Calibration of robot base coordinate system based on spatial polyhedron anomaly projection

In order to solve the problem of base coordinate calibration of industrial robots with different types and positions, the base coordinate calibration method based on the projection of different points of spatial polyhedron can be adopted.The proposed base coordinate calibration method relies on the designed calibration stage, the joint angle information of the master-slave industrial robot at different calibration points in space is obtained separately, Firstly, a multispace polyhedron is constructed in space by reference point and base coordinate origin, The spatial polyhedron is projected onto the x-Y, X-Z and Y-Z planes where the industrial robot resides, Finally, the position and pose transformation matrices between different types of industrial robots are obtained according to the projection graphics. By introducing the gaussian white noise error to simulate the actual error, combined with theoretical analysis and MATLAB software simulation experiment. Experimental results show that the improved base coordinate calibration method has high accuracy, stability and calibration precision.