Title:
ARM LENGTH PARAMETER COMPENSATION METHOD, APPARATUS, AND DEVICE FOR SCARA ROBOT, AND NON-VOLATILE READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2024/060569
Kind Code:
A1
Abstract:
An arm length parameter compensation method for an SCARA robot, comprising: acquiring a pre-stored correspondence between two robotic arm lengths of the SCARA robot with regard to first parameters and a second parameter; controlling the two robotic arms of the SCARA robot to move to any position to be stationary, and acquiring the first parameters of the two robotic arms of the SCARA robot at a current position; measuring the second parameter of the SCARA robot at the current position by means of a displacement measurement system; on the basis of the first parameters and the second parameter, calculating real arm lengths of the two robotic arms of the SCARA robot according to the correspondence; and importing the real arm lengths into a control system of the SCARA robot, so as to control the robotic arms by means of the control system, wherein the first parameters are rotating angles of the two robotic arms, and the second parameter is planar coordinate values, in a coordinate system of the SCARA robot, of the tail end of the robotic arm distant from a mounting base. According to the method, the SCARA robot can more accurately control the tail end of the robotic arm to reach a designated position, and the control precision is improved. Further provided are an arm length parameter compensation apparatus and device for an SCARA robot, and a non-volatile readable storage medium.
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Inventors:
LI CHAO (CN)
XIE SHUAIHU (CN)
XIE SHUAIHU (CN)
Application Number:
PCT/CN2023/085270
Publication Date:
March 28, 2024
Filing Date:
March 30, 2023
Export Citation:
Assignee:
SUZHOU METABRAIN INTELLIGENT TECH CO LTD (CN)
International Classes:
B25J9/16
Foreign References:
| CN115213911A | 2022-10-21 | |||
| CN112440269A | 2021-03-05 | |||
| CN111347136A | 2020-06-30 | |||
| CN114012730A | 2022-02-08 | |||
| CN107263540A | 2017-10-20 | |||
| KR19980051309A | 1998-09-15 |
Attorney, Agent or Firm:
KANGXIN PARTNERS, P.C. (CN)
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