Patent
Robot tool coordinate system calibration method based on planar constraints
Wang Kun,Zhou Xing,Zhu Zhihong +2 more
- 02 Nov 2018
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TL;DR: In this article, a robot tool coordinate system calibration method based on planar constraints is presented, which consists of the following steps: setting a motion mode of a robot, establishing a base coordinate system B, an end coordinate system E and a tool coordinate systems T, and solving an irradiation point coordinate equation.
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Abstract: The invention discloses a robot tool coordinate system calibration method based on planar constraints. The robot tool coordinate system calibration method comprises the steps of: setting a motion modeof a robot; establishing a base coordinate system B, an end coordinate system E and a tool coordinate system T; establishing a planar constraint condition; ensuring that an irradiation point is always on a marble platform, keeping the attitude of the end coordinate system E unchanged, and controlling the position of the end coordinate system E to change for six times; ensuring that the irradiation point is always on a marble platform, keeping the position of the end coordinate system E unchanged, and controlling the attitude of the end coordinate system E to change for three times; and solving an irradiation point coordinate equation. During the tool coordinate system calibration process, the calibration of the tool coordinate system can be completed by solving the irradiation point coordinate equation of a laser displacement sensor, the solving of the irradiation point coordinate equation only needs to complete the measurement of 9 sets of data, the calibration efficiency is high, and the laser displacement sensor is utilized for distance detection to ensure sufficient calibration precision of the tool coordinate system.
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Citations
Patent
Method for accurately calibrating robot tail end and visual system
Ju Qingchen,Song Fangfang,Wang Jiegao +2 more
- 07 May 2019
TL;DR: In this article, the relative relation between a laser vision coordinate system and a robot coordinate system is obtained, coordinates of a measured object at the laser vision are converted to coordinates at the robot, the overall operation efficiency of the system is improved, and the good application effect is achieved.
3
Patent
Method of calibrating external parameters of displacement sensor by space transformation technique
Liu Wei,Liu Kun,Liang Bing,Feng Di,Jiang Xintong,Jia Zhenyuan,Likun Si +6 more
- 19 Apr 2019
TL;DR: In this article, a displacement sensor measurement origin and a measurement vector which meet the precision requirement are calculated by means of iteration, so that calibration is achieved for the external parameters of the displacement sensor.
2
Patent
Calibration method for relative position of linear laser three-dimensional measurement sensor and robot
TL;DR: In this article, a line laser 3D measurement sensor scans different positions of a standard plane to obtain 3D point cloud data, a linear equation is fitted to calculate a direction vector of a straight line, and an optimization problem under plane constraint is constructed to calculate the relative position relationship between the line laser three-dimensional measurement sensor and a robot.
1
Patent
3D space coordinate measurement method based on 1D displacement sensor
Liu Wei,Liang Bing,Jia Zhenyuan,Jiang Xintong,Feng Di,Liu Kun,Zhou Mengde,Si Likun,Sun Zhaoyu,Li Chao,Liu Lunqian +10 more
- 19 Nov 2019
TL;DR: In this paper, a 3D space coordinate measurement method based on a 1D displacement sensor is proposed, which is suitable for many kinds of displacement sensors and has a wide application prospect.
Patent
Laser displacement sensor self-calibration method
Dai Xiang
- 07 Jul 2020
TL;DR: In this paper, the authors proposed a self-calibration method for a laser displacement sensor, which solves the problems of low laser calibration precision and low efficiency in the prior art.
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Patent
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12
Patent
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Yamada Shin
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Patent
Industrial robot TCP calibration method
Zhou Xing,Huang Shifeng,Wang Qun,Yang Haibin,Fan Li +4 more
- 15 Mar 2017
TL;DR: In this article, an industrial robot TCP calibration method is described, which comprises the steps of teaching, recording postures and calculating an attitude matrix and a displacement vector of a connecting rod tail end flange plate coordinate system of each posture.
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