CN114012702A - Six-degree-of-freedom parallel robot initial pose calibration device and method - Google Patents
Six-degree-of-freedom parallel robot initial pose calibration device and method Download PDFInfo
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Abstract
The invention relates to the technical field of industrial robot calibration, in particular to a calibration device and a calibration method for an initial pose of a six-degree-of-freedom parallel robot. The calibration device comprises a linear displacement sensor, a detection chassis, a target plate and a two-dimensional PSD sensor, wherein the linear displacement sensor is arranged on the side edge of an electric cylinder of the parallel robot and used for detecting the initial position of the electric cylinder, the detection chassis mainly comprises two laser transmitters, four laser ranging sensors and a circular installation chassis, the four laser ranging sensors are positioned on the same plane, the target plate mainly comprises a two-dimensional PSD sensor and a circular target plate, the two-dimensional PSD sensor is fixedly arranged in the center of the circular target plate and can detect the light spot positions of the two laser transmitters in the detection chassis, and the circular target plate is fixedly arranged on the lower surface of a movable platform of the parallel robot.
Description
Technical Field
The invention relates to the technical field of industrial robot calibration, in particular to a six-degree-of-freedom parallel robot initial pose calibration device and method.
Background
With the development of the robot technology, industrial robots are gradually applied to the fields of welding, cutting, assembly and the like. General industrial robots are classified into a tandem type robot, a parallel type robot, and a hybrid type robot according to their own structural characteristics. The existing robot mainly adopts a joint closed loop control structure, and the pose control precision of the tail end of the robot mainly depends on the consistency of joint zero position and mechanical zero position, kinematic parameters and the like.
When the electric cylinder of the parallel robot adopts an incremental encoder, the initial position of the electric cylinder needs to be determined in the initialization process of a control system of the parallel robot, and the current main method comprises the following steps: 1. installing a zero-position switch, and determining an initial position through the zero-position switch, wherein the initial switch usually has a certain action position interval and the detection precision is not high; 2. the vision detection is greatly influenced by ambient light by adopting a vision detection device, and when an electric cylinder of the parallel robot adopts an absolute encoder, although the initial position does not need to be determined in the initialization process of a control system, whether the corresponding pose of the parallel robot is the required initial pose cannot be determined.
Disclosure of Invention
The invention aims to provide a six-degree-of-freedom parallel robot initial pose calibration device and method, which are used for realizing zero position detection of electric cylinders of a parallel robot and initial pose detection of the robot, so that the operation precision of the parallel robot is improved.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a six-degree-of-freedom parallel robot initial pose calibration device comprises a parallel robot and a calibration device, wherein the parallel robot comprises a fixed platform, an electric cylinder and a movable platform, the fixed end and the telescopic end of the electric cylinder are respectively and fixedly arranged at the top end of the fixed platform and the bottom end of the movable platform, the calibration device comprises a linear displacement sensor, a detection chassis and a target plate, the linear displacement sensor is fixedly arranged at the side edge of the electric cylinder and used for detecting the initial position of the shaft end of the electric cylinder, the detection chassis comprises a circular installation chassis, a first laser emitter and a second laser emitter which are symmetrically arranged in the middle of the top end of the circular installation chassis, and a first laser ranging sensor, a second laser ranging sensor, a third laser ranging sensor and a fourth laser ranging sensor which are used for detecting the distance from an emitting point to the target plate and are uniformly distributed around the top end of the circular installation chassis, the circular mounting base plate is concentrically and fixedly mounted on the upper surface of the fixed platform, the target plate comprises a circular target plate and a two-dimensional PSD sensor fixedly mounted at the center of the circular target plate, the two-dimensional PSD sensor is used for detecting the light spot positions of the first laser emitter and the second laser emitter, and the circular target plate is concentrically and fixedly mounted on the lower surface of the movable platform.
Furthermore, the electric cylinders are uniformly provided with three groups, the single group is provided with two electric cylinders, and the two electric cylinders of the single group are arranged in a V shape.
Furthermore, the linear displacement sensor is an LVDT high-precision sensor with micron-grade detection precision.
Furthermore, four groups of clamping grooves are uniformly formed in the periphery of the top end of the circular mounting base plate, and the first laser ranging sensor, the second laser ranging sensor, the third laser ranging sensor and the fourth laser ranging sensor are respectively mounted in the four groups of clamping grooves.
Furthermore, the detection precision of the first laser ranging sensor, the second laser ranging sensor, the third laser ranging sensor and the fourth laser ranging sensor is 10 microns.
