Title:
ROBOT CALIBRATION METHOD BASED ON POSE CONSTRAINT AND FORCE SENSING
Document Type and Number:
WIPO Patent Application WO/2024/037174
Kind Code:
A1
Abstract:
Disclosed in the present application are a robot calibration method based on a pose constraint and force sensing. The method comprises: establishing a kinematic model, a geometric error model and a non-geometric error model; installing a tail end calibration apparatus at a tail end of a robot, and installing a geometric constraint apparatus in a working space of the robot; dragging the robot, such that each calibration sphere of the tail end calibration apparatus is constrained in each V-shaped groove in the geometric constraint apparatus, thereby realizing a pose constraint, then, dragging the calibration spheres to the V-shaped grooves, which are on different faces, and calibrating a geometric parameter error of the robot by using the deviation between two measured nominal tail end poses and an actual value; reading a tail end force by means of a force sensor, and calibrating the non-geometric error model; identifying corresponding kinematic model parameters of the robot; and compensating, into a controller of the robot, kinematic model parameter errors obtained by means of identification. The present application has the advantages of being low in cost, having good portability, providing more tail end pose error information, also being usable for performing identification on a non-geometric error model, etc.
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Inventors:
YANG GUILIN (CN)
HE JIANHUI (CN)
CHEN SILU (CN)
WAN HONGYU (CN)
LUO JINGBO (CN)
TANG YE (CN)
ZHANG ZHIHUI (CN)
CHEN QINGYING (CN)
ZHANG CHI (CN)
HE JIANHUI (CN)
CHEN SILU (CN)
WAN HONGYU (CN)
LUO JINGBO (CN)
TANG YE (CN)
ZHANG ZHIHUI (CN)
CHEN QINGYING (CN)
ZHANG CHI (CN)
Application Number:
PCT/CN2023/101305
Publication Date:
February 22, 2024
Filing Date:
June 20, 2023
Export Citation:
Assignee:
NINGBO INSTITUTE OF MATERIALS TECH & ENGINEERING CHINESE ACADEMY OF SCIENCES (CN)
International Classes:
B25J9/00; B25J9/16; B25J13/08
Domestic Patent References:
| WO2022007753A1 | 2022-01-13 |
Foreign References:
| CN115319727A | 2022-11-11 | |||
| CN113927599A | 2022-01-14 | |||
| CN112847341A | 2021-05-28 | |||
| CN112873199A | 2021-06-01 | |||
| CN112959354A | 2021-06-15 | |||
| CN113400088A | 2021-09-17 | |||
| CN114147726A | 2022-03-08 | |||
| US20200298403A1 | 2020-09-24 |
Other References:
QI FEI, PING XUELIANG, LIU JIE, JIANG YI: "A Robot’s Parameter Identification Method with Joint Flexible Errors taken into Account", MECHANICAL SCIENCE AND TECHNOLOGY FOR AEROSPACE ENGINEERING., vol. 36, no. 4, 1 April 2017 (2017-04-01), pages 512 - 518, XP093140221, DOI: 10.13433/j.cnki.1003-8728.2017.0404
Attorney, Agent or Firm:
NANJING LI & FENG INTELLECTUAL PROPERTY AGENCY (SPECIAL GENERAL PARTNERSHIP) (CN)
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