CN109176527A - A kind of joint of robot calibration method - Google Patents
A kind of joint of robot calibration method Download PDFInfo
- Publication number
- CN109176527A CN109176527A CN201811192139.5A CN201811192139A CN109176527A CN 109176527 A CN109176527 A CN 109176527A CN 201811192139 A CN201811192139 A CN 201811192139A CN 109176527 A CN109176527 A CN 109176527A
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- China
- Prior art keywords
- joint
- robot
- stepper motor
- scale
- spin
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of joint of robot calibration methods, are applied to joint of robot, and joint of robot is driven by stepper motor, comprising the following steps: graduated scale S1: is arranged on joint of robot；S2: turning to initial zero position for joint of robot, records the amount of spin A of stepper motor0；S3: joint of robot is moved into extreme position along first direction of motion, records the scale X of graduated scale1With the amount of spin A of stepper motor1；S4: joint of robot is moved to second direction of motion by minimum accuracy value along first direction of motion and gradually moves the extreme position until second direction of motion of arrival, records the scale X of the corresponding graduated scale of each step1+nWith the amount of spin A of stepper motor1+n；Joint of robot controller is according to the scale X of the corresponding graduated scale of updated each step1+nWith the amount of spin A of corresponding stepper motor1+nControl stepper motor driving joint of robot movement.Robot joint calibration method, does not need to be adjusted joint of robot, and calibration is convenient.
Description
Technical field
The present invention relates to joint collimation technique field more particularly to a kind of joint of robot calibration methods.
Background technique
Robot (Robot) is the automatic installations for executing work.It can not only receive mankind commander, but also can run
The program of preparatory layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or take
For the work of the mankind, such as production industry, construction industry, or dangerous work.
Robot during the motion, needs to drive the joint of robot to carry out a series of movements such as straight line, rotation, from
And complete various actions.
Joint of robot at work, needs to rotate certain angle, generally by its rotation of Serve Motor Control, but
It is to work as robot after a period of work, abrasion can be generated, to influence its positioning accuracy.
When carrying out robot calibration at present, needs to adjust the movement of joint of robot to initial position, calibrate number
It is tired.
Summary of the invention
In view of this, the technical problem to be solved in the present invention is to provide a kind of joint of robot calibration method, do not need pair
Joint of robot is adjusted, and calibration is convenient.
The technical scheme of the present invention is realized as follows:
A kind of joint of robot calibration method is applied to joint of robot, and the joint of robot is driven by stepper motor,
The following steps are included:
S1: being arranged graduated scale on the joint of robot, by the initial of the zero-bit of the graduated scale and joint of robot
Zero-bit alignment；
S2: turning to the initial zero position for the joint of robot, records the amount of spin A0 of the stepper motor；
S3: the joint of robot is moved into extreme position along first direction of motion, records the scale of the graduated scale
X1With the amount of spin A of the stepper motor1；
S4: by the joint of robot along first direction of motion to second direction of motion by minimum accuracy value move by
Extreme position of the step movement up to reaching second direction of motion, records the scale X of the corresponding graduated scale of each step1+nAnd institute
State the amount of spin A of stepper motor1+n, wherein n is positive integer；
S5: by the scale X of the corresponding graduated scale of each step1+nWith the amount of spin A of the stepper motor1+nIt is updated to machine
Device person joint's controller；
S6: the joint of robot controller is according to the scale X of the corresponding graduated scale of updated each step1+nAnd correspondence
Stepper motor amount of spin A1+nIt controls the stepper motor and drives the joint of robot movement.
Preferably, the joint of robot is cradle head or linear joint.
Preferably, first direction of motion is opposite with second direction of motion.
Preferably, after the S5, further includes:
Save the scale X of the corresponding graduated scale of each step1+nWith the amount of spin A of the stepper motor1+n。
Preferably, further includes:
Compare and export the scale X of graduated scale corresponding with each step before update after update1+nWith the stepper motor
Amount of spin A1+n。
Preferably, described the joint of robot is turned into the initial zero position to include:
The joint of robot is turned into zero-bit, judges that the zero-bit at a distance from initial zero position, controls the stepping
Motor shuts down the robot from zero-bit driving to initial zero position.
