CN104299184A

CN104299184A - Method for establishing robot coordinate transformation system

Info

Publication number: CN104299184A
Application number: CN201410586630.1A
Authority: CN
Inventors: 梁艳阳; 刘宏伟; 张平
Original assignee: Southwest University of Science and Technology
Current assignee: Southwest University of Science and Technology
Priority date: 2014-10-29
Filing date: 2014-10-29
Publication date: 2015-01-21

Abstract

The postures of robot sub-systems are calibrated through a Cartesian space coordinate system, the postures of the robot sub-systems relative to a reference system are quantitatively shown through a homogeneous coordinate matrix, and the transformation postures of the sub-systems relative to the reference system can also be calculated through the homogeneous coordinate matrix. The method solves the problem that the posture of each sub-system cannot be accurately positioned in a robot motion system, and meanwhile solves the problem existing in the speed of a robot. The work accuracy of the robot can be improved and the speed of the robot can be increased through calibration and change of the coordinate system.

Description

Robot coordinate converting system builds

Technical field

The present invention relates to a set of robot subsystems scaling method, also can represent and change that there is high reliability by accurate Calculation machine people subsystem pose simultaneously.

Background technology

In robot controlling field, in order to improve speed and the performance accuracy of robot end's instrument, in precision positioning machine device robot system, each part seems particularly important.Robot coordinate converting system builds mainly for the pose of robot subsystems under world coordinate system and transformation relation, thus improves operating accuracy and the speed of robot end's instrument.

Summary of the invention

In order to improve robot path planning's speed and precision, the present invention uses coordinate system to demarcate conversion between each subsystem pose and each subsystem pose.To achieve these goals, the present invention adopts following technical proposals:

The design of this system is formed by with lower part: cartesian space coordinate system demarcates robot subsystems; World coordinate system, basis coordinates system, tool coordinates system, user coordinate system.

World coordinates is absolute coordinate system, and in a robot system, world coordinate system only has one.Pose is expressed as

Represent world coordinate system attitude in above-mentioned formula, because world coordinates is the absolute coordinate system of robot system, this rotation matrix is unit matrix, represents with certainly as reference.Represent the position relative to reference frame, because relative to itself without position offset, so this column vector is null vector.Matrix last column is then scale-up factor.

Basis coordinates system is that the coordinate system pose demarcating robot base pose is expressed as

Rotation matrix represents that basis coordinates ties up to the attitude in world coordinate system.Represent basis coordinates system initial point position in world coordinate system.Scale-up factor is shown in last list of same homogeneous coordinates matrix.Basis coordinates system relative to the conversion pose of world coordinate system is:

Above-mentioned formula represents respectively around the rotation of world coordinate system x-axis, rotates, rotate around z-axis around y-axis.

Above-mentioned formula represents that basis coordinates system initial point is relative to world coordinate system displacement.

Robot end's instrument pose is demarcated by tool coordinates system; With basis coordinates system homogeneous coordinates matrix class seemingly, tool coordinates system pose and conversion pose can be obtained.

User coordinate system demarcates the pose of robot manipulation's platform; The reference frame of worktable also can select world coordinate system as a reference by selection tool coordinate system as a reference.With basis coordinates system homogeneous coordinates matrix class seemingly, user coordinate system pose and conversion pose can be obtained.

Accompanying drawing explanation

Fig. 1 robot coordinate system overall design drawing;

Fig. 2 pedestal mark system;

Fig. 3 tool coordinate system;

Fig. 4 user coordinate system.

Embodiment

Illustrate the representation of different coordinates;

Figure 1 shows that robot coordinate system builds overall design drawing, world coordinates is absolute coordinates; Basis coordinates system is reference frame with world coordinates; Tool coordinates system is reference frame with basis coordinates; User coordinate system 1 is reference frame with basis coordinates, and user coordinate system 2 is reference frame with world coordinates.Subsystem marks relative to the pose homogeneous coordinates matrix of reference frame;

Figure 2 shows that robot base is demarcated by basis coordinates system, initial point is in robot base bottom center, and Z axis vertically upward; XY plane is base bottom surface;

Figure 3 shows that robot end's instrument is demarcated by tool coordinates system, tool coordinates system is commonly defined as certain point of instrument, as: the pad of welding gun, the intermediate point etc. of paw;

Figure 4 shows that user coordinate system demarcates robot cylindrical work platform, a robot can operation on multiple device or multiple different positions and pose workplace.A user coordinate system can be defined for each device.

Claims

1. robot coordinate converting system builds, its feature has with lower part: demarcate robot subsystems with cartesian space coordinate system, world coordinate system demarcates whole robot system, individual machine people base is demarcated by basis coordinates system, robot end's instrument is demarcated by tool coordinates system, and user coordinate system demarcates robot manipulation's platform; With the pose of homogeneous coordinates matrix representation robot subsystems, 4 rank matrixes can represent the attitude of robot relative to reference frame, can represent again the position relative to reference frame; With the conversion pose of homogeneous coordinates matrix representation robot subsystems relative to reference frame.

2. according to claim 1, robot coordinate converting system builds, and its feature mainly demarcates robot subsystems by space coordinates.

3. according to claim 1, robot coordinate converting system builds, and its feature mainly uses 4 rank these subsystems of homogeneous coordinates matrix representation relative to the position of reference frame and attitude.

4. according to claim 1, robot coordinate converting system builds, and its feature mainly uses 4 rank these subsystems of homogeneous coordinates matrix representation relative to the conversion pose of reference frame.