INDUSTRIAL ROBOT ABSOLUTE PRECISION CALIBRATION SYSTEM AND METHOD

摘要

Disclosed are an industrial robot absolute precision calibration system and method. The calibration system comprises a three-ball base device, an end measuring device, a robot, a communication cable, and a computer, etc. The calibration method comprises: using a fixed three-ball base device to build a world coordinate system used for describing a robot base coordinate system; using the end measuring device mounted on a robot flange to measure robot end position error information; using a computer to read position error data and robot joint angle data; and finally, substituting all measured data into an absolute accuracy calibration algorithm in the computer to carry out iterative computation, to obtain an accurate kinematic model describing the world coordinate system. Use of the calibration system and the calibration method can accurately calibrate the posture of the robot base coordinate system and robot kinematics parameters, and thus improves the robot absolute positioning precision.