CN106546170B - A kind of robot motion track key point error measurement method - Google Patents
A kind of robot motion track key point error measurement method Download PDFInfo
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Abstract
The present invention relates to a kind of robot motion track key point error measurement methods, crucial discrete point kinematic error measurement in robot kinematics may be implemented in the present invention: in robot kinematics, control robot stop motion at a certain key point, robot end's real space point coordinate at this time is acquired by Vision imaging system, the biprism tracking device that key point generates simultaneously generates robot motion to the theoretical coordinate of this key point, by comparing distance between two points are calculated, the Motion Errors at crucial discrete point can be obtained.This method belongs to non-cpntact measurement robot motion's trajectory error method, does not need directly to contact robot.It ensure that in the case where not destroying robot, the key point error measure of robot motion track can be accurately obtained.
Description
Technical field
The present invention relates to the measurement methods of point tolerance crucial in robot motion track, and in particular to a kind of key point generation
Biprism tracking device and the robot motion track key point error measurement method that combines of vision measurement system.
Background technique
(machine science and technology, 2 phases in 2011, volume 20, page 252, " Flexible Robot is dynamically by Qian Ruiming for first technology
The measurement of error integrated laser and Compensation Research ") propose one kind based on 3 laser generators and 3 laser position detectors (PSD)
Flexure member dynamic error measurement method, which can measure 5 deformation components in addition to bar length direction, and optical path and measurement
Model is simple；It establishes on PSD between light spot position and each error component of component and end effector of robot dynamic error
Relationship, and provide its compensating control method.But its control process is complicated, and calculating is cumbersome, and being easy to appear causes because controlling error
The problem of measurement result inaccuracy.
First technology (machine driving, 5 phases in 2013, volume 6, page 50, the Wang Liangwen " four feet walk captured for object
The motion error model of robot ") it proposes on the body of quadruped robot, image capture system is installed, for guiding machine
People completes the crawl to object.And on the basis of to seized condition Analysis of Inverse Kinematics, accurate picture catching system is established
Relationship between error of uniting and the working arm parameter error of robot, gives detailed calculation formula, obtains robot motion
Kinematic error in the process simultaneously compensates.The acquisition of this Motion Errors is the figure by acquiring the change of external environment
As inversely calculating robot working arm kinematic error, measurement accuracy is limited by later image processing accuracy.
(patent No.: 201010552545.5) Zhejiang University mentions a kind of circle based on sweeping laser interference to first technology
Movement locus Fast measurement system: the optical signal from frequency swept laser is divided into optical signal and Y by X by total spectroscope
To optical signal, and get on the target mirror for being mounted on machine tool guideway.Finally, obtaining lathe to testing agency and Y-direction detection machine by X
The circular movement locus of guide rail.The invention device can only detect robot trajectory's kinematic error in plane, and application field is relatively narrow.
Summary of the invention
The purpose of the present invention is to provide a kind of robot motion track key point error measurement methods, and the present invention can be real
Crucial discrete point kinematic error measurement in existing robot kinematics: in robot kinematics, robot is controlled a certain
Stop motion at key point acquires robot end's real space point coordinate, while key point at this time by Vision imaging system
The biprism tracking device of generation generates robot motion to the theoretical coordinate of this key point, by comparing the spacing for calculating two o'clock
From the Motion Errors at crucial discrete point can be obtained.
