SCARA robot positioning updating method and device based on vibration signals

• Main Authors: YE JIANGLIN, CHEN LINGPING, YU YONGCHEN, LIU YIXIN, ZHANG ZHISHAN, LIU BIYUN, QIU ZHIRONG, LU LIANGWANG
• Format: Patent
• Language: Chinese; English
• Published: 09.05.2023
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention discloses an SCARA robot positioning updating method and device based on vibration signals, and relates to the technical field of robos.The SCARA robot positioning updating method comprises the steps that vibration signals are collected through vibration sensors arranged on all joints, and the vibration signals corresponding to all the joints are obtained; performing signal feature vector extraction processing on the vibration signal corresponding to each joint; inputting the extracted signal feature vector corresponding to each joint into a vibration offset prediction model to carry out vibration offset prediction processing corresponding to each joint to obtain a vibration offset corresponding to each joint; carrying out vibration offset fusion processing on the vibration offset corresponding to each joint in the three-dimensional coordinate system to obtain the tail end vibration offset of the SCARA robot; and carrying out positioning updating processing on the tail end of the SCARA robot bas