Robot coordinate system calibration method, device and equipment and storage medium

• Main Authors: LIAO GUOFENG, CAI JIUFENG, MA XUEFENG, LIN GENGCONG, XIAN YAOQI, HUANG SHIFENG, GAO MENG
• Format: Patent
• Language: Chinese; English
• Published: 05.01.2024
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention relates to a coordinate system calibration method, device and equipment of a robot and a storage medium. The method comprises the following steps: acquiring tail end position data acquired by acquisition equipment based on a world coordinate system; pre-calibration data of a base coordinate system and a tool coordinate system of the robot are determined according to the position and posture relation of the world coordinate system, the base coordinate system and the tool coordinate system of the robot and the tail end position data; according to the pre-calibration data, an error equation of a base coordinate system and a tool coordinate system of the robot is constructed; and solving the error equation according to the tail end position data, and obtaining actual calibration data of a base coordinate system and a tool coordinate system of the robot according to a solving result. When the coordinate system is calibrated, small errors are recognized in time, and the accuracy of the obtained calibr