about Robot Calibration
Before the robot equipment is officially delivered, it needs to be rigorously calibrated to ensure its accuracy and performance meet the requirements. At the same time, during the operation of the robot, due to the influence of various factors, the posture of the robot may be biased, if not calibrated in time, it will lead to the inaccuracy and work quality of the robot in the execution of tasks, so it needs to be calibrated regularly to ensure the stable and reliable execution of complex tasks.
Robot calibration is a process to improve robot accuracy, including joint Angle calibration, kinematic calibration and non-kinematic calibration.
01 Joint Angle calibration: The joint Angle calibration of the robot is to compensate the position and Angle of the robot joint to make it consistent with the expected movement. The precision and repeatability of the robot can be improved by joint Angle calibration.
02 Kinematic calibration: Geometric calibration involving the entire robot, including angular offset and joint length.
03 Non-kinematic calibration: Models errors other than geometric defaults, such as stiffness, joint flexibility, and friction.
The M-Track intelligent robot path planning and guidance system can be used to accurately obtain the position and attitude of the robot, and assist engineers to calculate key parameters, such as coupling ratio, deceleration ratio, axial deviation and connecting rod length and Angle. In this case, we will look at how to use M-Track to ensure the accuracy of collaborative robots.
01 Project Background
Shenzhen UFACTORY Technology Co., LTD., founded in 2013, is the world's leading R&D and manufacturer of consumer robot systems. It has in-depth research and years of accumulation in robot bottom algorithm, servo system, control system, robot arm joint design, robot arm appearance design and other aspects. Products are widely used in education and research, unmanned retail, automatic detection and other fields.
02 Customer Demand
Precision calibration is a key step before the delivery of the robot. The traditional method can only adjust the attitude accuracy of the cooperative robot in a single dimension, which is not only inefficient, but also prone to errors and changes, affecting the quality and consistency of the product.
Customers need to use the 3D scanner to capture the actual position of the robot end target coordinate system (TCP) under several positions and attitudes, according to the deviation value from the theoretical point, compensation and correction of the robot parameters in the system, so as to improve the position accuracy of the robot.
Traditional measurement methods:
01 Pull wire method: This method can only compensate a single dimension, low accuracy (up to 3-5mm), poor stability.
02 Commonly used laser tracker: high cost.
03 Solution
Solution: M-Track robot path intelligent planning guidance system
The scheme consists of 3D tracking system i-Tracker and M-Track software. Customers use i-Tracker and M-Track software to obtain 6D positions for the tool center point (TCP) of the collaborative robot.
01 Create a background point model: Use the i-Tracker to identify the background points and create the correct geodetic datum coordinate system.
02 Create the target model: Create the robot end model and end tool coordinate system in the software.
03 Track the target point and output coordinates: Call the API to automatically record and output the actual coordinate value of the target point.
04 Compensation and correction motion parameters of the moving robot: Input the actual coordinate points and theoretical coordinate points into the compensation software, and automatically get the compensation value, which is used to correct the motion parameters of the robot.
04 Solution Advantages
01 Accuracy guarantee: i-Tracker tracking system adopts binocular stereo vision technology, which can accurately obtain the 6D pose of TCP. When the tracking range is 10.4m³, the accuracy can reach 0.049mm; When the tracking range is 28.6m³, the accuracy can reach 0.067mm; When the tracking range is 49.0m³, the accuracy can reach 0.089mm, which effectively reduces the pose error of the robot and improves the product accuracy.
02 Real-time calibration: M-Track compares the captured pose data with the target data, which can assist engineers to quickly verify and adjust the parameters of the cooperative robot and correct its deviation, further ensuring the accurate execution of the robot task.
03 Efficient and intelligent: Compared with traditional calibration methods, M-Track greatly saves time and labor costs, shortens equipment downtime and maintenance time, and provides a more efficient and intelligent calibration scheme for robot manufacturing.
M-Track intelligent path planning and guidance system with its high-precision, convenient, intelligent features to efficiently complete the robot calibration work, fully ensure the stable and reliable performance of the robot. Robot calibration is an important link to promote the intelligent upgrading of the production line and improve the efficiency of the production line. The application of three-dimensional digital technology provides a more efficient and intelligent possibility for the control accuracy and stability of the robot, further improves the overall efficiency and quality level of the production line, and promotes the rapid development of the intelligent manufacturing industry.
