CN107175662A - The position calibration method of robot arm - Google Patents
The position calibration method of robot arm Download PDFInfo
- Publication number
- CN107175662A CN107175662A CN201710408132.1A CN201710408132A CN107175662A CN 107175662 A CN107175662 A CN 107175662A CN 201710408132 A CN201710408132 A CN 201710408132A CN 107175662 A CN107175662 A CN 107175662A
- Authority
- CN
- China
- Prior art keywords
- test point
- robotic arm
- point
- arm
- marking pen
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the position calibration method of robot arm of the present invention, including the following steps carried out successively：Using marking pen is in the centrally disposed origin of blank sheet of paper and set up coordinate system, test point is randomly provided around origin, the coordinate of each test point is measured；The coordinate system set up in step A is matched with the Control coordinate system of robotic arm；A marking pen is installed into robotic arm end, the coordinate of the test point set in step A is inputted in the control system of robotic arm simultaneously, control machine arm is moved to each test point and the mark point to be formed and be matched one by one with each test point of being marked with the marking pen of robotic arm end successively；Each test point and its mark of matching point are identified using image identification system, the operating error of computing machine arm is modified.It is an advantage of the invention that：It is simple to operate, test can be completed in factory, it is not necessary to return factory；Need not be by other equipment, testing cost is low.
Description
Technical field
The present invention relates to a kind of robot arm control method, and in particular to the position calibration method of robot arm.
Background technology
Mechanical arm is the automated machine device that most broad practice is obtained in robot technical field, in industry system
Make, therapeutic treatment, entertainment service, military affairs, the field such as semiconductor manufacturing and space probation can see its figure.Although it
Form have nothing in common with each other, but they have one it is common the characteristics of, can exactly receive instruction, be precisely positioned to three-dimensional space
Between on certain point carry out operation.
Existing robot arm calibration needs to be equipped with the more calibrator (-ter) unit of specialty or return factory to be calibrated mostly, into
This is higher, and calibration is inconvenient.
The content of the invention
The technical problems to be solved by the invention are that existing robot arm calibration needs to be equipped with more specialty mostly
Calibrator (-ter) unit returns factory and calibrated, and cost is higher, and calibration is inconvenient, it is therefore intended that provide the position correction of robot arm
Method, the existing robot arm calibration of solution needs to be equipped with the more calibrator (-ter) unit of specialty or return factory to be calibrated mostly,
Cost is higher, the problem of calibration is inconvenient.
The present invention is achieved through the following technical solutions：
The position calibration method of robot arm, including blank sheet of paper and robotic arm, including the following steps carried out successively：
A, using marking pen is in the centrally disposed origin of blank sheet of paper and set up coordinate system, test point is randomly provided around origin,
Measure the coordinate of each test point；
B, the coordinate system set up in step A matched with the Control coordinate system of robotic arm；
C, robotic arm end installed into a marking pen, while the coordinate of the test point set in step A is inputted into machine
In the control system of device arm, control machine arm is moved to each test point and made of the marking pen of robotic arm end successively
The mark point that mark formation is matched one by one with each test point；
D, using image identification system each test point and its mark of matching point are identified, the work of computing machine arm
It is modified as error.
The quantity of test point is at least 3 and no more than 10 in the step A, and the test point is respectively positioned on different straight lines
On.Using the mobile precision of the effective test machine arm all directions of test point energy of above-mentioned distribution.
Marking pen in the step A uses different colors from the marking pen in step C installed in robotic arm end.
Be conducive to the identification of image identification system in step D using different colors.
The present invention compared with prior art, has the following advantages and advantages：
1st, the position calibration method of robot arm of the present invention, simple to operate, and test can be completed in factory, it is not necessary to
Return factory；
2nd, the position calibration method of robot arm of the present invention, it is not necessary to which, by other equipment, testing cost is low.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, with reference to embodiment, to present invention work
Further to describe in detail, exemplary embodiment and its explanation of the invention is only used for explaining the present invention, is not intended as to this
The restriction of invention.
