Calibration system and calibration method of robot
A calibration system of a robot includes a data storage unit that stores a number of pieces of data in which actual measured position information obtained by actually measuring a tip position of the robot and information indicating a state of the robot upon actual measurement are combined, a parameter selecting unit that selects mechanical error parameters to be identified from parameters indicating mechanical errors of the robot, a parameter identifying unit that identifies each of the mechanical error parameters using the stored data and information of the selected mechanical error parameters, and an identification result evaluating unit that evaluates an identification result, and, in the case where evaluation does not satisfy a predetermined criterion, selection of different mechanical error parameters by the parameter selecting unit, identification and evaluation are repeated.
1. A calibration system of a robot, comprising:
a processor; and
a memory that stores a plurality of parameters in which mechanical errors are described, the plurality of parameters being candidates of mechanical error parameters to be used for the robot,
wherein the processor is configured to:
perform selection of a set of parameters among the plurality of parameters;
perform identification of the selected set of parameters by using the selected set of parameters and a plurality of pieces of data, each of which associates an actual measured position of a tip position of the robot with information indicating a state of the robot upon measurement of the actual measured position;
perform determination of whether or not a result of performing identification satisfies a predetermined criterion;
in response to determining that the result does not satisfy the predetermined criterion, repeat performing selection, identification, and determination until the result satisfies the predetermined criterion; and
in response to determining that the result satisfies the predetermined criterion, output the selected set of parameters to a controller that controls the robot.
2. The calibration system of the robot according to claim 1 , wherein the information indicating the state of the robot includes an angle of each joint of the robot upon measurement of the actual measured position.
3. The calibration system of the robot according to claim 1 , wherein the information indicating the state of the robot includes torque acting on each joint of the robot upon measurement of the actual measured position.
4. The calibration system of the robot according to claim 1 , wherein, in response to determining that the result does not satisfy the predetermined criterion, the processor is configured to repeat performing selection, identification, and determination until a predetermined runtime threshold is met, at which point the processor outputs the selected set of parameters which is closest to the predetermined criterion at that time point to the controller.
5. The calibration system of the robot according to claim 1 , wherein, in response to determining that the result does not does not satisfy the predetermined criterion, the processor is configured to repeat performing selection, identification, and determination until an iteration threshold is met, at which point the processor outputs the selected set of parameters which is closest to the predetermined criterion at that time point to the controller.
6. A calibration method of a robot, comprising:
selecting a set of parameters among a plurality of parameters in which mechanical errors are described, the plurality of parameters being candidates of mechanical error parameters to be used for the robot;
identifying the selected set of parameters by using the selected set of parameters and a plurality of pieces of data, each of which associates an actual measured position of a tip position of the robot with information indicating a state of the robot upon measurement of the actual measured position; and
determining whether or not a result of identifying the selected set of parameters satisfies a predetermined criterion,
wherein, in response to determining that the result does not satisfy the predetermined criterion, selection, identification, and determination are repeated until the result satisfies the predetermined criterion; and
wherein, in response to determining that the result satisfies the predetermined criterion, the selected set of parameters is output to a controller that controls the robot.