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ÖÐͼ·ÖÀàºÅ£ºTP242 ÎÄÏ×±êÖ¾Â룺A doi£º10.3969/j.issn.1006-0316.2022.04.011

ÎÄÕ±àºÅ£º1006-0316 (2022) 04-0063-05

Calibration Method of Joint Robot Positioning Accuracy Based on Least Square Method

OUYANG Xudong£¬LUO Lin£¬XU Jing£¬LIU Ziyang

( Chengdu Aircraft Industrial (Group) Co., Ltd., Chengdu 610091, China )

Abstract£ºThe positioning accuracy calibration of joint robot usually needs a complex mathematical model. In this study, a positioning accuracy calibration method of joint robot is proposed to simplify the complex calculation in the calibration process. The camera is placed at the end of the joint, the target is placed on the plane perpendicular to the optical axis of the camera, the target image of each measurement point is collected during the rotation of the joint, then the image algorithm is used to identify the imaging situation of the target of each measurement point, and the rotation error distribution of the joint is solved by the least square method. Through the calibration test of the J1 joint of the robot, the rotation error distribution of the J1 joint is obtained, and the compensation angle is solved. After the compensation, the positioning accuracy of the J1 joint is improved.

Key words£ºleast square method£»robot£»positioning accuracy£»calibration

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