A kind of robot tooling center points scaling method of utilization two-dimensional measurement function flat board

A kind of robot tooling center points scaling method of utilization two-dimensional measurement function flat board

  • CN 104,457,645 B
  • Filed: 11/27/2014
  • Issued: 08/04/2017
  • Est. Priority Date: 11/27/2014
  • Status: Active Grant
First Claim
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1. a kind of robot tooling center points scaling method of utilization two-dimensional measurement function flat board, it is characterised in that control firstRobot causes robot tooling center points to be contacted with two-dimensional measurement function flat board with different postures, forms contact, and record is touchedThe corner in each joint of robot and contact are in robot when putting the two-dimensional coordinate on two-dimensional measurement function flat board, coming in contactCoordinate in world coordinate system;

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

    Secondly, it is that coordinate transform invariant is constraints using length, optional two robot tooling center points are sat in the worldVector length of the vector of coordinate formation in mark system with corresponding points on two-dimensional measurement function flat board is equal, and machine is artificialHave transformational relation of the central point between robot world'"'"'s coordinate system and robot tool ending coordinates system, optional three vectors are builtVertical equation group, solves the coordinate for obtaining robot tooling center points in robot tool ending coordinates system6Ptcp=6xtcp,6ytcp,6ztcp}T, complete demarcation;

    Wherein, the contact number is at least 3.

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