ZERO CALIBRATION METHOD AND DEVICE FOR ROBOT ARM JOINT SENSOR

WIPO Patent Application WO/2020/125732

A1

A zero calibration method and device for a robot arm joint sensor. The method comprises: determining whether a robot arm to be tested is a redundant robot arm, if yes, segmenting the robot arm, using a non-redundant boom as a set end boom, and performing steps of the following single calibration method until zero calibration of all joints of the robot arm to be tested is completed; installing at least two targets in parallel on the set end boom, wherein matching elements of patterns of the targets keep parallel; installing a light source on a robot arm mounting body; driving joints of the robot arm to move, so that a light beam from the light source passes through the axis of each target and a light spot overlaps the pattern of each target; and obtaining the poses of the targets after the pose of the boom is adjusted, and calculating the rotation angle of a rotation joint and the movement amount of a moving joint of the robot arm under the current pose of the set end boom according to the relationship between the pose of the set end boom and the pose of the light source. Compared with the prior art, the method is more simple and efficient in zero calibration.

LIU FEIXIANG (CN)
ZHENG DAQIAO (CN)
QIN NIANWEN (CN)
LI JIANHUA (CN)
LI QING (CN)
REN XIAOQIANG (CN)
WANG HUAMING (CN)
WANG PENGXIANG (CN)
WANG BIN (CN)
ZHOU JUNYU (CN)

PCT/CN2019/126768

June 25, 2020

December 19, 2019

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CHINA RAILWAY CONSTR HEAVY IND CORP LTD (CN)

B25J19/00

CN109262659A	2019-01-25
CN107253193A	2017-10-17
CN106945049A	2017-07-14
CN205219118U	2016-05-11
JP2018034238A	2018-03-08
JP2015089584A	2015-05-11

ADVANCE CHINA IP LAW OFFICE (CN)

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