Further, electric jar, linear displacement sensor, first laser rangefinder sensor, second laser rangefinder sensor, third laser rangefinder sensor, fourth laser rangefinder sensor, first laser emitter, second laser emitter and two-dimentional PSD sensor be electric connection respectively have the power, electric jar, first laser emitter and second laser emitter's signal input part electric connection respectively external controller's output, linear displacement sensor, first laser rangefinder sensor, second laser rangefinder sensor, third laser rangefinder sensor, fourth laser rangefinder sensor and two-dimentional PSD sensor output part electric connection respectively external controller's input.
A calibration method of a calibration device for an initial pose of a six-degree-of-freedom parallel robot comprises the following steps:
s1: defining that the directions of a coordinate system of a detection chassis and a base coordinate system of the parallel robot are consistent, and only the deviation in the Z-axis direction exists; the coordinate system of the target plate is consistent with the tool coordinate system of the parallel robot in direction, and only the offset in the Z-axis direction exists;
s2: controlling each electric cylinder of the parallel robot to execute contraction movement until the data output value of the linear displacement sensor on each electric cylinder is 1/2 strokes of the electric cylinders, and at the moment, the lengths of the electric cylinders are equal;
s3: four-point distance from the emission point to the circular target plate is measured through the first laser ranging sensor, the second laser ranging sensor, the third laser ranging sensor and the fourth laser ranging sensor respectively and is recorded as: l1, L2, L3, L4;
s4: knowing that the coordinates of the emission points of the first laser ranging sensor, the second laser ranging sensor, the third laser ranging sensor and the fourth laser ranging sensor in the detection chassis coordinate system are (xi, yi, 0), wherein i is the serial numbers of the first laser ranging sensor, the second laser ranging sensor, the third laser ranging sensor and the fourth laser ranging sensor, i is 1, 2, 3, 4, and the coordinates of the spots of the first laser ranging sensor, the second laser ranging sensor, the third laser ranging sensor and the fourth laser ranging sensor on the circular target plate are (xi, yi, zi), calculating the plane equation of the circular target plate to be Ax + By + Cz + 0 according to the coordinates of the four spots, and then the normal vector B is (a, B, C);
s5: calculating the projection included angle of the normal vector b in the yoz plane of the coordinate system of the detection chassis as
Wherein a isThe vector of the X-axis direction of the coordinate system of the detection chassis is the angle error of the normal vector b around the Y-axis of the coordinate system of the detection chassis;
s6: calculating the included angle between the projection vector c of the normal vector b at the yoz of the coordinate system of the detection chassis and the Z axis of the coordinate system of the detection chassis as
The angle is an angle error of the normal vector b around the X axis of the coordinate system of the detection chassis;
s7: calculating the position error of the target disk in the Z-axis direction of the coordinate system of the detection chassis by S3
Wherein Z is the coordinate value of the moving platform coordinate Z axis under the initial pose of the parallel robot and is converted into the coordinate value of the target disk Z axis;
s8: according to the error calculation in S3-S7, the relative movement amount of each electric cylinder is calculated through the kinematic inverse solution of the parallel robot, so that the compensation of the angle error of the normal vector b around the Y axis of the detection chassis coordinate system, the angle error of the normal vector b around the X axis of the detection chassis coordinate system and the position error of the target disc in the Z axis direction of the detection chassis coordinate system is realized;
s9: controlling a first laser transmitter and a second laser transmitter on the detection chassis to sequentially transmit laser rays, wherein spot coordinates formed by the rays on the two-dimensional PSD sensor are (xd1, yd1), (xd2 and yd2), when the detection chassis is concentric with the circular target plate, spot coordinates formed by the first laser transmitter and the second laser transmitter are (xp1, yp1), (xp2 and yp2),
the position error of the target disk in the X-axis direction of the coordinate system of the detection chassis is
The position error of the target disk in the Y-axis direction of the coordinate system of the detection chassis is
The angle error of the normal vector b in the direction around the Z axis of the detection chassis coordinate system is as follows:
wherein n1 ═ is (xp1-xp2, yp1-yp2), n2 ═ is (xd1-xd2, yd1-yd 2);
s10: according to the error calculation in S9, calculating the relative motion amount of each electric cylinder through the inverse kinematics solution of the parallel robot, thereby realizing the compensation of the position error of the target disk in the X-axis direction of the detection chassis coordinate system, the position error of the target disk in the Y-axis direction of the detection chassis coordinate system and the angle error of the normal vector b in the Z-axis direction of the detection chassis coordinate system; and taking the reading of the linear displacement sensor as the position of the electric cylinder corresponding to the initial pose of the parallel robot.
