtaining the pose relation of the second tool coordinate system for calibrating the second tool relative to a second flange coordinate system by utilizing the transformation matrix of the first tool coordinate system and the second tool coordinate system and the pre-stored pose relation of the first tool coordinate system relative to the first flange coordinate system, wherein the first flange coordinate system is a flange coordinate system of a flange of the industrial robot end provided with the first tool, and the second flange coordinate system is a flange coordinate system of a flange of the industrial robot end provided with the second tool.
8. The method of claim 7, wherein the apparatus further comprises a calibration module;
and the calibration module is used for controlling the second tool to work according to the pose relation of the second tool coordinate system relative to the second flange coordinate system so as to enable the working track of the second tool to be consistent with the working track of the first tool.
9. An industrial robot, characterized in that it comprises a memory, a processor and a tool mounted at the end of the industrial robot, said memory storing a computer program which, when executed by said processor, implements the tool calibration method according to any one of claims 1-6.
10. A computer readable storage medium, characterized in that it stores a computer program, which when executed by a processor implements the tool calibration method according to any one of claims 1-6.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311781365.8A CN117733852A (en) | 2023-12-21 | 2023-12-21 | Tool calibration method and device, industrial robot and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311781365.8A CN117733852A (en) | 2023-12-21 | 2023-12-21 | Tool calibration method and device, industrial robot and storage medium |
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| CN117733852A true CN117733852A (en) | 2024-03-22 |
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| CN202311781365.8A Pending CN117733852A (en) | 2023-12-21 | 2023-12-21 | Tool calibration method and device, industrial robot and storage medium |
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| CN (1) | CN117733852A (en) |
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- 2023-12-21 CN CN202311781365.8A patent/CN117733852A/en active Pending
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