CN107598919A - A kind of two axle positioner scaling methods based on 5 standardizations - Google Patents

A kind of two axle positioner scaling methods based on 5 standardizations Download PDF

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CN107598919A
CN107598919A CN201710714593.1A CN201710714593A CN107598919A CN 107598919 A CN107598919 A CN 107598919A CN 201710714593 A CN201710714593 A CN 201710714593A CN 107598919 A CN107598919 A CN 107598919A
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positioner
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CN107598919B (en
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张铁
周仁义
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South China University of Technology SCUT
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South China University of Technology SCUT
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Abstract

The invention discloses a kind of two axle positioner scaling methods based on 5 standardizations, including step：(1) target designation point is chosen in particular manner, obtains position vector of the target designation o'clock when two axle positioners are in diverse location；(2) matrix relationship calculating is carried out, obtains pose of the relative position relation of the axle of positioner two with them relative to robot basis coordinates system { B }, completes the processes of two axle positioners, 5 points of demarcation.The present invention is in robot and positioner collaboration weld job, pass through 5 standardizations and corresponding Coordinate Conversion, two axles are obtained relative to the pose of basis coordinates system and the relative pose of two axles, the accuracy that two axles are changed into machine demarcation is effectively improved, for improving the accuracy of robot and positioner cooperative motion, ensureing that welding quality has very important practical significance.

Description

A kind of two axle positioner scaling methods based on 5 standardizations
Technical field
Invention is related to industrial robot application field, more particularly to a kind of two axle positioners demarcation based on 5 standardizations Method.
Background technology
In the welding application field of robot, two axle positioners have been obtained for being widely applied, to adjust welding workpiece Reach optimal welding position.In robot and positioner collaboration weld job, the accuracy of both cooperative motions is to influence welding matter An important factor for amount, and the accuracy of both cooperative motions depends on the accuracy of positioner demarcation, so to the displacement of two axles Demarcation has important theory and real value.
The content of the invention
Calculated it is an object of the invention to overcome the deficiencies of the prior art and provide one kind simple and convenient, meet that demarcation is accurate Property require the two axle positioner scaling methods based on 5 standardizations.
Above-mentioned purpose is achieved through the following technical solutions：
A kind of two axle positioner scaling methods based on 5 standardizations, including step：
(1) calibration point is chosen in particular manner, obtains position of the calibration point when two axle positioners are in diverse location Put vector；
(2) carry out matrix relationship calculating, obtain the axle of positioner two relative position relation and they relative to robot base The pose of coordinate system { B }, complete the process of two axle positioners, 5 points of demarcation.
Further, the specific bag step of described step (1)：
(11) coordinate system of two axle positioners and robot is defined, wherein { B } is robot basis coordinates system, { T } is machine People's tool coordinates system, { P } are positioner basis coordinates system, and { L } is that positioner tilts axis coordinate system, and { R } sits for positioner rotary shaft Mark system, { W } is stage coordinates system, when positioner sloping shaft rotational angle thetaLAt=0 °, positioner basis coordinates system { P } is inclined with positioner Inclined shaft coordinate system { L } overlaps, and positioner rotation axis coordinate system { R } and stage coordinates system { W } overlap；
(12) unevenness is gone out at an arbitrary position as mark by the use of sharp iron cone on positioner table surface Determine characteristic point P, pointed cone is installed in robot end, and demarcate instrument of the pointed cone end TCP points under robot basis coordinates system { B } Coordinate system { T }；
(13) corner for making two axles of positioner is 0 °, and robot end's pointed cone TCP points move to P points, write down TCP points Relative to the position vector P of robot basis coordinates system { B }1=[x1 y1 z1]；
(14) direction for increasing and reducing according to motor encoder respectively rotates rotary shaft, and record needs the change demarcated respectively Position machine rotation Shaft angle is θ1And θ2When P points position vector P2=[x2 y2 z2] and P3=[x3 y3 z3]；
(15) it is 0 ° to make positioner rotation Shaft angle, in the same way, increases and reduces according to motor encoder respectively Direction rotate sloping shaft, the corner of positioner sloping shaft that record needs to demarcate respectively is θ3And θ4When P points position vector P4 =[x4 y4 z4] and P5=[x5 y5 z5]。
Further, described θ1And θ2More than 30 degree.