Embodiment
The position calibration method of robot arm of the present invention, including blank sheet of paper and robotic arm, including carry out successively it is following
Step：
A, using black marking pen is in the centrally disposed origin of blank sheet of paper and set up coordinate system, test is randomly provided around origin
Point, measures the coordinate of each test point；The quantity of the test point is 6, and the test point is respectively positioned on different straight lines.Using
The mobile precision of the effective test machine arm all directions of test point energy of above-mentioned distribution.
B, the coordinate system set up in step A matched with the Control coordinate system of robotic arm；
C, robotic arm end is installed to red symbol pen, while the coordinate of the test point set in step A is defeated
In the control system for entering robotic arm, control machine arm is moved to each test point and with the mark of robotic arm end successively
Pen is marked the mark point to be formed and be matched one by one with each test point；
D, using image identification system each test point and its mark of matching point are identified, the work of computing machine arm
It is modified as error.
Above-described embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc. all should be included
Within protection scope of the present invention.
Claims (3)
1. the position calibration method of robot arm, including blank sheet of paper and robotic arm, it is characterised in that including carry out successively with
Lower step：
A, using marking pen is in the centrally disposed origin of blank sheet of paper and set up coordinate system, test point is randomly provided around origin, measure
The coordinate of each test point；
B, the coordinate system set up in step A matched with the Control coordinate system of robotic arm；
C, robotic arm end installed into a marking pen, while the coordinate of the test point set in step A is inputted into mechanical hand
In the control system of arm, control machine arm is moved to each test point and marked with the marking pen of robotic arm end successively
Form the mark point matched one by one with each test point；
D, using image identification system each test point and its mark of matching point are identified, the work of computing machine arm is missed
Difference is modified.
2. the position calibration method of robot arm according to claim 1, it is characterised in that tested in the step A
The quantity of point is at least 3 and no more than 10, and the test point is respectively positioned on different straight lines.
3. the position calibration method of robot arm according to claim 1, it is characterised in that the note in the step A
Number pen uses different colors from the marking pen in step C installed in robotic arm end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710408132.1A CN107175662A (en) | 2017-06-02 | 2017-06-02 | The position calibration method of robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710408132.1A CN107175662A (en) | 2017-06-02 | 2017-06-02 | The position calibration method of robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107175662A true CN107175662A (en) | 2017-09-19 |
Family
ID=59836767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710408132.1A Pending CN107175662A (en) | 2017-06-02 | 2017-06-02 | The position calibration method of robot arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107175662A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114413809A (en) * | 2022-02-17 | 2022-04-29 | 深圳市商汤科技有限公司 | Mechanical arm movement precision testing system and testing method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1754667A (en) * | 2004-09-28 | 2006-04-05 | 株式会社三协精机制作所 | Programme,tape box,location tester for instructing robot, and robot woring method |
| CN101909827A (en) * | 2007-10-23 | 2010-12-08 | 海雷激光有限公司 | Scan head calibration system and method |
| JP2012091280A (en) * | 2010-10-27 | 2012-05-17 | Mitsubishi Electric Corp | Coordinate system calibration method and robot system |
| CN102470529A (en) * | 2009-06-30 | 2012-05-23 | 莱卡地球系统公开股份有限公司 | Calibration method for a measuring system |
| CN102590566A (en) * | 2012-03-16 | 2012-07-18 | 苏州工业园区世纪福科技有限公司 | Automatic alignment method for electronic product testing clamp |