Further, S3 to S10 are repeatedly performed.
Compared with the prior art, the invention has the beneficial effects that:
1. the initial pose of the six-freedom-degree parallel robot can be effectively calibrated by mutually matching the electric cylinder, the linear displacement sensor, the first laser ranging sensor, the second laser ranging sensor, the third laser ranging sensor, the fourth laser ranging sensor, the first laser emitter, the second laser emitter and the two-dimensional PSD sensor under the control of the controller, and the operation precision of the robot is improved.
2. The calibration device adopts the laser sensor, is not influenced by light, and has better environmental adaptability than a visual detection system.
Drawings
FIG. 1 is a schematic diagram of a six-degree-of-freedom parallel robot initial pose calibration system of the present invention;
FIG. 2 is a schematic view of the linear sensor and electric cylinder assembly of the present invention;
FIG. 3 is a schematic diagram of a six-DOF parallel robot calibration apparatus of the present invention;
FIG. 4 is a schematic view of the inspection chassis of the calibration device of the present invention;
fig. 5 is a schematic view of the target disk structure of the calibration device of the present invention.
The reference numbers in the drawings are: 1-parallel robot, 101-electric cylinder, 102-shaft end, 103-linear displacement sensor, 2-calibrating device, 201-detection chassis, 202-target plate, 301-first laser ranging sensor, 302-second laser ranging sensor, 303-third laser ranging sensor, 304-fourth laser ranging sensor, 305-circular mounting chassis, 306-first laser emitter, 307-second laser emitter, 401-circular target plate and 402-two-dimensional PSD sensor.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Referring to fig. 1 to 5, an initial pose calibration device of a six-degree-of-freedom parallel robot comprises a parallel robot 1 and a calibration device 2, wherein the parallel robot 1 comprises a fixed platform, an electric cylinder 101 and a movable platform, a fixed end and a telescopic end of the electric cylinder 101 are respectively and fixedly arranged at the top end of the fixed platform and the bottom end of the movable platform, the calibration device 2 comprises a linear displacement sensor 103, a detection chassis 201 and a target plate 202, the linear displacement sensor 103 is fixedly arranged at the side edge of the electric cylinder 101 and used for detecting the initial position of a shaft end 102 of the electric cylinder 101, the detection chassis 201 comprises a circular installation chassis 305, a first laser emitter 306 and a second laser emitter 307 which are symmetrically arranged at the middle part of the top end of the circular installation chassis 305, and a first laser ranging sensor 301, a second laser ranging sensor 302, a first laser ranging sensor and a second laser ranging sensor which are used for detecting the distance from an emitting point to the target plate 202 and are uniformly distributed around the top end of the circular installation chassis 305, The laser ranging device comprises a third laser ranging sensor 303 and a fourth laser ranging sensor 304, wherein a circular mounting base plate 305 is concentrically and fixedly mounted on the upper surface of a fixed platform, a target plate 202 comprises a circular target plate 401 and a two-dimensional PSD sensor 402 fixedly mounted at the center of the circular target plate, the two-dimensional PSD sensor 402 is used for detecting the light spot positions of a first laser emitter 306 and a second laser emitter 307, and the circular target plate 401 is concentrically and fixedly mounted on the lower surface of a movable platform.
The electric cylinders 101 are uniformly provided with three groups, and two electric cylinders 101 are arranged in a single group, wherein the two electric cylinders 101 in the single group are arranged in a V shape.
The linear displacement sensor 103 is an LVDT high-precision sensor with a detection precision of micron order.
Four groups of clamping grooves are uniformly formed in the periphery of the top end of the circular mounting base plate 305, and the first laser ranging sensor 301, the second laser ranging sensor 302, the third laser ranging sensor 303 and the fourth laser ranging sensor 304 are respectively mounted in the four groups of clamping grooves.
The detection accuracy of the first laser ranging sensor 301, the second laser ranging sensor 302, the third laser ranging sensor 303 and the fourth laser ranging sensor 304 is on the order of 10 micrometers.
