CN112720457A - Robot calibration method and device, electronic equipment and storage medium - Google Patents
Robot calibration method and device, electronic equipment and storage medium Download PDFInfo
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- CN112720457A CN112720457A CN202011396628.XA CN202011396628A CN112720457A CN 112720457 A CN112720457 A CN 112720457A CN 202011396628 A CN202011396628 A CN 202011396628A CN 112720457 A CN112720457 A CN 112720457A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
The application discloses a robot calibration method and device, electronic equipment and a storage medium. The robot calibration method comprises the following steps: acquiring first measurement data of a robot to be calibrated, wherein the first measurement data comprises: the terminal of the robot to be calibrated comprises a first pixel coordinate, a second pixel coordinate and a third pixel coordinate on a camera coordinate system. According to the first measurement data, obtaining second measurement data of the robot to be calibrated, wherein the second measurement data comprises: and a first position and a second position corresponding to each joint of the robot to be calibrated. And calculating to obtain a calibration coefficient according to the second measurement data. And calibrating the arm length and the zero point of the robot to be calibrated according to the calibration coefficient. The robot calibration method can reduce human errors and improve the absolute positioning accuracy of the robot.
Description
Technical Field
The present disclosure relates to the field of robotics, and in particular, to a robot calibration method and apparatus, an electronic device, and a storage medium.
Background
The absolute positioning accuracy of the robot is a very important technical index for measuring the performance of the robot. The process requirements of industrial fields have higher and higher requirements on the absolute positioning accuracy of the robot. The absolute positioning accuracy of the robot is influenced by various factors, such as part machining accuracy, assembly error, joint friction and abrasion, stress deformation and the like, so that the actual kinematic parameters (arm length, zero point and the like) of the robot deviate from the theoretical value of the controller, and the kinematic parameters of the robot need to be calibrated to improve the absolute positioning accuracy.
The prior robot kinematic parameter calibration method has the following problems: the method is not automatic enough, a calibration needle is required to be installed at the tail end, the calibration needle is dragged to align a calibration hole, and human errors can be introduced.
Disclosure of Invention
The present application is directed to solving at least one of the problems in the prior art. Therefore, the application provides a robot calibration method, a robot calibration device, electronic equipment and a storage medium, so that human errors are reduced, and the absolute positioning accuracy of the robot is improved.
According to the robot calibration method of the embodiment of the first aspect of the application, the method comprises the following steps:
acquiring first measurement data of a robot to be calibrated, wherein the first measurement data comprises: a first pixel coordinate, a second pixel coordinate and a third pixel coordinate of the tail end of the robot to be calibrated on a camera coordinate system;
according to the first measurement data, second measurement data of the robot to be calibrated are obtained, and the second measurement data comprise: a first position and a second position corresponding to each joint of the robot to be calibrated;
calculating to obtain a calibration coefficient according to the second measurement data;
and calibrating the arm length and the zero point of the robot to be calibrated according to the calibration coefficient.
According to the robot calibration method provided by the embodiment of the application, the robot calibration method at least has the following beneficial effects:
acquiring first measurement data of a robot to be calibrated, wherein the first measurement data comprises: the terminal of the robot to be calibrated comprises a first pixel coordinate, a second pixel coordinate and a third pixel coordinate on a camera coordinate system. According to the first measurement data, obtaining second measurement data of the robot to be calibrated, wherein the second measurement data comprises: and a first position and a second position corresponding to each joint of the robot to be calibrated. And calculating to obtain a calibration coefficient according to the second measurement data. And calibrating the arm length and the zero point of the robot to be calibrated according to the calibration coefficient. The robot calibration method provided by the embodiment of the application can reduce human errors and improve the absolute positioning accuracy of the robot.
According to some embodiments of the application, the acquiring first measurement data of the robot to be calibrated includes:
placing the shaft sleeve of the robot to be calibrated at the center of the visual field of a camera, triggering the camera to take a picture to obtain a first pixel coordinate, and setting the position of the current tail end of the robot to be calibrated as the circle center of the circular motion path of the robot to be calibrated;
setting a radius value of the circular motion path of the robot to be calibrated;
the robot to be calibrated moves along the x axis of the robot base coordinate system to be calibrated from the circle center of the circular motion path, and when the movement distance is a radius value, a camera is triggered to take a picture to obtain a second pixel coordinate;
and the robot to be calibrated moves along the y axis of the robot base coordinate system to be calibrated, and when the movement distance is a radius value, a camera is triggered to take a picture to obtain a third pixel coordinate.