Further, described θ3And θ4More than 30 degree.
Further, described step (2) specifically includes：
(21) positioner rotary shaft coordinate origin takes P1,P2,P3The center of circle C of circle where 3 points, coordinate system x-axis is by vector CP1Unitization to obtain, coordinate system z-axis is by vector P1P2And P2P3Unitization after multiplication cross to obtain, coordinate system y-axis is by coordinate system z-axis and x Yoke obtains after multiplying；
(22) three points of calculating centers of circle：P1,P2,P33 points can determine a plane O1, plane equation can use following row Column represents：
Cross straight line P1P2Midpoint and with straight line P1P2Vertical plane M1Equation be：
Cross straight line P1P3Midpoint and with straight line P1P3Vertical plane Q1Equation be：
More than simultaneous 3 formula, it is possible to try to achieve plane O1,M1,Q1Intersection point C=[xC yC zC]T；
(23) direction vector of three reference axis of x, y, z is calculated：
X-axis：CP1/||CP1| |=[exx exy exz]T
Z-axis：(P1P2×P2P3)/||P1P2×P2P3| |=[eyx eyy eyz]T
Y-axis：Z × x=[ezx ezy ezz]T；
(24) transformation matrix of the positioner rotation axis coordinate system { R } relative to robot basis coordinates system { B } is calculated
(25) same method is used, uses P1,P4,P53 points calculate positioner and tilt axis coordinate system { L } relative to machine The transformation matrix of people's basis coordinates system { B }
(26) when positioner sloping shaft rotational angle thetaLAt=0 °, positioner basis coordinates system { P } tilts axis coordinate system with positioner { L } is overlapped, therefore transformation matrixTransformation matrix with positioner basis coordinates system { P } relative to robot basis coordinates system { B } It is equal, i.e.,
(27) when sloping shaft and rotation Shaft angle are 0 °, positioner rotation axis coordinate system { R } inclines relative to positioner The transformation matrix of inclined shaft coordinate system { L }It can be calculated by following formula：
(28) transformation matrix according to obtained by step (24)~step (27) can obtain two axles relative to basis coordinates system Pose and two axles relative pose, complete the processes of 5 points of two axle positioner demarcation.
Compared with prior art, the present invention passes through 5 standardizations and phase in robot and positioner collaboration weld job The Coordinate Conversion answered, two axles are obtained relative to the pose of basis coordinates system and the relative pose of two axles, two axles is effectively improved and is changed into machine The accuracy of demarcation, for improving the accuracy of robot and positioner cooperative motion, to ensure that welding quality has extremely important Practical significance.
Brief description of the drawings
Fig. 1 is the robot and two axle positioner coordinate system schematic diagrames of the embodiment of the present invention.
Fig. 2 is that the rotary shaft of two axle positioners takes calibration point schematic diagram.
Fig. 3 is that the sloping shaft of two axle positioners takes calibration point schematic diagram.
Embodiment
The present invention is described further with specific embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of two axle positioner scaling methods based on 5 standardizations, including step：
(1) calibration point is chosen in particular manner, obtains position of the calibration point when two axle positioners are in diverse location Put vector；
(2) carry out matrix relationship calculating, obtain the axle of positioner two relative position relation and they relative to robot base The pose of coordinate system { B }, complete the process of two axle positioners, 5 points of demarcation.