The electric cylinder 101, the linear displacement sensor 103, the first laser ranging sensor 301, the second laser ranging sensor 302, the third laser ranging sensor 303, the fourth laser ranging sensor 304, the first laser emitter 306, the second laser emitter 307 and the two-dimensional PSD sensor 402 are respectively electrically connected with a power supply, the electric cylinder 101, the signal input ends of the first laser emitter 306 and the second laser emitter 307 are respectively electrically connected with the output end of the external controller, the linear displacement sensor 103, the first laser ranging sensor 301, the second laser ranging sensor 302, the third laser ranging sensor 303, the output ends of the fourth laser ranging sensor 304 and the two-dimensional PSD sensor 402 are respectively electrically connected with the input end of the external controller.
A calibration method of a calibration device for an initial pose of a six-degree-of-freedom parallel robot comprises the following steps:
s1: defining that the coordinate system of the detection chassis 201 is consistent with the direction of the base coordinate system of the parallel robot 1, and only the deviation in the Z-axis direction exists; the coordinate system of the target plate 202 is consistent with the tool coordinate system of the parallel robot 1 in direction, and only the offset in the Z-axis direction exists;
s2: controlling each electric cylinder of the parallel robot 1 to perform contraction movement until the data output value of the linear displacement sensor 103 on each electric cylinder 101 is 1/2 strokes thereof, and at the moment, the lengths of the electric cylinders 101 are equal; due to certain installation error and machining error, the pose of the parallel robot 1 is not zero;
s3: four-point distances from an emission point to the circular target plate 401 are measured through the first laser ranging sensor 301, the second laser ranging sensor 302, the third laser ranging sensor 303 and the fourth laser ranging sensor 304 respectively and are recorded as: l1, L2, L3, L4; these four distance values are not equal due to the presence of errors;
s4: knowing that the coordinates of the emitting points of the first laser ranging sensor 301, the second laser ranging sensor 302, the third laser ranging sensor 303 and the fourth laser ranging sensor 304 in the coordinate system of the detection chassis 201 are (xi, yi, 0), where i is the serial numbers of the first laser ranging sensor 301, the second laser ranging sensor 302, the third laser ranging sensor 303 and the fourth laser ranging sensor 304, i is 1, 2, 3, 4, and the spot coordinates of the first laser ranging sensor 301, the second laser ranging sensor 302, the third laser ranging sensor 303 and the fourth laser ranging sensor 304 on the circular target plate 401 are (xi, yi, zi), the plane equation of the circular target plate 401 is Ax + By + Cz +1 is 0 calculated according to the coordinates of the four points, and the normal vector B is (a, B, C);
s5: calculating the projection included angle of the normal vector b in the yoz plane of the coordinate system of the detection chassis 201 as
Wherein a is an X-axis direction vector of the coordinate system of the detection chassis 201, and the angle is an angle error of the normal vector b around the Y-axis of the coordinate system of the detection chassis 201;
s6: calculating the included angle between the projection vector c of the normal vector b at the yoz of the coordinate system of the detection chassis 201 and the Z axis of the coordinate system of the detection chassis 201 as
The angle is an angle error of the normal vector b around the X axis of the coordinate system of the detection chassis 201;
s7: calculating the position error of the target disc 202 in the Z-axis direction of the coordinate system of the inspection chassis 201 by S3 as
Wherein Z is the coordinate value of the moving platform coordinate Z axis under the initial pose of the parallel robot 1 and is converted into the coordinate value of the target disc 202Z axis;
s8: according to the error calculation in S3 to S7, the relative movement amount of each electric cylinder 101 is calculated by the inverse kinematics solution of the parallel robot 1, thereby realizing the compensation of the angle error of the normal vector b around the Y axis of the coordinate system of the detection chassis 201, the angle error of the normal vector b around the X axis of the coordinate system of the detection chassis 201, and the position error of the target disc 202 in the Z axis direction of the coordinate system of the detection chassis 201;
s9: the first laser emitter 306 and the second laser emitter 307 on the detection chassis 201 are controlled to sequentially emit laser light, spot coordinates formed by the light on the two-dimensional PSD sensor 402 are respectively (xd1, yd1), (xd2, yd2), when the detection chassis 201 is concentric with the circular target board 401, spot coordinates formed by the first laser emitter 306 and the second laser emitter 307 are (xp1, yp1), (xp2, yp2),
the position error of the target disc 202 in the direction of the X-axis of the coordinate system of the inspection chassis 201 is
The position error of the target disc 202 in the Y-axis direction of the coordinate system of the detection chassis 201 is
The angle error of the normal vector b in the Z-axis direction of the coordinate system of the inspection chassis 201 is:
wherein n1 ═ is (xp1-xp2, yp1-yp2), n2 ═ is (xd1-xd2, yd1-yd 2);
s10: according to the error calculation in S9, the relative movement amount of each electric cylinder 101 is calculated by the inverse kinematics of the parallel robot 1, thereby realizing the compensation of the position error of the target plate 202 in the X-axis direction of the coordinate system of the detection chassis 201, the position error of the target plate 202 in the Y-axis direction of the coordinate system of the detection chassis 201, and the angle error of the normal vector b in the Z-axis direction of the coordinate system of the detection chassis 201; and taking the reading of the linear displacement sensor 103 as the position of the electric cylinder 101 corresponding to the initial pose of the parallel robot 1.