According to some embodiments of the application, the obtaining, according to the first measurement data, second measurement data of the robot to be calibrated includes:
obtaining the rotation angles of the camera coordinate system and the base coordinate system of the robot to be calibrated according to the first pixel coordinate and the second pixel coordinate;
calculating to obtain pixel equivalent according to the radius value, the first pixel coordinate, the second pixel coordinate, the third pixel coordinate and the rotation angle;
setting at least two discrete points, and acquiring discrete point coordinates of the at least two discrete points;
according to the discrete point coordinates of the at least two discrete points, acquiring a first position corresponding to each joint when the robot to be calibrated moves to the at least two discrete point coordinates, and triggering photographing to obtain a first photographing coordinate;
according to the first photographing coordinate, second photographing coordinates when the robot to be calibrated moves to the first photographing coordinate under the other hand system are obtained, and coordinate deviation of each first photographing coordinate and each second photographing coordinate is calculated according to the pixel equivalent;
if the coordinate deviation is within a first preset range, stopping the motion of the robot to be calibrated;
and acquiring a second position corresponding to each joint of the robot to be calibrated when the robot to be calibrated moves to the first photographing coordinate.
According to some embodiments of the application, if the coordinate deviation exceeds the first preset range, the robot to be calibrated performs multiple movements according to the coordinate deviation under different hand systems and the coordinate deviation needs to be recalculated until the coordinate deviation meets the first preset range.
According to some embodiments of the present application, the setting at least two discrete points and obtaining discrete point coordinates of the at least two discrete points comprises:
constructing a discrete circle according to the circle center and the radius of the circular motion path of the robot to be calibrated;
providing at least two discrete points, said at least two discrete points being evenly distributed over said discrete circumference;
and acquiring discrete point coordinates of the at least two discrete points.
According to some embodiments of the present application, calculating a calibration coefficient according to the second measurement data includes:
and constructing a matrix equation by using the obtained second measurement data, solving the matrix equation, and calculating to obtain the calibration coefficient.
According to some embodiments of the present application, calibrating the arm length and the zero point of the robot to be calibrated according to the calibration coefficient includes:
and calculating to obtain a zero offset value and an arm length of the robot to be calibrated according to the calibration coefficient, and calibrating the arm length and the zero of the robot to be calibrated.
According to the robot calibration device of the second aspect embodiment of this application, including:
the first measurement data acquisition module: the method is used for acquiring first measurement data of the robot to be calibrated, and the first measurement data comprises the following steps: a first pixel coordinate, a second pixel coordinate and a third pixel coordinate of the tail end of the robot to be calibrated on a camera coordinate system;
a second measurement data acquisition module: the robot calibration system is used for acquiring second measurement data of the robot to be calibrated according to the first measurement data, and the second measurement data comprises: a first position and a second position corresponding to each joint of the robot to be calibrated;
a solving module: and the calibration module is used for calculating to obtain a calibration coefficient according to the second measurement data, and calibrating the arm length and the zero point of the robot to be calibrated according to the calibration coefficient.
According to the robot calibration device of the embodiment of the application, the robot calibration device at least has the following beneficial effects:
the robot calibration device comprises a first measurement data acquisition module, a second measurement data acquisition module and a solving module. The first measurement data acquisition module is used for acquiring first measurement data of the robot to be calibrated. The second measurement data acquisition module is used for acquiring second measurement data of the robot to be calibrated according to the first measurement data. The first measurement data comprise a first pixel coordinate, a second pixel coordinate and a third pixel coordinate of the tail end of the robot to be calibrated on a camera coordinate system, and the second measurement data comprise a first position and a second position corresponding to each joint of the robot to be calibrated. And the solving module is used for calculating to obtain a calibration coefficient according to the second measurement data. And calibrating the arm length and the zero point of the robot to be calibrated according to the calibration coefficient. The robot calibration device provided by the embodiment of the application has the advantages that the cost is lower, the human errors can be reduced, and the absolute positioning precision of the robot is improved.
An electronic device according to an embodiment of a third aspect of the present application includes:
at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions for execution by the at least one processor to cause the at least one processor, when executing the instructions, to implement the robot calibration method according to any one of the embodiments of the first aspect of the present application.