Joint of robot calibration method proposed by the present invention, by recording the scale of the corresponding graduated scale of each step when calibration
X1+nWith the amount of spin A of corresponding stepper motor1+n, so as to drive joint of robot by the amount of spin of control stepper motor
The calibration of joint of robot is completed in movement from software control, and without being adjusted to joint of robot, calibration is convenient.
Detailed description of the invention
Fig. 1 is the flow chart for the joint of robot calibration method that the embodiment of the present invention proposes.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, the embodiment of the present invention proposes a kind of joint of robot calibration method, it is applied to joint of robot,
Joint of robot is driven by stepper motor, comprising the following steps:
S101: being arranged graduated scale on joint of robot, by the initial zero position pair of the zero-bit of graduated scale and joint of robot
Together；
S102: turning to initial zero position for joint of robot, records the amount of spin A of stepper motor0；
S103: joint of robot is moved into extreme position along first direction of motion, records the scale X of graduated scale1And step
Into the amount of spin A of motor1；
S104: joint of robot is moved to second direction of motion by minimum accuracy value along first direction of motion and is gradually moved
Until reaching the extreme position of second direction of motion, the scale X of the corresponding graduated scale of each step is recorded1+nWith turning for stepper motor
Momentum A1+n, wherein n is positive integer；
S105: by the scale X of the corresponding graduated scale of each step1+nWith the amount of spin A of stepper motor1+nIt is updated to robot pass
Save controller；
S106: joint of robot controller is according to the scale X of the corresponding graduated scale of updated each step1+nWith it is corresponding
The amount of spin A of stepper motor1+nControl stepper motor driving joint of robot movement.
As it can be seen that the joint of robot calibration method that the real-time example of the present invention proposes, when calibration, is corresponding by recording each step
The scale X of graduated scale1+nWith the amount of spin A of corresponding stepper motor1+n, so as to be driven by the amount of spin of control stepper motor
The calibration of joint of robot is completed in mobile robot joint motions from software control, without being adjusted to joint of robot,
Calibration is convenient.
In a preferred embodiment of the invention, joint of robot is cradle head or linear joint.
In use, joint of robot is mostly cradle head or linear joint, and impulse stroke is longer, is easily worn,
Therefore joint of robot can be cradle head or linear joint in the application.
In a preferred embodiment of the invention, first direction of motion is opposite with second direction of motion.
In the present embodiment, when joint of robot is cradle head, first direction of motion can be to rotate clockwise, the
Two directions of motion can be rotation counterclockwise；When joint of robot is movable joint, first direction of motion can be advance
Direction, second direction of motion can be direction of retreat.
In a preferred embodiment of the invention, calibration method further include:
Save the scale X of the corresponding graduated scale of each step1+nWith the amount of spin A of stepper motor1+n；After comparing and exporting update
The scale X of graduated scale corresponding with each step before update1+nWith the amount of spin A1 of stepper motor+n。
Specifically, can judge the abrasion of joint of robot from data by the data saved and before and after comparison calibration
Situation.
For example, the corresponding stepper motor amount of spin of scale A is 500 before calibrating, the corresponding amount of spin of scale A after calibration
It is 600, then the difference of the two is larger, it can be determined that the abrasion of joint of robot is more serious, can be sentenced according to application scenarios
It is disconnected whether to be replaced.
In a preferred embodiment of the invention, joint of robot is turned to initial zero position includes:
Joint of robot is turned into zero-bit, judges zero-bit at a distance from initial zero position, controls stepper motor for robot
Shutdown is from zero-bit driving to initial zero position.
In the present embodiment, joint of robot is first moved into zero-bit, zero-bit and initial zero position after its abrasion can be compared,
That is the accurately difference between zero-bit, to judge the abrasion condition of robot.