To improve the accuracy of detection, S3 to S10 are repeatedly performed.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention in any way, and any person skilled in the art can make any simple modification, equivalent replacement, and improvement on the above embodiment without departing from the technical spirit of the present invention, and still fall within the protection scope of the technical solution of the present invention.
Claims (8)
1. The utility model provides a six degree of freedom parallel robot initial position appearance calibrating device, its characterized in that, includes parallel robot (1) and calibrating device (2), parallel robot (1) contains decides platform, electric jar (101) and moves the platform, electric jar (101) stiff end and flexible end fixed mounting respectively are in deciding the platform top and moving the platform bottom, calibrating device (2) contain linear displacement sensor (103), detect chassis (201) and target dish (202), linear displacement sensor (103) fixed mounting is in electric jar (101) side for detect axle head (102) initial position of electric jar (101), it includes a circular installation chassis (305), symmetry sets up in first laser emitter (306) and second laser emitter (307) of circular installation chassis (305) top middle part and is used for detecting its transmission point to target dish (202) distance and evenly distributed at circular installation chassis (305) top First laser rangefinder sensor (301), second laser rangefinder sensor (302), third laser rangefinder sensor (303) and fourth laser rangefinder sensor (304) all around, the concentric fixed mounting of circular installation chassis (305) is at fixed platform upper surface, target dish (202) contain circular target board (401) and two-dimensional PSD sensor (402) of fixed mounting in circular target board center department, two-dimensional PSD sensor (402) are used for detecting the facula position of first laser emitter (306) and second laser emitter (307), circular target board (401) concentric fixed mounting moves the platform lower surface.
2. The six-degree-of-freedom parallel robot initial pose calibration device according to claim 1, wherein the electric cylinders (101) are uniformly arranged in three groups and two electric cylinders are arranged in a single group, and the two electric cylinders (101) in the single group are arranged in a V shape.
3. The six-degree-of-freedom parallel robot initial pose calibration device according to claim 1, wherein the linear displacement sensor (103) is an LVDT high-precision sensor with detection precision of micron order.
4. The six-degree-of-freedom parallel robot initial pose calibration device according to claim 1, wherein four sets of clamping grooves are uniformly formed in the periphery of the top end of the circular mounting chassis (305), and the first laser ranging sensor (301), the second laser ranging sensor (302), the third laser ranging sensor (303) and the fourth laser ranging sensor (304) are respectively mounted in the four sets of clamping grooves.
5. The six-degree-of-freedom parallel robot initial pose calibration device according to claim 1, wherein detection accuracy of the first laser ranging sensor (301), the second laser ranging sensor (302), the third laser ranging sensor (303) and the fourth laser ranging sensor (304) is 10 microns.
6. The six-degree-of-freedom parallel robot initial pose calibration device according to claim 1, wherein the electric cylinder (101), the linear displacement sensor (103), the first laser ranging sensor (301), the second laser ranging sensor (302), the third laser ranging sensor (303), the fourth laser ranging sensor (304), the first laser emitter (306), the second laser emitter (307) and the two-dimensional PSD sensor (402) are respectively and electrically connected with a power supply, signal input ends of the electric cylinder (101), the first laser emitter (306) and the second laser emitter (307) are respectively and electrically connected with an output end of an external controller, and output ends of the linear displacement sensor (103), the first laser ranging sensor (301), the second laser ranging sensor (302), the third laser ranging sensor (303), the fourth laser ranging sensor (304) and the two-dimensional PSD sensor (402) are respectively and electrically connected with an external controller To the input terminal of (1).