Specifically, the specific bag step of described step (1)：
(11) coordinate system of two axle positioners and robot is defined, wherein { B } is robot basis coordinates system, { T } is machine People's tool coordinates system, { P } are positioner basis coordinates system, and { L } is that positioner tilts axis coordinate system, and { R } sits for positioner rotary shaft Mark system, { W } is stage coordinates system, when positioner sloping shaft rotational angle thetaLAt=0 °, positioner basis coordinates system { P } is inclined with positioner Inclined shaft coordinate system { L } is overlapped, and positioner rotation axis coordinate system { R } and stage coordinates system { W } are overlapped (see Fig. 1)；
(12) unevenness is gone out at an arbitrary position as mark by the use of sharp iron cone on positioner table surface Determine characteristic point P, pointed cone is installed in robot end, and demarcate instrument of the pointed cone end TCP points under robot basis coordinates system { B } Coordinate system { T }；
(13) corner for making two axles of positioner is 0 °, and robot end's pointed cone TCP points move to P points, write down TCP points Relative to the position vector P of robot basis coordinates system { B }1=[x1 y1 z1]；
(14) as shown in Fig. 2 the direction for increasing and reducing according to motor encoder respectively rotates rotary shaft, record needs respectively The positioner to be demarcated rotation Shaft angle is θ1And θ2When P points position vector P2=[x2 y2 z2] and P3=[x3 y3 z3], θ1 And θ2Value there is no particular/special requirement, but in order to improve the accuracy of calibration result, the θ of the present embodiment1And θ2More than 30；
(15) it is 0 ° to make positioner rotation Shaft angle, in the same way, increases and reduces according to motor encoder respectively Direction rotate sloping shaft, the corner of positioner sloping shaft that record needs to demarcate respectively is θ3And θ4When P points position vector P4 =[x4 y4 z4] and P5=[x5 y5 z5], as shown in Figure 3；θ3And θ4Value there is no a particular/special requirement, but in order to improve demarcation As a result accuracy, the θ of the present embodiment3And θ4More than 30；
Specifically, described step (2) specifically includes：
(21) positioner rotary shaft coordinate origin takes P1,P2,P3The center of circle C of circle where 3 points, coordinate system x-axis is by vector CP1Unitization to obtain, coordinate system z-axis is by vector P1P2And P2P3Unitization after multiplication cross to obtain, coordinate system y-axis is by coordinate system z-axis and x Yoke obtains after multiplying；
(22) three points of calculating centers of circle：P1,P2,P33 points can determine a plane O1, plane equation can use following row Column represents：
Cross straight line P1P2Midpoint and with straight line P1P2Vertical plane M1Equation be：
Cross straight line P1P3Midpoint and with straight line P1P3Vertical plane Q1Equation be：
More than simultaneous 3 formula, it is possible to try to achieve plane O1,M1,Q1Intersection point C=[xC yC zC]T；
(23) direction vector of three reference axis of x, y, z is calculated：
X-axis：CP1/||CP1| |=[exx exy exz]T
Z-axis：(P1P2×P2P3)/||P1P2×P2P3| |=[eyx eyy eyz]T
Y-axis：Z × x=[ezx ezy ezz]T；
(24) transformation matrix of the positioner rotation axis coordinate system { R } relative to robot basis coordinates system { B } is calculated
(25) same method is used, uses P1,P4,P53 points calculate positioner and tilt axis coordinate system { L } relative to machine The transformation matrix of people's basis coordinates system { B }
(26) when positioner sloping shaft rotational angle thetaLAt=0 °, positioner basis coordinates system { P } tilts axis coordinate system with positioner { L } is overlapped, therefore transformation matrixTransformation matrix with positioner basis coordinates system { P } relative to robot basis coordinates system { B }Phase Deng that is,
(27) when sloping shaft and rotation Shaft angle are 0 °, positioner rotation axis coordinate system { R } inclines relative to positioner The transformation matrix of inclined shaft coordinate system { L }It can be calculated by following formula：
(28) transformation matrix according to obtained by step (24)~step (27) can obtain two axles relative to basis coordinates system Pose and two axles relative pose, complete the processes of 5 points of two axle positioner demarcation.
The present embodiment is turned in robot and positioner collaboration weld job by 5 standardizations and corresponding coordinate Change, effectively improve the accuracy that two axles are changed into machine demarcation, for improving the accuracy of robot and positioner cooperative motion, ensureing Welding quality has very important practical significance.
The above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not to the present invention Embodiment restriction.For those of ordinary skill in the field, can also make on the basis of the above description Other various forms of changes or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all the present invention All any modification, equivalent and improvement made within spirit and principle etc., should be included in the protection of the claims in the present invention Within the scope of.

Claims (5)

  1. A kind of 1. two axle positioner scaling methods based on 5 standardizations, it is characterised in that：Including step：
    (1) target designation point is chosen in particular manner, obtains target designation o'clock when two axle positioners are in diverse location Position vector；
    (2) carry out matrix relationship calculating, obtain the axle of positioner two relative position relation and they relative to robot basis coordinates It is the pose of { B }, completes the process of two axle positioners, 5 points of demarcation.