According to the electronic equipment of the embodiment of the application, at least the following beneficial effects are achieved: by executing the robot calibration method according to the embodiment of the first aspect, first measurement data of the robot to be calibrated is obtained, and second measurement data of the robot to be calibrated is obtained according to the first measurement data. The first measurement data comprise a first pixel coordinate, a second pixel coordinate and a third pixel coordinate of the tail end of the robot to be calibrated on a camera coordinate system, and the second measurement data comprise a first position and a second position corresponding to each joint of the robot to be calibrated. And calculating to obtain a calibration coefficient according to the second measurement data. And calibrating the arm length and the zero point of the robot to be calibrated according to the calibration coefficient. Therefore, the cost of the calibration device is reduced, human errors can be reduced, and the absolute positioning accuracy of the robot is improved.
A computer-readable storage medium according to a fourth aspect embodiment of the present application, comprising:
the computer-readable storage medium stores computer-executable instructions for performing the robot calibration method according to the embodiment of the first aspect of the present application. The computer-readable storage instructions according to the embodiments of the present application have at least the following advantages: by executing the robot calibration method according to the embodiment of the first aspect, first measurement data of the robot to be calibrated is obtained, and second measurement data of the robot to be calibrated is obtained according to the first measurement data. The first measurement data comprise a first pixel coordinate, a second pixel coordinate and a third pixel coordinate of the tail end of the robot to be calibrated on a camera coordinate system, and the second measurement data comprise a first position and a second position corresponding to each joint of the robot to be calibrated. And calculating to obtain a calibration coefficient according to the second measurement data. And calibrating the arm length and the zero point of the robot to be calibrated according to the calibration coefficient. Therefore, the cost of the calibration device is reduced, human errors can be reduced, and the absolute positioning accuracy of the robot is improved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The present application is further described with reference to the following figures and examples, in which:
fig. 1 is a flow chart of a robot calibration method provided in some embodiments of the present application;
FIG. 2 is a flow chart of a robot calibration method according to further embodiments of the present disclosure;
FIG. 3 is a flow chart of a robot calibration method according to further embodiments of the present application;
FIG. 4 is a flow chart of a robot calibration method according to further embodiments of the present application;
fig. 5 is a block diagram of a modular structure of a robot calibration apparatus according to some embodiments of the present disclosure;
fig. 6 is a schematic diagram of a robot calibration mechanism provided in some embodiments of the present application.
Reference numerals:
the measurement data acquisition system comprises a first measurement data acquisition module 100, a second measurement data acquisition module 200 and a solving module 300.
Detailed Description
Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The absolute positioning accuracy of the robot is a very important technical index for measuring the performance of the robot. The process requirements of industrial fields have higher and higher requirements on the absolute positioning accuracy of the robot. The absolute positioning accuracy of the robot is influenced by various factors, such as part machining accuracy, assembly error, joint friction and abrasion, stress deformation and the like, so that the actual kinematic parameters (arm length, zero point and the like) of the robot deviate from the theoretical value of the controller, and the kinematic parameters of the robot need to be calibrated to improve the absolute positioning accuracy of the robot.
The prior robot kinematic parameter calibration method has the following problems: the method is not automatic enough, a calibration needle is required to be installed at the tail end, the calibration needle is dragged to align a calibration hole, and human errors can be introduced.
Based on this, the embodiment of the application provides a robot calibration method, a robot calibration device, an electronic device and a storage medium, which are used for acquiring first measurement data of a robot to be calibrated and acquiring second measurement data of the robot to be calibrated according to the first measurement data. The first measurement data comprise a first pixel coordinate, a second pixel coordinate and a third pixel coordinate of the tail end of the robot to be calibrated on a camera coordinate system, and the second measurement data comprise a first position and a second position corresponding to each joint of the robot to be calibrated. And calculating to obtain a calibration coefficient according to the second measurement data. And calibrating the arm length and the zero point of the robot to be calibrated according to the calibration coefficient. Therefore, the cost of the calibration device is reduced, human errors can be reduced, and the absolute positioning accuracy of the robot is improved.
In a first aspect, an embodiment of the present application provides a robot calibration method.
Referring to fig. 1, fig. 1 is a flowchart of a robot calibration method provided in some embodiments of the present application, which specifically includes the steps of:
s100, acquiring first measurement data of the robot to be calibrated, wherein the first measurement data comprises: a first pixel coordinate, a second pixel coordinate and a third pixel coordinate of the tail end of the robot to be calibrated on a camera coordinate system;
s200, according to the first measurement data, obtaining second measurement data of the robot to be calibrated, wherein the second measurement data comprises: a first position and a second position corresponding to each joint of the robot to be calibrated;
s300, calculating to obtain a calibration coefficient according to the second measurement data;
and S400, calibrating the arm length and the zero point of the robot to be calibrated according to the calibration coefficient.