7. The calibration method of the calibration device for the initial pose of the six-degree-of-freedom parallel robot as claimed in claims 1 to 6, characterized by comprising the following steps:
s1: defining that the coordinate system of the detection chassis (201) is consistent with the direction of the base coordinate system of the parallel robot (1) and only has the deviation in the Z-axis direction; the coordinate system of the target plate (202) is consistent with the tool coordinate system of the parallel robot (1) in direction, and only the deviation in the Z-axis direction exists;
s2: controlling each electric cylinder of the parallel robot (1) to execute contraction movement until the data output value of the linear displacement sensor (103) on each electric cylinder (101) is 1/2 strokes thereof, and at the moment, the lengths of the electric cylinders (101) are equal;
s3: four-point distances from an emission point to a circular target plate (401) are measured through a first laser ranging sensor (301), a second laser ranging sensor (302), a third laser ranging sensor (303) and a fourth laser ranging sensor (304) and are recorded as: l1, L2, L3, L4;
s4: knowing that the coordinates of the emitting points of the first laser ranging sensor (301), the second laser ranging sensor (302), the third laser ranging sensor (303) and the fourth laser ranging sensor (304) in the coordinate system of the detection chassis (201) are (xi, yi, 0), wherein i is the serial number of the first laser ranging sensor (301), the second laser ranging sensor (302), the third laser ranging sensor (303) and the fourth laser ranging sensor (304), i is 1, 2, 3, 4, and the spot coordinates of the first laser ranging sensor (301), the second laser ranging sensor (302), the third laser ranging sensor (303) and the fourth laser ranging sensor (304) on the circular target plate (401) are (xi, yi, zi), the plane equation of the circular target plate (401) is calculated to be cAx + By + z +1 is 0 according to the coordinates of the four points, its normal vector B is (a, B, C);
s5: calculating the projection included angle of the normal vector b in the yoz plane of the coordinate system of the detection chassis (201) as
Wherein a is an X-axis direction vector of a coordinate system of the detection chassis (201), and the angle is an angle error of a normal vector b around a Y axis of the coordinate system of the detection chassis (201);
s6: calculating the included angle between the projection vector c of the normal vector b at the yoz of the coordinate system of the detection chassis (201) and the Z axis of the coordinate system of the detection chassis (201) as
The angle is an angle error of a normal vector b around an X axis of a coordinate system of the detection chassis (201);
s7: calculating the position error of the target disk (202) in the Z-axis direction of the coordinate system of the detection chassis (201) by S3
Wherein Z is a coordinate value of a moving platform coordinate Z axis under the initial pose of the parallel robot (1) and is converted into a coordinate value of a target disc (202) Z axis;
s8: according to the error calculation in S3-S7, the relative movement amount of each electric cylinder (101) is calculated through the kinematic inverse solution of the parallel robot (1), so that the compensation of the angle error of the normal vector b around the Y axis of the coordinate system of the detection chassis (201), the angle error of the normal vector b around the X axis of the coordinate system of the detection chassis (201) and the position error of the target disc (202) in the Z axis direction of the coordinate system of the detection chassis (201) is realized;
s9: controlling a first laser emitter (306) and a second laser emitter (307) on a detection chassis (201) to sequentially emit laser rays, wherein spot coordinates formed by the rays on a two-dimensional PSD sensor (402) are (xd1, yd1), (xd2, yd2), when the detection chassis (201) is concentric with a circular target plate (401), spot coordinates formed by the first laser emitter (306) and the second laser emitter (307) are (xp1, yp1), (xp2, yp2),
the position error of the target plate (202) in the X-axis direction of the coordinate system of the detection chassis (201) is
The position error of the target disc (202) in the Y-axis direction of the coordinate system of the detection chassis (201) is
The angle error of the normal vector b in the direction around the Z axis of the coordinate system of the detection chassis (201) is as follows:
wherein n1 ═ is (xp1-xp2, yp1-yp2), n2 ═ is (xd1-xd2, yd1-yd 2);
s10: according to the error calculation in S9, the relative motion quantity of each electric cylinder (101) is calculated through the kinematic inverse solution of the parallel robot (1), so that the position error of the target disc (202) in the X-axis direction of the coordinate system of the detection chassis (201), the position error of the target disc (202) in the Y-axis direction of the coordinate system of the detection chassis (201) and the angle error of the normal vector b in the Z-axis direction of the coordinate system of the detection chassis (201) are compensated; and taking the reading of the linear displacement sensor (103) as the position of the electric cylinder (101) corresponding to the initial pose of the parallel robot (1).
8. The calibration method for the initial pose calibration device of the six-degree-of-freedom parallel robot according to claim 7, wherein S3 to S10 are repeatedly performed.
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