The measurement method of robot motion track key point tolerance proposed by the present invention, the method is by being used for key point
The biprism tracking device of generation and for key point Image Acquisition two CCD camera measure system realize, the method be used for machine
The measurement of crucial discrete point kinematic error in device people's motion process, in which:
The biprism tracking device includes the first rotation biprism 1 and the second rotation biprism 2, the first rotation biprism
1 and second rotation biprism 2 it is coaxially arranged；The two CCD camera measure system includes first camera 3, second camera 4, first
Bar 5, the second strut 6 and bottom plate 7, first camera 3 are connected with 5 one end of the first strut, and 5 other end of the first strut is fixed on bottom plate 7
On；Second camera 4 is connected with 6 one end of the second strut, and 6 other end of the second strut is fixed on bottom plate 7.First camera 3 and second
Camera 4 simultaneously shoots robot end 9, and same shooting interval is arranged；Characteristic matching is carried out to the photo of shooting,
Matched content is robot end's mark point 10 and laser point 11；Specific step is as follows:
(1) mark point 10 is pasted in articulated robot end；
(2) it according to the movement angle and angular speed in each joint of articulated robot, calculates and needs to measure kinematic error
Key point position coordinates Mi(xi,yi,zi), in which: i=1,2,3 ..., and available theoretically robot motion is to key point Mi
(xi,yi,zi) time ti；
(3) based on rotation biprism look-up table, according to key point M in robot kinematicsi(xi,yi,zi), it can table look-up
Show that laser point 11 reaches key point MiWhen, the corner of the first rotation biprism 1 and the second rotation biprism 2 is (θi1,θi2)；
(4) the first rotation biprism 1 and second rotates biprism 2 in the biprism tracking device that strategic point generates
Corner is (θi1,θi2), beat laser point 11 in first key point M of robot motion1(x1,y1,z1) on；
(5) robot motion is controlled to t1Moment simultaneously stops, and robot end 9 is made to reach first key point M1(x1,y1,
z1) physical location；
(6) it is taken pictures using first camera 3 and second camera 4 to robot end 9；
(7) photo shot to first camera 3 and second camera 4 is matched with the image of mark point 10, is marked
Image coordinate system coordinate (x of the point 10 in first camera 31,y1), the image coordinate system coordinate (x in second camera 42,y2)；
(8) photo shot to first camera 3 and second camera 4 is matched with the image of laser point 11, obtains laser
Image coordinate system coordinate (x of the point 11 in first camera 33,y3), the image coordinate system coordinate (x in second camera 44,y4)；
(9) Binocular vision photogrammetry method, image of the mark point 10 obtained by step (7) in first camera 3 are based on
Coordinate system coordinate (x1,y1), with the image coordinate system coordinate (x in second camera 42,y2), when can calculate robot motion
Three-dimensional coordinate (the X of mark point 10 on end1,Y1,Z1)；Figure of the laser point 11 obtained by step (8) in first camera 3
As coordinate system coordinate (x3,y3), with the image coordinate system coordinate (x in second camera 44,y4), robot motion can be calculated
When end on laser point 11 three-dimensional coordinate (X2,Y2,Z2)；
(10) according to formulaFirst key point M can be calculated1(x1,
y1,z1) at kinematic error δ；
(11) other movements key point Mi(xi,yi,zi) (i=2,3,4 ...) kinematic error measurement process and first pass
The kinematic error measurement process of key point is identical.
In the present invention, biprism look-up table is rotated described in step (3), the specific steps are as follows:
(1) the reasonable structural parameters of rotation biprism are selected according to robot motion track, including first rotates double ribs
Rotation angle range (the θ of the locking angle of mirror 1 and the second rotation biprism 2, the first rotation biprism 1r1min,θr1max) and the second rotation
Turn the rotation angle range (θ of biprism 2r2min,θr2max), first rotation biprism 1 and second rotation biprism 2 between distance D1
Deng；
(2) look-up table precision ε is determined according to the precision that robot key point kinematic error measures；
(3) according to obtained look-up table precision ε, determine that the first rotation biprism 1 and the second rotation biprism 2 are angle-resolved
Rate θtr；
(4) according to angular resolution θtr, first rotation biprism 1 rotation angle range (θr1min,θr1max) and the second rotation
Turn (the θ of biprism 2r2min,θr2max), it is (θ that any combination first, which rotates biprism 1 and the angle of the second rotation biprism 2,r1l,
θr2l)；
(5) according to combinations of the above angle (θr1l,θr2l), it calculates under this combination angle, rotation prism arrangement is corresponding
Scanning element coordinate (Xp,Yp,Zp)；
(6) by combinations of the above angle (θr1l,θr2l) and scanning element coordinate (Xp,Yp,Zp) relationship be written computer, build
Found this specific rotation prism arrangement private database；
(7) the key point coordinate M for needing to scan known toi(xi,yi,zi), it is searched in the private database established
With the immediate coordinate value (X of target pointpm,Ypm,Zpm), that is, it findsInstitute when minimum
Corresponding (Xp,Yp,Zp), according to the coordinate value (X searchedpm,Ypm,Zpm), the first rotation in corresponding dedicated data table can be obtained
The corner for turning biprism 1 and the second rotation biprism 2 is (θi1,θi2)。
The beneficial effects of the present invention are:
1. this method belongs to non-cpntact measurement robot motion's trajectory error method, do not need directly to contact robot.It protects
It has demonstrate,proved in the case where not destroying robot, the key point error measure of robot motion track can be accurately obtained.