In step S100, first measurement data of the robot needs to be acquired, where the measurement data includes a plurality of coordinate parameters, such as a first pixel coordinate, a second pixel coordinate, and a third pixel coordinate, on a camera coordinate system when the robot to be calibrated moves.
In some embodiments, as shown in fig. 2, step S100 specifically includes the steps of:
s110, arranging a shaft sleeve of the robot to be calibrated at the center of a camera view, triggering the camera to take a picture to obtain a first pixel coordinate, and setting the position of the current tail end of the robot to be calibrated as the circle center of a circular motion path of the robot to be calibrated;
s120, setting a radius value of a circular motion path of the robot to be calibrated;
s130, the robot to be calibrated moves along the x axis of the base coordinate system of the robot to be calibrated from the circle center of the circular motion path, and when the movement distance is a radius value, a camera is triggered to take a picture to obtain a second pixel coordinate;
and S140, when the robot to be calibrated moves along the y axis of the robot base coordinate system to be calibrated and the movement distance is a radius value, triggering the camera to take a picture to obtain a third pixel coordinate.
In step S110, before the first pixel coordinate is obtained, the camera is vertically mounted upside down on the frame, and a high-precision shaft sleeve is mounted at the end of the robot, so as to ensure that the shaft sleeve and the lead screw are strictly coaxial. Then dragging the robot to make the shaft sleeve of the robot be placed near the center of the camera visual field, and using the current position as the center (x) of the circular motion path of the tail end of the robot0,y0) And triggering the photographing to obtain the first pixel coordinate (u)1,v1)。
In step S120, the radius value of the circular motion path of the robot end is set to R according to the center (x)0,y0) And the circle radius R is used for establishing a visual template by the inner circle of the shaft sleeve and operating a visual system.
In step S130, the robot end moves from the center (x) of the circular motion path0,y0) Moving along the x axis of the robot base coordinate system and the movement distance is R, triggering the camera to take a picture to obtain a second pixel coordinate (u)2,v2)。
In step S140, the robot end moves along the y-axis of the robot base coordinate system with a movement distance R, and the camera is triggered to photograph to obtain a third pixel coordinate (u)3,v3)。
In step S200, according to the first measurement data, second measurement data when the robot to be calibrated moves is obtained, where the second measurement data includes: a first position and a second position corresponding to each joint of the robot to be calibrated;
in some embodiments, as shown in fig. 3, step S200 includes the following specific steps:
s211, obtaining a rotation angle of the camera coordinate system and the base coordinate system of the robot to be calibrated according to the first pixel coordinate and the second pixel coordinate;
s212, calculating according to the radius value, the first pixel coordinate, the second pixel coordinate, the third pixel coordinate and the rotation angle to obtain pixel equivalent;
s213, setting at least two discrete points, and acquiring discrete point coordinates of the at least two discrete points;
s214, acquiring a first position corresponding to each joint when the robot to be calibrated moves to the coordinates of the at least two discrete points according to the coordinates of the discrete points of the at least two discrete points, and triggering photographing to obtain a first photographing coordinate;
s215, according to the first photographing coordinate, obtaining a second photographing coordinate when the robot to be calibrated moves to the first photographing coordinate under the other hand system, and calculating the coordinate deviation of each first photographing coordinate and each second photographing coordinate according to the pixel equivalent;
s216, if the coordinate deviation is within a first preset range, stopping the motion of the robot to be calibrated;
s217, acquiring a second position corresponding to each joint of the robot to be calibrated when the robot to be calibrated moves to the first photographing coordinate.
In step S211, according to the first pixel coordinate (u)1,v1) And second pixel coordinates (u)2,v2) And obtaining a rotation angle alpha between the camera coordinate system and the base coordinate system of the robot to be calibrated, wherein the specific calculation formula is as follows: α ═ atan2 (v)2-v1,u2-u1)。
In step S212, the radius value R and the first pixel coordinate (u) are used1,v1) Second pixel coordinate (u)2,v2) The third pixel coordinate (u)3,v3) And calculating the rotation angle alpha to obtain the pixel equivalent ku、kvThe specific calculation formula (1) is as follows:
in step S213, at least two discrete points are set, and discrete point coordinates of the at least two discrete points are obtained, so as to facilitate calibration of the robot.
In some embodiments, as shown in fig. 4, step S213 specifically includes the steps of:
s2131, constructing a discrete circle by using the circle center and the radius of the circular motion path of the robot to be calibrated;
s2132, setting at least two discrete points which are uniformly distributed on a discrete circumference;
s2133, obtaining discrete point coordinates of at least two discrete points.