  2. 2. the two axle positioner scaling methods according to claim 1 based on 5 standardizations, it is characterised in that described The specific bag step of step (1)：
    (11) coordinate system of two axle positioners and robot is defined, wherein { B } is robot basis coordinates system, { T } is that machine is artificial Have coordinate system, { P } is positioner basis coordinates system, and { L } is that positioner tilts axis coordinate system, and { R } is that positioner rotates axis coordinate system, { W } is stage coordinates system, when positioner sloping shaft rotational angle thetaLAt=0 °, positioner basis coordinates system { P } and positioner sloping shaft Coordinate system { L } overlaps, and positioner rotation axis coordinate system { R } and stage coordinates system { W } overlap；
    (12) unevenness is gone out at an arbitrary position as demarcation spy by the use of sharp iron cone on positioner table surface Point P is levied, pointed cone is installed in robot end, and demarcate tool coordinates of the pointed cone end TCP points under robot basis coordinates system { B } It is { T }；
    (13) corner for making two axles of positioner is 0 °, and robot end's pointed cone TCP points move to P points, and it is relative to write down TCP points In the position vector P of robot basis coordinates system { B }1=[x1 y1 z1]；
    (14) direction for increasing and reducing according to motor encoder respectively rotates rotary shaft, and record needs the positioner demarcated respectively Rotation Shaft angle is θ1And θ2When P points position vector P2=[x2 y2 z2] and P3=[x3 y3 z3]；
    (15) it is 0 ° to make positioner rotation Shaft angle, in the same way, the side for increasing and reducing according to motor encoder respectively To sloping shaft is rotated, the corner for the positioner sloping shaft that record needs to demarcate is θ respectively3And θ4When P points position vector P4= [x4 y4 z4] and P5=[x5 y5 z5]。
  3. 3. the two axle positioner scaling methods according to claim 1 based on 5 standardizations, it is characterised in that described θ1And θ2More than 30 degree.
  4. 4. the two axle positioner scaling methods according to claim 1 based on 5 standardizations, it is characterised in that described θ3And θ4More than 30 degree.
  5. 5. the two axle positioner scaling methods according to claim 2 based on 5 standardizations, it is characterised in that described Step (2) specifically includes：
    (21) positioner rotary shaft coordinate origin takes P1,P2,P3The center of circle C of circle where 3 points, coordinate system x-axis is by vector CP1It is single Positionization obtains, and coordinate system z-axis is by vector P1P2And P2P3Unitization after multiplication cross to obtain, coordinate system y-axis is pitched by coordinate system z-axis and x-axis Obtained after multiplying；
    (22) three points of calculating centers of circle：P1,P2,P33 points can determine a plane O1, plane equation can use following determinant Represent：
    <mrow> <mfenced open = "|" close = "|"> <mtable> <mtr> <mtd> <mrow> <mi>x</mi> <mo>-</mo> <msub> <mi>x</mi> <mn>3</mn> </msub> </mrow> </mtd> <mtd> <mrow> <mi>y</mi> <mo>-</mo> <msub> <mi>y</mi> <mn>3</mn> </msub> </mrow> </mtd> <mtd> <mrow> <mi>z</mi> <mo>-</mo> <msub> <mi>z</mi> <mn>3</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>3</mn> </msub> </mrow> </mtd> <mtd> <mrow> <msub> <mi>y</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>3</mn> </msub> </mrow> </mtd> <mtd> <mrow> <msub> <mi>z</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>z</mi> <mn>3</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>x</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>3</mn> </msub> </mrow> </mtd> <mtd> <mrow> <msub> <mi>y</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>3</mn> </msub> </mrow> </mtd> <mtd> <mrow> <msub> <mi>z</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>z</mi> <mn>3</mn> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mn>0</mn> </mrow>
    Cross straight line P1P2Midpoint and with straight line P1P2Vertical plane M1Equation be：