2. the key point error measure of readily available accurately robot motion track, the present invention uses Binocular vision photogrammetry machine
The method that device people moves crucial point tolerance, takes pictures to robot end's mark point and laser scanning point by two cameras, utilizes
Binocular vision photogrammetry principle can accurately obtain robot end's mark point and laser scanning point D coordinates value, pass through meter
The distance for calculating mark point and scanning element obtains the key point error measure of robot motion track, and precision can reach micron order
Not.
3. being easy to obtain the key point error measure of robot motion track in real time, in robot kinematics, to machine
The motion profile key point of people end carries out Real-time Error measurement.
4. easy to control.The device uses independent control mode, it is only necessary to which control rotation biprism is rotated up to specified
Angle (θ1,θ2), guarantee persistently to beat on the theory locus of robot end by the laser of rotation biprism；For the first phase
Machine 3 and second camera 4 only need to use PC machine control first camera 3 and second camera 4 to shoot photo simultaneously, and be arranged identical
Shooting interval, control process are simple, it is easy to accomplish.
Detailed description of the invention
Fig. 1 is the biprism tracking device that key point generates.
Fig. 2 is articulated robot 8 and two CCD camera measure system.
Fig. 3 is 11 schematic diagram of 9 mark point of robot end and laser point.
Fig. 4 is rotation biprism look-up table schematic diagram.
Fig. 5 is key point kinematic error measurement flow chart in robot kinematics.
Fig. 6 is robot actual motion tracing point and theory movement tracing point analogous diagram.
Figure label: 1 is the first rotation biprism, and 2 be the second rotation biprism, and 3 be first camera, and 4 be second camera,
5 be the first strut, and 6 be the second strut, and 7 be bottom plate, and 8 be robot, and 9 be robot end, and 10 be mark point, and 11 be laser
Point.
Specific embodiment
The present invention is further illustrated below by embodiment combination attached drawing.
Embodiment 1:
The present invention provides a kind of measurement method of robot motion track key point tolerance, and robot motion's mistake may be implemented
Key point kinematic error measures in journey: in robot kinematics, controlling robot stop motion at a certain key point, leads to
Cross Vision imaging system acquisition robot end's real space point coordinate at this time, while the biprism tracking device that key point generates
Theoretical space point coordinate is generated, by calculating distance between two points, the Motion Errors at key point can be obtained.The present invention
Purpose realized by following several parts: the biprism tracking device and key point Image Acquisition generated including key point
Two CCD camera measure system.According to the key point position coordinates in robot motion track, it is high-precision to rotate biprism generation
This key point position is arrived in light beam scanning, thus theoretical position when high-precision analog robot end moves to key point position.
Two CCD camera measure system is used to acquire the real space position of the upper mark point of robot end and the theoretical space position of laser point
It sets.Last theoretical space point position coordinates and real space point position coordinates according to obtained robot end, calculate machine
Device people's motion profile key point tolerance.
Machine is generated by look-up table in conjunction with Fig. 1, Fig. 2, Fig. 3 and Fig. 6 biprism tracking device for illustrating that key point generates
The step of people end theoretical space point position: S1: as shown in Fig. 2, pasting a mark point 10 at 9 center of articulated robot end.
S2: the reasonable structural parameters of rotation biprism: the first rotation biprism 1 and the second rotation are selected according to robot motion track
The locking angle of biprism 2 is 10 °, the rotation angle range of the first rotation biprism 1 is (0 °, 360 °) and the second rotation biprism 2
Rotation angle range (0 °, 360 °), first rotation biprism and second rotation biprism between distance D1For 400mm etc.；S3: root
Determine that look-up table precision ε is 0.1mm according to the precision that robot key point kinematic error measures；S4: according to obtained look-up table essence
0.1mm is spent, determines the first rotation biprism 1 and the second rotation 2 angular resolution θ of biprismtrIt is 0.01 °；S5: according to angle point
(0 °, 360 °) of 0.01 ° of resolution, the rotation angle range (0 °, 360 °) of the first rotation biprism 1 and the second rotation biprism 2,
It is (θ that any combination first, which rotates biprism 1 and the angle of the second rotation biprism 2,r1l,θr2l)；S6: according to combinations of the above angle
Spend (θr1l,θr2l), it calculates under this combination angle, the corresponding scanning element coordinate (X of rotation prism arrangementp,Yp,Zp)；S7: will
Combinations of the above angle (θr1l,θr2l) and scanning element coordinate (Xp,Yp,Zp) relationship computer is written, establish this and specific rotate
Prism arrangement private database.S8: according to the known key point coordinate M for needing to scan1(30.0,51.96,34.64) (unit
Cm), search and M in the private database established1Immediate coordinate value (Xpm,Ypm,Zpm), that is, it findsCorresponding (X when minimump,Yp,Zp).The coordinate value searched
(Xpm,Ypm,Zpm) it is (30.0,52.0,34.6) (unit cm), the group that biprism is rotated in corresponding dedicated data table can be obtained
Close angle degree (233.1 °, 111.0 °).