In step S2131, a process of constructing a discrete circle is described, with the center (x) of the circular motion path of the robot determined in step S1100,y0) And constructing a discrete circle by taking the radius value R as the radius of the circular motion path of the robot to be calibrated.
In step S2132, the number of discrete points is set according to actual needs, and the discrete points are evenly distributed on a discrete circumference.
In step S2133, discrete point coordinates corresponding to the plurality of discrete points are obtained according to the circle center, the radius, and the number of discrete points.
In step S214, according to the discrete point coordinates of the at least two discrete points, a first position corresponding to each joint when the robot to be calibrated moves to the at least two discrete point coordinates is obtained, and a photo is triggered to obtain a first photo coordinate. The method specifically comprises the following steps: the tail end of the robot moves to a discrete point of a circular motion path, and the shooting is triggered to obtain a first shooting coordinate (u)0,v0) Acquiring the position theta of the robot joint1 (1),θ2 (1)。
In step S215, according to the first photographing coordinate (u)0,v0) And acquiring the first photographing coordinate (u) of the robot to be calibrated moving under the other hand system0,v0) Second photographing coordinate (u, v), pixel coordinate (u, v) and pixel coordinate (u, v) of time0,v0) The calculation formula of the deviation is as follows:
then, pixel coordinates (u, v) and pixel coordinates (u) are calculated0,v0) When the robot is overlapped, the offset of the tail end of the robot needing to move, namely the coordinate deviation, is specifically calculated by the following formula:
and then calculating the position to which the tail end of the robot should move next, wherein the specific calculation formula is as follows:
in step S216, if the coordinate deviation is within the first preset range, the robot to be calibrated stops moving. First, a first preset range is set, and the first preset range refers to coordinate deviation of the robot in different hand systems at the same position. If the coordinate deviation is within the first preset range, the position accuracy of the same position under different handties meets the requirement, and the robot to be calibrated stops moving.
In step S217, the robot end movement to the first photographing coordinate (u) is acquired0,v0) Joint position theta of time robot1 (2),θ2 (2). That is, if the coordinate deviation calculated by the robot hand-changing system triggering the photographing is within the first preset range, the corresponding angle value of the robot joint under the hand-changing system is obtained. And if the coordinate deviation exceeds the first preset range, enabling the robot to perform multiple times of iterative motion according to the coordinate deviation and recalculating the coordinate deviation until the coordinate deviation meets the first preset range.
In some embodiments, if the coordinate deviation exceeds the first predetermined range, it indicates that the position accuracy of different handties at the same position is not satisfactory. And enabling the robot to be calibrated to move for multiple times according to the coordinate deviation and needing to recalculate the coordinate deviation until the coordinate deviation meets a first preset range.
In step S300, a calibration coefficient is calculated according to the second measurement data.
In some embodiments, a matrix equation is constructed by using the obtained second measurement data, the matrix equation is solved, and the calibration coefficient is obtained through calculation, which is specifically implemented as follows:
as shown in FIG. 6, the robot tip is aligned to the same point, L, under different handties1Is the length of the big arm of the robot, L2Is the length of the forearm, theta1,θ2Angle of joint one and joint two, respectively, Delta theta2For the zero offset value, according to the positive kinematic solution, equation (2) is obtained:
simplified to obtain formula (3):
wherein the content of the first and second substances,
according to all N discrete points of the circular motion path accurately aligned to the center of the shaft sleeve at the tail end of the robot under two different handsystems, a hyperstatic homogeneous linear equation set is constructed to obtain a formula (5):
Aλ＝0 (5)
wherein λ ═ λ1 λ2 λ3]T，
Equation (5) can be translated into an optimization problem with equality constraints:
thus solving the matrix ATAnd the eigenvector corresponding to the minimum eigenvalue of A is the optimal solution of the optimization problem (6), and the calibration coefficient lambda is obtained.
In step S400, the arm length and the zero point of the robot to be calibrated are calibrated according to the calibration coefficient.
In some embodiments, according to the calculated calibration coefficient, a zero offset value and an arm length of the robot to be calibrated are calculated, and the arm length and the zero of the robot to be calibrated are calibrated.