| CN103235661A (en) * | 2013-04-13 | 2013-08-07 | 北京汇冠新技术股份有限公司 | Positioning clicking device and method and touch display screen calibration system and method |
| CN103472953A (en) * | 2013-09-25 | 2013-12-25 | 成都吉锐触摸技术股份有限公司 | Calibration method of touch display screen |
| CN104169964A (en) * | 2011-10-31 | 2014-11-26 | 欧姆龙株式会社 | Image processing device and recording medium for image processing program |
| CN204462584U (en) * | 2015-03-05 | 2015-07-08 | 昆山龙腾光电有限公司 | The lighting of liquid crystal panel detects tool |
-
2017
- 2017-06-02 CN CN201710408132.1A patent/CN107175662A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1754667A (en) * | 2004-09-28 | 2006-04-05 | 株式会社三协精机制作所 | Programme,tape box,location tester for instructing robot, and robot woring method |
| CN101909827A (en) * | 2007-10-23 | 2010-12-08 | 海雷激光有限公司 | Scan head calibration system and method |
| CN102470529A (en) * | 2009-06-30 | 2012-05-23 | 莱卡地球系统公开股份有限公司 | Calibration method for a measuring system |
| JP2012091280A (en) * | 2010-10-27 | 2012-05-17 | Mitsubishi Electric Corp | Coordinate system calibration method and robot system |
| CN104169964A (en) * | 2011-10-31 | 2014-11-26 | 欧姆龙株式会社 | Image processing device and recording medium for image processing program |
| CN102590566A (en) * | 2012-03-16 | 2012-07-18 | 苏州工业园区世纪福科技有限公司 | Automatic alignment method for electronic product testing clamp |
| CN103235661A (en) * | 2013-04-13 | 2013-08-07 | 北京汇冠新技术股份有限公司 | Positioning clicking device and method and touch display screen calibration system and method |
| CN103472953A (en) * | 2013-09-25 | 2013-12-25 | 成都吉锐触摸技术股份有限公司 | Calibration method of touch display screen |
| CN204462584U (en) * | 2015-03-05 | 2015-07-08 | 昆山龙腾光电有限公司 | The lighting of liquid crystal panel detects tool |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114413809A (en) * | 2022-02-17 | 2022-04-29 | 深圳市商汤科技有限公司 | Mechanical arm movement precision testing system and testing method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105643369B (en) | Lathe and the cooperative system for possessing robot | |
| CN110640745B (en) | Vision-based robot automatic calibration method, equipment and storage medium | |
| CN105509671B (en) | A kind of robot tooling center points scaling method using plane reference plate | |
| CN104078446B (en) | Bonding alignment mark and the method calculating side-play amount | |
| CN101442018B (en) | Detection method for silicon wafer warpage degree | |
| US10260872B2 (en) | LTPS multilayered structure and method for measuring misalignment in the same structure | |
| CN103713467A (en) | Mask set and method for detecting alignment precision by utilizing mask set | |
| CN102543684A (en) | Graphic structure design integrated with measurement of line width and alignment precision | |
| CN107727026A (en) | Calibration method of workpiece coordinate system for cooperative work of duplex robot | |
| TWI663680B (en) | Substrate pre-alignment method | |
| CN103673881B (en) | The method for quick field calibration of light pen in a kind of monocular vision measurement | |
| TW201816531A (en) | Numerically controlled machine tool with spatial positional error compensation | |
| CN107175662A (en) | The position calibration method of robot arm | |
| CN110385713A (en) | The position calibration method of robot arm | |
| CN105094051A (en) | Planar positioning compensation method for motion platform system | |
| CN106197283B (en) | Coordinate recognizer, use method thereof and measurement system | |
| CN115200475B (en) | Rapid correction method for arm-mounted multi-vision sensor | |
| CN108332642A (en) | A kind of right-angle head accuracy checking method | |
| CN101959370A (en) | Method for preventing marking position numbers of devices in wrong positions in PCB | |
| CN103832966B (en) | Formation method and the detection method of semiconductor devices | |
| CN103791837B (en) | A kind of trans-regional high-precision spatial coordinate basis system | |
| CN111768383A (en) | Three-dimensional target and method for recovering working function of visual sensor by using same | |
| CN102749815A (en) | Detection method for alignment precision | |
| Wang et al. | Base detection research of drilling robot system by using visual inspection | |
| TWI712473B (en) | Method for calibrating coordinate of robot arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170919 |
|
| RJ01 | Rejection of invention patent application after publication |