The measurement of robot motion track key point tolerance is completed according to the following steps:
S1: a mark point 10 is pasted in articulated robot end；
S2: according to the movement angle and angular speed in each joint of articulated robot, it can calculate and need to measure kinematic error
Each key point position coordinates, as shown in Fig. 6, first key point M1Position coordinates are (30.0,51.96,34.64)
(unit cm), and theoretically robot motion to key point M1T1Time is 3s；
S3: based on rotation biprism look-up table, according to key point M in robot kinematics1(30.0,51.96,
34.64) it, can table look-up and show that laser point 11 reaches key point M1When first rotation biprism 1 and second rotation biprism 2 corner
Combination is (233.1 °, 111.0 °)；
S4: strategic point generate biprism tracking device in rotation biprism corner group be combined into (233.1 °,
111.0 °), beat laser point in first key point M of robot motion1On (30.0,51.96,34.64)；
S5: control robot motion to the 3s moment and stops, and the physical location of mark point 10 is on robot end 9 at this time
N1。
S6: it is taken pictures using first camera 3 and second camera 4 to robot end 9；
S7: the photo shot to first camera 3 and second camera 4 is matched with the image of mark point 10, is marked
Image coordinate system coordinate (x of the point 10 in first camera 31,y1), the image coordinate system coordinate (x in second camera 42,y2)；
S8: the photo shot to first camera 3 and second camera 4 is matched with the image of laser point 11, obtains laser
Image coordinate system coordinate (x of the point 11 in first camera 33,y3), the image coordinate system coordinate (x in second camera 44,y4)；
S9: Binocular vision photogrammetry method, image of the mark point 10 obtained by step (6) in first camera 3 are based on
Coordinate system coordinate (x1, y1), with the image coordinate system coordinate (x in second camera 42,y2), when can calculate robot motion
The three-dimensional coordinate of mark point 10 is N on end1(35.0,53.0,34.0) (unit: cm)；The laser point obtained by step (7)
The 11 image coordinate system coordinate (x in first camera 33,y3), with the image coordinate system coordinate (x in second camera 44,y4),
When can calculate robot motion on end laser point 11 three-dimensional coordinate M1(30.0,51.96,34.64)；S10: according to formulaFirst key point M can be calculated1(x1,y1,z1)
Kinematic error δ=the 5.147cm at place；
S10: other movements key point Mi(xi,yi,zi) (i=2,3,4 ...) kinematic error measurement process and first pass
The kinematic error measurement process of key point is identical.
Claims (2)
1. the measurement method of robot motion track key point tolerance, it is characterised in that the method for key point by generating
Biprism tracking device and for key point Image Acquisition two CCD camera measure system realize, the method be used for robot
Crucial discrete point kinematic error measures in motion process, in which:
The biprism tracking device includes the first rotation biprism (1) and the second rotation biprism (2), the first rotation biprism
(1) and the second rotation biprism (2) is coaxially arranged；The two CCD camera measure system includes first camera (3), second camera
(4), the first strut (5), the second strut (6) and bottom plate (7), first camera (3) are connected with the first strut (5) one end, and first
Bar (5) other end is fixed on bottom plate (7)；Second camera (4) is connected with the second strut (6) one end, the second strut (6) other end
It is fixed on bottom plate (7)；First camera (3) and second camera (4) simultaneously shoot robot end (9), and are arranged same
The shooting interval of sample；Characteristic matching is carried out to the photo of shooting, matched content is robot end's mark point (10) and laser
Point (11)；Specific step is as follows:
(1) mark point (10) is pasted in articulated robot end；
(2) according to the movement angle and angular speed in each joint of articulated robot, the key for needing to measure kinematic error is calculated
Point position coordinates Mi(xi,yi,zi), in which: i=1,2,3 ..., and available theoretically robot motion is to key point Mi(xi,
yi,zi) time ti；
(3) based on rotation biprism look-up table, according to key point M in robot kinematicsi(xi,yi,zi), can tabling look-up, it is sharp to obtain
Luminous point (11) reaches key point MiWhen, the corner of the first rotation biprism (1) and the second rotation biprism (2) is (θi1,θi2)；
