CN114012702B - 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 series robot, a parallel robot, and a series-parallel robot according to their structural characteristics. At present, a joint closed-loop control structure is mainly adopted by a robot, and the pose control precision of the tail end of the robot mainly depends on the consistency of a joint zero position and a 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:
the utility model provides a six degree of freedom parallel robot initial position appearance calibrating device, includes parallel robot and calibrating device, parallel robot contains fixed platform, electric jar and moves the platform, electric jar stiff end and flexible end fixed mounting respectively are at fixed platform top and move the platform bottom, calibrating device contains linear displacement sensor, detection chassis and target plate, linear displacement sensor fixed mounting is at the electric jar side for detect the axle head initial position of electric jar, the detection chassis includes a circular installation chassis, symmetry sets up in the first laser emitter and the second laser emitter of circular installation chassis top middle part and is used for detecting its launch point to target plate distance and evenly distributed at circular installation chassis top first laser ranging sensor, second laser ranging sensor, third laser ranging sensor and fourth laser ranging sensor all around, the concentric fixed mounting of circular installation chassis is on fixed platform upper surface, the target plate contains circular target plate and the two-dimensional PSD sensor of fixed mounting in circular target plate center department, the two-dimensional sensor is used for detecting the facula position of first laser emitter and second laser emitter, the concentric fixed mounting of circular lower surface is moving the platform and is moved the facula position.
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 direction of the coordinate system of the target plate is consistent with that of the tool coordinate system of the parallel robot, and only the deviation 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 stroke of the electric cylinder, and at the moment, the lengths of the electric cylinders are equal;
s3: measure its emission point respectively through first laser rangefinder sensor, second laser rangefinder sensor, third laser rangefinder sensor and fourth laser rangefinder sensor and measure the four-point distance on its emission point to circular target board, record as: l1, L2, L3, L4;
s4: knowing that the coordinates of the emitting points of the first laser ranging sensor, the second laser ranging sensor, the third laser ranging sensor and the fourth laser ranging sensor in a detection chassis coordinate system are (xi, yi, 0), wherein i is the serial number of the first laser ranging sensor, the second laser ranging sensor, the third laser ranging sensor and the fourth laser ranging sensor, i =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 +1=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 is an X-axis direction vector of a detection chassis coordinate system, and the angle is an angle error of a normal vector b around a Y axis of the detection chassis coordinate system;
s6: calculating the included angle between the projection vector c of the normal vector b in the yoz of the detection chassis coordinate system and the Z axis of the detection chassis coordinate system as
The angle is an angle error of a normal vector B around an X axis of a coordinate system of the detection chassis, wherein B and C are coordinates of the normal vector B on a Y axis and a Z axis respectively;
s7: calculating the position error of the target plate 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 target plate Z axisThe coordinate values of (a);
s8: according to error calculation in S3 to S7, calculating the relative motion amount of each electric cylinder through the kinematic inverse solution of the parallel robot, thereby realizing 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;
s9: the first laser emitter and the second laser emitter on the detection chassis are controlled to sequentially emit laser rays, spot coordinates formed by the rays on the two-dimensional PSD sensor are respectively (xd 1, yd 1), (xd 2, yd 2), when the detection chassis is concentric with the circular target plate, spot coordinates formed by the first laser emitter and the second laser emitter are (xp 1, yp 1), (xp 2, yp 2),
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= (xp 1-xp2, yp1-yp 2), n2= (xd 1-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 plate in the X-axis direction of the detection chassis coordinate system, the position error of the target plate 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 at the moment 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, a calibration device for an initial pose 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 installed 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 installed at the side edge of the electric cylinder 101 and is used for detecting the initial position of an axial 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 in the middle of the top end of the circular installation chassis 305, 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 which are used for detecting the distance from an emission point of the circular installation chassis 305 to the target plate 202 and are uniformly distributed around the top end of the circular installation chassis 305, the circular installation chassis 305 is concentrically installed on the upper surface of the fixed platform, the target plate 202 comprises a circular target plate 401 and a PSD 402 which is fixedly installed at the center of the circular target plate, and a two-dimensional sensor which is used for detecting a spot of the second laser emitter 401.
The electric cylinders 101 are uniformly provided with three groups, two electric cylinders 101 are arranged in a single group, and 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 execute contraction movement until the data output value of the linear displacement sensor 103 on each electric cylinder 101 is 1/2 stroke 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 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 =1,2,3,4, and the coordinates of the spots 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=0 according to the coordinates of the four spots, and the normal line B of the vector 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 an X axis of a coordinate system of the detection chassis 201, wherein B and C are coordinates of the normal vector B on a Y axis and a Z axis respectively;
s7: calculating the position error of the target plate 202 in the Z-axis direction of the coordinate system of the detection chassis 201 by S3
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 the steps S3 to 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: the first laser emitter 306 and the second laser emitter 307 on the detection chassis 201 are controlled to sequentially emit laser beams, spot coordinates formed by the beams on the two-dimensional PSD sensor 402 are respectively (xd 1, yd 1), (xd 2, yd 2), 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 (xp 1, yp 1), (xp 2, yp 2),
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 plate 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= (xp 1-xp2, yp1-yp 2), n2= (xd 1-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, so as to compensate 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 around the Z-axis direction of the coordinate system of the detection chassis 201; and the reading of the linear displacement sensor 103 at this time is taken as the position of the electric cylinder 101 corresponding to the initial pose of the parallel robot 1.
In order 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 calibration device for the initial pose of the six-degree-of-freedom parallel robot is characterized by comprising 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 installed 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 installed on 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 in the middle of the top end of the circular installation chassis (305), and a first laser ranging sensor (301), a second laser ranging sensor (302), a third laser ranging sensor (303) and a fourth laser ranging sensor (303) which are uniformly distributed around the top end of the circular installation chassis (305) and a target plate (202), the fixed platform (401) and a target plate (401) which is installed on the circular installation chassis, the two-dimensional PSD sensor (402) is used for detecting the positions of light spots of the first laser emitter (306) and the second laser emitter (307), and the circular target plate (401) is concentrically and fixedly installed on the lower surface of the movable platform.
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 calibration device for the initial pose of the six-degree-of-freedom parallel robot 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 input end of the external controller.
7. The calibration method for the initial pose calibration device of the six-degree-of-freedom parallel robot according to any one of claims 1 to 6, comprising the steps of:
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 stroke of the electric cylinder, 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 =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 board (401) are (xi, yi, zi), calculating the plane equation of the circular target board (401) to be Ax + By + Cz + 10 according to the coordinates of the four points, and then the normal vector B thereof 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 being a normal vectorB the angle error around the X axis of the coordinate system of the detection chassis (201), wherein B and C are the coordinates of the normal vector B on the Y axis and the Z axis respectively;
s7: calculating the position error of the target disc (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 the S3 to 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 (xd 1, yd 1), (xd 2, yd 2), 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 (xp 1, yp 1), (xp 2, yp 2),
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= (xp 1-xp2, yp1-yp 2), n2= (xd 1-xd2, yd1-yd 2);
s10: according to the error calculation in the S9, the relative movement amount of each electric cylinder (101) is calculated through the inverse kinematics solution of the parallel robot (1), so that 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) is realized; 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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