    <mrow> <mo>(</mo> <msub> <mi>x</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>)</mo> <mo>&amp;lsqb;</mo> <mi>x</mi> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mo>(</mo> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>x</mi> <mn>2</mn> </msub> <mo>)</mo> <mo>&amp;rsqb;</mo> <mo>+</mo> <mo>(</mo> <msub> <mi>y</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>1</mn> </msub> <mo>)</mo> <mo>&amp;lsqb;</mo> <mi>y</mi> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mo>(</mo> <msub> <mi>y</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>y</mi> <mn>2</mn> </msub> <mo>)</mo> <mo>&amp;rsqb;</mo> <mo>+</mo> <mo>(</mo> <msub> <mi>z</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>z</mi> <mn>1</mn> </msub> <mo>)</mo> <mo>&amp;lsqb;</mo> <mi>z</mi> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mo>(</mo> <msub> <mi>z</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>z</mi> <mn>2</mn> </msub> <mo>)</mo> <mo>&amp;rsqb;</mo> <mo>=</mo> <mn>0</mn> </mrow>
    Cross straight line P1P3Midpoint and with straight line P1P3Vertical plane Q1Equation be：
    <mrow> <mo>(</mo> <msub> <mi>x</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>)</mo> <mo>&amp;lsqb;</mo> <mi>x</mi> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mo>(</mo> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>x</mi> <mn>3</mn> </msub> <mo>)</mo> <mo>&amp;rsqb;</mo> <mo>+</mo> <mo>(</mo> <msub> <mi>y</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>1</mn> </msub> <mo>)</mo> <mo>&amp;lsqb;</mo> <mi>y</mi> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mo>(</mo> <msub> <mi>y</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>y</mi> <mn>3</mn> </msub> <mo>)</mo> <mo>&amp;rsqb;</mo> <mo>+</mo> <mo>(</mo> <msub> <mi>z</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>z</mi> <mn>1</mn> </msub> <mo>)</mo> <mo>&amp;lsqb;</mo> <mi>z</mi> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mo>(</mo> <msub> <mi>z</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>z</mi> <mn>3</mn> </msub> <mo>)</mo> <mo>&amp;rsqb;</mo> <mo>=</mo> <mn>0</mn> </mrow>
    More than simultaneous 3 formula, it is possible to try to achieve plane O1,M1,Q1Intersection point C=[xC yC zC]T；
    (23) direction vector of three reference axis of x, y, z is calculated：
    X-axis：CP1/||CP1| |=[exx exy exz]T
    Z-axis：(P1P2×P2P3)/||P1P2×P2P3| |=[eyx eyy eyz]T
    Y-axis：Z × x=[ezx ezy ezz]T；
    (24) transformation matrix of the positioner rotation axis coordinate system { R } relative to robot basis coordinates system { B } is calculated
    <mrow> <msubsup> <mi>T</mi> <mi>R</mi> <mi>B</mi> </msubsup> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>e</mi> <mrow> <mi>x</mi> <mi>x</mi> </mrow> </msub> </mtd> <mtd> <msub> <mi>e</mi> <mrow> <mi>y</mi> <mi>x</mi> </mrow> </msub> </mtd> <mtd> <msub> <mi>e</mi> <mrow> <mi>z</mi> <mi>x</mi> </mrow> </msub> </mtd> <mtd> <msub> <mi>x</mi> <mi>C</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>e</mi> <mrow> <mi>x</mi> <mi>y</mi> </mrow> </msub> </mtd> <mtd> <msub> <mi>e</mi> <mrow> <mi>y</mi> <mi>y</mi> </mrow> </msub> </mtd> <mtd> <msub> <mi>e</mi> <mrow> <mi>z</mi> <mi>y</mi> </mrow> </msub> </mtd> <mtd> <msub> <mi>y</mi> <mi>C</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>e</mi> <mrow> <mi>x</mi> <mi>z</mi> </mrow> </msub> </mtd> <mtd> <msub> <mi>e</mi> <mrow> <mi>y</mi> <mi>z</mi> </mrow> </msub> </mtd> <mtd> <msub> <mi>e</mi> <mrow> <mi>z</mi> <mi>z</mi> </mrow> </msub> </mtd> <mtd> <msub> <mi>z</mi> <mi>C</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>;</mo> </mrow>
    (25) same method is used, uses P1,P4,P53 points calculate positioner and tilt axis coordinate system { L } relative to robot base The transformation matrix of coordinate system { B }
    (26) when positioner sloping shaft rotational angle thetaLAt=0 °, positioner basis coordinates system { P } tilts axis coordinate system { L } weight with positioner Close, therefore transformation matrixTransformation matrix with positioner basis coordinates system { P } relative to robot basis coordinates system { B }It is equal, i.e.,
    (27) when sloping shaft and rotation Shaft angle are 0 °, positioner rotation axis coordinate system { R } is relative to positioner sloping shaft The transformation matrix of coordinate system { L }It can be calculated by following formula：
    <mrow> <msubsup> <mi>T</mi> <mi>R</mi> <mi>L</mi> </msubsup> <mo>=</mo> <msup> <mrow> <mo>(</mo> <msubsup> <mi>T</mi> <mi>L</mi> <mi>B</mi> </msubsup> <mo>)</mo> </mrow> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mo>&amp;CenterDot;</mo> <msubsup> <mi>T</mi> <mi>R</mi> <mi>B</mi> </msubsup> <mo>;</mo> </mrow>
    (28) transformation matrix according to obtained by step (24)~step (27) can obtain position of two axles relative to basis coordinates system The relative pose of appearance and two axles, complete the process of two axle positioners, 5 points of demarcation.
