Title:
ROBOT CALIBRATION METHOD AND DEVICE BASED ON EQUIVALENT KINEMATIC MODEL
Document Type and Number:
WIPO Patent Application WO/2024/031922
Kind Code:
A1
Abstract:
A robot calibration method and device based on an equivalent kinematic model. The method comprises: regarding a real robot system, which has a degree of freedom f≤6 and includes a plurality of classes of time-invariant error sources, as a six-degree-of-freedom equivalent kinematic system to perform calibration, wherein the six-dimensional pose vector y of an output component of the equivalent system is the same as that of an output component of the real system, and the equivalent system comprises a position forward kinematics model (aa), where (bb) is a nominal value of a kinematics parameter of the known real system, ρ is a total joint variable of the equivalent system, q is a driving joint variable of the real system, and α is an adjustable constant parameter vector; constructing a function relationship between ρ and α; acquiring a pose measurement value of the real system, and calculating an estimate (cc) of the adjustable constant parameter vector α in a decoupling manner in a joint space on the basis of an iterative algorithm; according to the function structure of ρ and (cc), correcting the driving joint variable corresponding to a received motion trajectory instruction set; and according to the corrected driving joint variable, driving a robot to move.
Inventors:
HUANG TIAN (CN)
SONG YONGBIN (CN)
TIAN WENJIE (CN)
LIU HAITAO (CN)
XIAO JULIANG (CN)
ZHU KONGFENG (CN)
ZHOU SHIWEI (CN)
SONG YONGBIN (CN)
TIAN WENJIE (CN)
LIU HAITAO (CN)
XIAO JULIANG (CN)
ZHU KONGFENG (CN)
ZHOU SHIWEI (CN)
Application Number:
PCT/CN2022/143088
Publication Date:
February 15, 2024
Filing Date:
December 29, 2022
Export Citation:
Assignee:
UNIV TIANJIN (CN)
GSK CNC EQUIPMENT CO LTD (CN)
GSK CNC EQUIPMENT CO LTD (CN)
International Classes:
B25J9/16
Foreign References:
| CN115008476A | 2022-09-06 | |||
| CN113580148A | 2021-11-02 | |||
| CN108527373A | 2018-09-14 | |||
| CN111618853A | 2020-09-04 | |||
| US20060254364A1 | 2006-11-16 | |||
| CN112318498A | 2021-02-05 |
Attorney, Agent or Firm:
BEIJING CIPRUN INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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