(4) the first rotation biprism (1) and second rotates biprism (2) in the biprism tracking device that strategic point generates
Corner is (θi1,θi2), beat laser point (11) in first key point M of robot motion1(x1,y1,z1) on；
(5) robot motion is controlled to t1Moment simultaneously stops, and robot end (9) is made to reach first key point M1(x1,y1,z1)
Physical location；
(6) it is taken pictures using first camera (3) and second camera (4) to robot end (9)；
(7) photo shot to first camera (3) and second camera (4) is matched with the image of mark point (10), is marked
Remember the image coordinate system coordinate (x of point (10) in first camera (3)1,y1), the image coordinate system coordinate in second camera (4)
(x2,y2)；
(8) photo shot to first camera (3) and second camera (4) is matched with the image of laser point (11), is swashed
Image coordinate system coordinate (x of the luminous point (11) in first camera (3)3,y3), the image coordinate system coordinate in second camera (4)
(x4,y4)；
(9) Binocular vision photogrammetry method, image of the mark point (10) obtained by step (7) in first camera (3) are based on
Coordinate system coordinate (x1,y1), with the image coordinate system coordinate (x in second camera (4)2,y2), robot motion can be calculated
When end on mark point (10) three-dimensional coordinate (X1,Y1,Z1)；The laser point (11) obtained by step (8) is in first camera
(3) the image coordinate system coordinate (x in3,y3), with the image coordinate system coordinate (x in second camera (4)4,y4), it can calculate
When robot motion on end laser point (11) three-dimensional coordinate (X2,Y2,Z2)；
(10) according to formulaFirst key point M can be calculated1(x1,y1,z1)
The kinematic error δ at place；
(11) other movements key point Mi(xi,yi,zi) (i=2,3,4 ...) kinematic error measurement process and first key point
Kinematic error measurement process it is identical.
2. according to the method described in claim 1, it is characterized in that rotation biprism look-up table described in step (3), specific to walk
It is rapid as follows:
(1) the reasonable structural parameters of rotation biprism, including the first rotation biprism (1) are selected according to robot motion track
The locking angle of biprism (2), the rotation angle range (θ of the first rotation biprism (1) are rotated with secondr1min,θr1max) and second
Rotate the rotation angle range (θ of biprism (2)r2min,θr2max), first rotation biprism (1) and second rotate biprism (2)
Between distance D1；
(2) look-up table precision ε is determined according to the precision that robot key point kinematic error measures；
(3) according to obtained look-up table precision ε, determine that the first rotation biprism (1) and the second rotation biprism (2) are angle-resolved
Rate θtr；
(4) according to angular resolution θtr, first rotation biprism (1) rotation angle range (θr1min,θr1max) and the second rotation
(the θ of biprism (2)r2min,θr2max), any combination first rotates biprism (1) and the angle of the second rotation biprism (2) is
(θr1l,θr2l)；
(5) according to combinations of the above angle (θr1l,θr2l), it calculates under this combination angle, prism arrangement is corresponding sweeps for rotation
Described point coordinate (Xp,Yp,Zp)；
(6) by combinations of the above angle (θr1l,θr2l) and scanning element coordinate (Xp,Yp,Zp) relationship be written computer, establish this
Specific rotation prism arrangement private database；
(7) the key point coordinate Mi (xi, yi, zi) that needs to scan known to, in the private database established search with
The immediate coordinate value of target point (Xpm, Ypm, Zpm), that is, findInstitute when minimum
Corresponding (Xp,Yp,Zp), according to the coordinate value (X searchedpm,Ypm,Zpm), the first rotation in corresponding dedicated data table can be obtained
The corner for turning biprism (1) and the second rotation biprism (2) is (θi1,θi2)。
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| CN107272015A (en) * | 2017-07-05 | 2017-10-20 | 同济大学 | High-precision vision guides laser tracking |
| CN107943056B (en) * | 2017-12-25 | 2020-09-25 | 成都信息工程大学 | Incomplete constraint wheeled robot track tracking control method based on table lookup method |
| CN108254736B (en) * | 2017-12-31 | 2022-05-13 | 天津木牛流马科技发展股份有限公司 | Submillimeter-level laser radar |
| JP7035727B2 (en) * | 2018-03-30 | 2022-03-15 | 日本電産株式会社 | Calibration accuracy evaluation method and evaluation device |
| CN109682626B (en) * | 2018-12-29 | 2021-03-30 | 上海新时达机器人有限公司 | Robot speed testing method and device |
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