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1. CN112105484 - METHOD AND SYSTEM FOR SELF-CALIBRATING ROBOT KINEMATIC PARAMETER, AND STORAGE DEVICE

Office
China
Application Number 201980017461.0
Application Date 24.05.2019
Publication Number 112105484
Publication Date 18.12.2020
Publication Kind A
IPC
B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
CPC
B25J 9/1653
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
1653parameters identification, estimation, stiffness, accuracy, error analysis
B25J 9/1661
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1656characterised by programming, planning systems for manipulators
1661characterised by task planning, object-oriented languages
B25J 9/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
B25J 19/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Applicants SHENZHEN PEITIAN INTELLIGENT TECHNOLOGY RESEARCH INSTITUTE CO., LTD.
深圳配天智能技术研究院有限公司
Inventors LI KANGNING
李康宁
Agents 深圳市威世博知识产权代理事务所(普通合伙) 44280
Title
(EN) METHOD AND SYSTEM FOR SELF-CALIBRATING ROBOT KINEMATIC PARAMETER, AND STORAGE DEVICE
(ZH) 机器人运动学参数自标定方法、系统及存储装置
Abstract
(EN)
A method for self-calibrating a robot kinematic parameter, comprising: a calibrated robot enables an end effector to contact with the surface of a standard workpiece for multiple times, and records angles of axes of the calibrated robot during each contact, the standard workpiece being mounted on a flange of a reference robot; the reference robot changes the attitude of the standard workpiece; thecalibrated robot repeatedly executes the step of enabling the end effector to contact with the surface of the standard workpiece for multiple times, and recording the angles of axes of the calibratedrobot during each contact so as to obtain a plurality of groups of axis angle values of the calibrated robot; and obtain the actual kinematic parameter of the calibrated robot according to the plurality of groups of axis angle values, the nominal kinematic parameter of the calibrated robot, and the actual diameter of the standard workpiece. The method can improve the efficiency, achieve automaticcalibration, and make it easy to achieve batch calibration. The present invention also relates to a system for executing the method, and a storage device for storing a program file of the method.

(ZH)
一种机器人运动学参数自标定方法,该方法包括:标定机器人的末端执行器多次接触标准工件表面,并记录每次接触标定机器人各轴的角度,其中标准工件安装于参考机器人的法兰;参考机器人改变标准工件的位姿,标定机器人重复执行末端执行器多次接触标准工件表面,并记录每次接触标定机器人各轴的角度的步骤,以获取标定机器人的多组轴角度值;利用多组轴角度值、标定机器人的名义运动学参数以及标准工件的实际半径,得到标定机器人的实际运动学参数,可以提高效率且能够实现自动化标定,易于实现批量标定。还涉及一种执行该方法的系统及存储有该方法程序文件的存储装置。

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