Robot calibration method for digital twinning

Robot calibration method for digital twinning

The invention discloses a digital twinning-oriented robot calibration method. The method comprises the following steps: establishing a digital twinning model for robot calibration; a robot calibration working platform is built; robot calibration operation is executed; space pose points of an end eff...

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Hauptverfasser: GUO YONGHAO, BIAN LEPENG, NIU WENTIE, SHAO CHANGHONG
Format: Patent
Sprache:chi ; eng
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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creator GUO YONGHAO
BIAN LEPENG
NIU WENTIE
SHAO CHANGHONG
description The invention discloses a digital twinning-oriented robot calibration method. The method comprises the following steps: establishing a digital twinning model for robot calibration; a robot calibration working platform is built; robot calibration operation is executed; space pose points of an end effector of the robot are searched according to an optimization algorithm; subtracting a space pose point of an ideal robot end effector in the obtained optimal measurement pose group from the measurement pose to obtain a pose error; and the pose error of the robot is compensated. On a robot calibration model, a robot rigid-flexible coupling error model is established according to a linear superposition principle, so that the accuracy of the model is improved; in the aspect of robot calibration work, a detailed and simple robot calibration process is given, and the complexity of the robot calibration work is reduced; in the aspect of data measurement, an optimal measurement pose group of spatial pose points of a robot
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subjects CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
title Robot calibration method for digital twinning
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