Joint of robot calibration method proposed by the present invention, by recording the scale of the corresponding graduated scale of each step when calibration
X1+nWith the amount of spin A of corresponding stepper motor1+n, so as to drive joint of robot by the amount of spin of control stepper motor
The calibration of joint of robot is completed in movement from software control, and without being adjusted to joint of robot, calibration is convenient.
In conclusion following effect at least may be implemented in the embodiment of the present invention:
In embodiments of the present invention, by recording the scale X of the corresponding graduated scale of each step when calibration1+nWith corresponding step
Into the amount of spin A of motor1+n, so as to drive joint of robot movement by the amount of spin of control stepper motor, from software control
The calibration that joint of robot is completed in system, without being adjusted to joint of robot, calibration is convenient.
Finally, it should be noted that the foregoing is merely presently preferred embodiments of the present invention, it is merely to illustrate skill of the invention
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., are included within the scope of protection of the present invention.
Claims (6)
1. a kind of joint of robot calibration method is applied to joint of robot, the joint of robot is driven by stepper motor,
It is characterized in that, comprising the following steps:
S1: being arranged graduated scale on the joint of robot, by the initial zero position of the zero-bit of the graduated scale and joint of robot
Alignment；
S2: turning to the initial zero position for the joint of robot, records the amount of spin A of the stepper motor0；
S3: the joint of robot is moved into extreme position along first direction of motion, records the scale X of the graduated scale1And institute
State the amount of spin A of stepper motor1；
S4: the joint of robot is moved to second direction of motion by minimum accuracy value along first direction of motion and is gradually transported
The dynamic extreme position up to reaching second direction of motion, records the scale X of the corresponding graduated scale of each step1+nWith the step
Into the amount of spin A of motor1+n, wherein n is positive integer；
S5: by the scale X of the corresponding graduated scale of each step1+nWith the amount of spin A of the stepper motor1+nIt is updated to robot
Joint control；
S6: the joint of robot controller is according to the scale X of the corresponding graduated scale of updated each step1+nWith corresponding step
Into the amount of spin A of motor1+nIt controls the stepper motor and drives the joint of robot movement.
2. joint of robot calibration method as described in claim 1, which is characterized in that the joint of robot is cradle head
Or linear joint.
3. joint of robot calibration method as described in claim 1, which is characterized in that first direction of motion and described the
Two directions of motion are opposite.
4. joint of robot calibration method as described in claim 1, which is characterized in that after the S5, further includes:
Save the scale X of the corresponding graduated scale of each step1+nWith the amount of spin A of the stepper motor1+n。
5. joint of robot calibration method as claimed in claim 4, which is characterized in that further include:
Compare and export the scale X of graduated scale corresponding with each step before update after update1+nWith the rotation of the stepper motor
Measure A1+n。
6. joint of robot calibration method as described in any one in claim 1-5, which is characterized in that described by the robot
Articulation includes: to the initial zero position
The joint of robot is turned into zero-bit, judges that the zero-bit at a distance from initial zero position, controls the stepper motor
By robot shutdown from zero-bit driving to initial zero position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811192139.5A CN109176527A (en) | 2018-10-12 | 2018-10-12 | A kind of joint of robot calibration method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811192139.5A CN109176527A (en) | 2018-10-12 | 2018-10-12 | A kind of joint of robot calibration method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109176527A true CN109176527A (en) | 2019-01-11 |
Family
ID=64948365
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811192139.5A Withdrawn CN109176527A (en) | 2018-10-12 | 2018-10-12 | A kind of joint of robot calibration method |
Country Status (1)
| Country | Link |
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| CN (1) | CN109176527A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023019732A1 (en) * | 2021-08-16 | 2023-02-23 | 深圳市优必选科技股份有限公司 | Method and apparatus for determining configuration information of robot joint, and terminal device |
-
2018
- 2018-10-12 CN CN201811192139.5A patent/CN109176527A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023019732A1 (en) * | 2021-08-16 | 2023-02-23 | 深圳市优必选科技股份有限公司 | Method and apparatus for determining configuration information of robot joint, and terminal device |
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Application publication date: 20190111 |