CN201710714593.1A 2017-08-18 2017-08-18 Two-axis positioner calibration method based on five-point calibration method Expired - Fee Related CN107598919B (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
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CN109015652A (en) * 2018-08-29 2018-12-18 苏州艾利特机器人有限公司 A kind of control method of robot and the positioner coordinated movement of various economic factors
CN109048887A (en) * 2018-06-13 2018-12-21 华南理工大学 A kind of single-shaft position changing machine scaling method based on 3 standardizations
CN109093298A (en) * 2018-10-24 2018-12-28 东南（福建）汽车工业有限公司 A kind of bearing calibration of welding robot mechanical origin
CN109238199A (en) * 2018-09-03 2019-01-18 清华大学 A kind of robot rotary shaft kinematic calibration method
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CN111299078A (en) * 2020-03-17 2020-06-19 欣辰卓锐（苏州）智能装备有限公司 Automatic tracking dispensing method based on assembly line
CN111844062A (en) * 2020-06-22 2020-10-30 东莞长盈精密技术有限公司 Machining standardization method
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CN109048887A (en) * 2018-06-13 2018-12-21 华南理工大学 A kind of single-shaft position changing machine scaling method based on 3 standardizations
CN111801630A (en) * 2018-07-13 2020-10-20 深圳配天智能技术研究院有限公司 Positioner axis coordinate system calibration method, robot system and storage device
WO2020010628A1 (en) * 2018-07-13 2020-01-16 深圳配天智能技术研究院有限公司 Positioner axis coordinate system calibration method, robot system, and storage device
CN109015652A (en) * 2018-08-29 2018-12-18 苏州艾利特机器人有限公司 A kind of control method of robot and the positioner coordinated movement of various economic factors
CN109238199A (en) * 2018-09-03 2019-01-18 清华大学 A kind of robot rotary shaft kinematic calibration method
CN109238199B (en) * 2018-09-03 2020-04-03 清华大学 Robot rotating shaft kinematic parameter calibration method
CN109093298A (en) * 2018-10-24 2018-12-28 东南（福建）汽车工业有限公司 A kind of bearing calibration of welding robot mechanical origin
CN111300481A (en) * 2019-12-11 2020-06-19 苏州大学 Robot grabbing pose correction method based on vision and laser sensor
CN111300481B (en) * 2019-12-11 2021-06-29 苏州大学 Robot grabbing pose correction method based on vision and laser sensor
CN111299078A (en) * 2020-03-17 2020-06-19 欣辰卓锐（苏州）智能装备有限公司 Automatic tracking dispensing method based on assembly line
CN111844062A (en) * 2020-06-22 2020-10-30 东莞长盈精密技术有限公司 Machining standardization method
CN111844062B (en) * 2020-06-22 2022-03-29 东莞长盈精密技术有限公司 Machining standardization method
CN114905521A (en) * 2022-07-18 2022-08-16 法奥意威(苏州)机器人***有限公司 Robot origin position calibration method and device, electronic equipment and storage medium
CN114905521B (en) * 2022-07-18 2022-10-04 法奥意威(苏州)机器人***有限公司 Robot origin position calibration method and device, electronic equipment and storage medium

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