公开(公告)号：US20240359326A1

公开(公告)日：2024-10-31

申请号：US18769309

申请日：2024-07-10

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian GAO ,  Disai CHEN ,  Yuheng LUO ,  Lanyu ZHANG ,  Zhuojun ZHENG ,  Guoqing WU ,  Xin CHEN

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1607 ,  B25J9/163

Abstract: The present application provides a kinematics modeling method, apparatus and device for a multi-degree-of-freedom mechanism and a storage medium. The method includes: constructing a point coordinate system, and constructing the transformation matrix; constructing transformation matrices of two rotating axes and the transformation matrix; constructing the forward kinematics model based on the transformation matrices of the point coordinate system, the two rotating axes and the workpiece coordinate system; solving the motor value of the rotating axis through the rotation matrix of the end-effector, using the translation matrix of the end-effector as a non-homogeneous linear equation set, solving the motor value of linear axis. Thus solving the technical problem in the prior arts that the redundant parameters are introduced as a cost to separate the linear axis and the rotating axis for step-by-step kinematics calibration, which affects the error calibration precision of the overall end-effector movement of the mechanism.

公开(公告)号：US20240335949A1

公开(公告)日：2024-10-10

申请号：US18483499

申请日：2023-10-09

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian GAO ,  Guoqing WU ,  Yuheng LUO ,  Lanyu ZHANG ,  Zhuojun ZHENG ,  Disai CHEN ,  Xin CHEN

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1697

Abstract: Disclosed are a kinematics parameter calibration method and system of a multi-axis motion platform. The method comprises the following steps of: collecting calibration board images in different spatial positions according to a position relation between the platform and a camera, recording a corresponding motor motion amount, solving a hand-eye pose relation matrix and a pose matrix of a calibration board coordinate system in a platform tail end coordinate system, further solving a coordinate measured value of an angular point on the calibration board in a platform base coordinate system and a coordinate theoretical value of a position matrix of the tail end of the motion platform, determining a residual error matrix according to the measured value and the theoretical value, and identifying an error parameter by the residual error matrix to complete kinematics parameter calibration of the platform.