Robot tool central point calibration method using two-dimensional measurement functional tablet

Robot tool central point calibration method using two-dimensional measurement functional tablet

  • CN 104,457,645 A
  • Filed: 11/27/2014
  • Published: 03/25/2015
  • Est. Priority Date: 11/27/2014
  • Status: Active Application
First Claim
Patent Images

1. one kind utilizes the robot tooling center points scaling method of two-dimensional measurement function flat board, it is characterized in that, first control makes robot tooling center points contact with two-dimensional measurement function flat board with different attitudes, form contact, the record two-dimensional coordinate of contact on two-dimensional measurement function flat board, corner and the contact coordinate in robot world'"'"'s coordinate system in robot each joint when coming in contact;

  • Wherein, the coordinate of contact in robot world'"'"'s coordinate system and the coordinate of robot tooling center points in robot world'"'"'s coordinate system to be calculated with robot world'"'"'s coordinate origin by the corner in each joint of robot, robot self structure to obtain;

    Secondly, utilizing length to be coordinate transform invariant is constraint condition, the vector that the coordinate of optional two robot tooling center points in world coordinate system is formed is equal with the vector length of corresponding point on two-dimensional measurement function flat board, and the transformational relation of robot tooling center points between robot world'"'"'s coordinate system and robot tool ending coordinates system, optional three vectors set up system of equations, solve and obtain the coordinate of robot tooling center points in robot tool ending coordinates system 6p tcp= 6x tcp, 6y tcp, 6z tcp} t, complete demarcation;

    Wherein, described contact number is at least 3.

View all claims
    ×
    ×

    Thank you for your feedback

    ×
    ×