CN109311155A - 一种工业机器人的工具坐标系原点的标定方法及装置 - Google Patents

一种工业机器人的工具坐标系原点的标定方法及装置 Download PDF

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CN109311155A
CN109311155A CN201680086636.XA CN201680086636A CN109311155A CN 109311155 A CN109311155 A CN 109311155A CN 201680086636 A CN201680086636 A CN 201680086636A CN 109311155 A CN109311155 A CN 109311155A
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coordinate system
origin
tool
flange
calculating
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CN109311155B (zh
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叶根
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Shenzhen A&E Intelligent Technology Institute Co Ltd
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Shenzhen A&E Intelligent Technology Institute Co Ltd
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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
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

本发明实施例公开了一种工业机器人的工具坐标系原点的标定方法，包括：控制机器人带动安装在机器人末端的待标定工具运动，使待标定工具的工具坐标系原点沿N条不同的轨迹到达一个固定的参考点；分别记录每次工具坐标系原点到达参考点时机器人各轴的旋转角度；根据记录的N组旋转角度计算工具坐标系原点在机器人的法兰坐标系中的坐标值。通过上述方式，无需借助外部标准的测量工具，只需通过工业机器人的自身运动即可标定得到工具坐标系原点坐标。

Description

PCT国内申请，说明书已公开。

Claims (20)

  1. PCT国内申请，权利要求书已公开。
CN201680086636.XA 2016-12-27 2016-12-27 一种工业机器人的工具坐标系原点的标定方法及装置 Active CN109311155B (zh)

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PCT/CN2016/112328 WO2018119642A1 (zh) 2016-12-27 2016-12-27 一种工业机器人的工具坐标系原点的标定方法及装置

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CN109311155A true CN109311155A (zh) 2019-02-05
CN109311155B CN109311155B (zh) 2022-04-15

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Cited By (2)

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CN110561387A (zh) * 2019-08-23 2019-12-13 东南大学 工业机器人***中可旋转工件的测定及基坐标使用方法
CN111347136A (zh) * 2020-04-21 2020-06-30 南京工程学院 一种弧焊机器人工具坐标系在线快速校准***及其方法

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* Cited by examiner, † Cited by third party
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CN111157004B (zh) * 2019-12-31 2024-03-19 上海新时达机器人有限公司 法兰朝下四轴机器人的工具标定方法
CN113712672B (zh) * 2021-11-04 2022-02-22 极限人工智能(北京)有限公司 一种原点位置校准方法、装置、电子设备及存储介质

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WO1995000890A1 (fr) * 1993-06-23 1995-01-05 Masayuki Hamura Procede d'enseignement d'une position a un robot et appareil de commande
US20130010081A1 (en) * 2011-07-08 2013-01-10 Tenney John A Calibration and transformation of a camera system's coordinate system
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CN103322953B (zh) * 2013-05-22 2015-11-04 北京配天技术有限公司 工件坐标系的标定方法、装置及工件加工处理方法、装置
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WO1995000890A1 (fr) * 1993-06-23 1995-01-05 Masayuki Hamura Procede d'enseignement d'une position a un robot et appareil de commande
US20130010081A1 (en) * 2011-07-08 2013-01-10 Tenney John A Calibration and transformation of a camera system's coordinate system
CN104827480A (zh) * 2014-02-11 2015-08-12 泰科电子(上海)有限公司 机器人***的自动标定方法
CN105588525A (zh) * 2014-11-14 2016-05-18 北京配天技术有限公司 一种工具在机器人法兰坐标系上的标定方法及装置
CN105058387A (zh) * 2015-07-17 2015-11-18 北京航空航天大学 基于激光跟踪仪的一种工业机器人基坐标系标定方法
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110561387A (zh) * 2019-08-23 2019-12-13 东南大学 工业机器人***中可旋转工件的测定及基坐标使用方法
CN110561387B (zh) * 2019-08-23 2022-09-02 东南大学 工业机器人***中可旋转工件的测定方法
CN111347136A (zh) * 2020-04-21 2020-06-30 南京工程学院 一种弧焊机器人工具坐标系在线快速校准***及其方法
CN111347136B (zh) * 2020-04-21 2021-07-13 南京工程学院 一种弧焊机器人工具坐标系在线快速校准***及其方法

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WO2018119642A1 (zh) 2018-07-05

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