After the calibration coefficient lambda is obtained through calculation, calculating a zero offset value:
because structural rigidity and assembly error's influence probably leads to the forearm to lie prone down, makes forearm length "shorten", consequently need compensate forearm length:
in the embodiment of the application, first measurement data of the robot to be calibrated are obtained, and second measurement data of the robot to be calibrated are obtained according to the first measurement data. The first measurement data comprise a first pixel coordinate, a second pixel coordinate and a third pixel coordinate of the tail end of the robot to be calibrated on a camera coordinate system, and the second measurement data comprise a first position and a second position corresponding to each joint of the robot to be calibrated. And calculating to obtain a calibration coefficient according to the second measurement data. And calibrating the arm length and the zero point of the robot to be calibrated according to the calibration coefficient. The robot calibration method provided by the embodiment of the application can reduce human errors and improve the absolute positioning accuracy of the robot.
In a second aspect, embodiments of the present application further provide a robot calibration apparatus for performing the robot calibration method mentioned in the first aspect.
In some embodiments, as shown in fig. 5, the robot calibration device includes: the measurement data acquisition system comprises a first measurement data acquisition module 100, a second measurement data acquisition module 200 and a solving module 300. The first measurement data obtaining module 100 is configured to obtain first measurement data of a robot to be calibrated. The second measurement data obtaining module 200 is configured to obtain second measurement data of the robot to be calibrated according to the first measurement data. The first measurement data comprise a first pixel coordinate, a second pixel coordinate and a third pixel coordinate of the tail end of the robot to be calibrated on a camera coordinate system, and the second measurement data comprise a first position and a second position corresponding to each joint of the robot to be calibrated. The solving module 300 is configured to calculate a calibration coefficient according to the second measurement data, and calibrate the arm length and the zero point of the robot to be calibrated according to the calibration coefficient. The robot calibration device provided by the embodiment of the application has the advantages that the cost is lower, the human errors can be reduced, and the absolute positioning precision of the robot is improved.
In a third aspect, an embodiment of the present application further provides an electronic device.
In some embodiments, an electronic device includes: at least one processor, and a memory communicatively coupled to the at least one processor; the storage stores instructions, and the instructions are executed by the at least one processor, so that when the at least one processor executes the instructions, the robot calibration method in any embodiment of the application is implemented.
The processor and memory may be connected by a bus or other means.
The memory, which is a non-transitory computer readable storage medium, may be used to store a non-transitory software program and a non-transitory computer executable program, such as the robot calibration method described in the embodiments of the present application. The processor implements the robot calibration method described above by running non-transitory software programs and instructions stored in the memory.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area can store and execute the robot calibration method. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and these remote memories may be connected to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The non-transitory software programs and instructions needed to implement the robot calibration method described above are stored in a memory and, when executed by one or more processors, perform the robot calibration method mentioned in the first embodiment of the above aspect.
In a fourth aspect, the present application further provides a computer-readable storage medium.
In some embodiments, the computer-readable storage medium stores computer-executable instructions for performing the robot calibration method mentioned in the first aspect embodiment.
In some embodiments, the storage medium stores computer-executable instructions that, when executed by one or more control processors, for example, by a processor in the electronic device, cause the one or more processors to perform the robot calibration method.
The above-described embodiments of the apparatus are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present application. Furthermore, the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
Claims (10)
1. The robot calibration method is characterized by comprising the following steps:
acquiring first measurement data of a robot to be calibrated, wherein the first measurement data comprises: a first pixel coordinate, a second pixel coordinate and a third pixel coordinate of the tail end of the robot to be calibrated on a camera coordinate system;
according to the first measurement data, second measurement data of the robot to be calibrated are obtained, and the second measurement data comprise: a first position and a second position corresponding to each joint of the robot to be calibrated;
calculating to obtain a calibration coefficient according to the second measurement data;
and calibrating the arm length and the zero point of the robot to be calibrated according to the calibration coefficient.
2. The robot calibration method according to claim 1, wherein the acquiring first measurement data of the robot to be calibrated comprises:
placing the shaft sleeve of the robot to be calibrated at the center of the visual field of a camera, triggering the camera to take a picture to obtain a first pixel coordinate, and setting the position of the current tail end of the robot to be calibrated as the circle center of the circular motion path of the robot to be calibrated;
setting a radius value of the circular motion path of the robot to be calibrated;
the robot to be calibrated moves along the x axis of the robot base coordinate system to be calibrated from the circle center of the circular motion path, and when the movement distance is a radius value, a camera is triggered to take a picture to obtain a second pixel coordinate;
and the robot to be calibrated moves along the y axis of the robot base coordinate system to be calibrated, and when the movement distance is a radius value, a camera is triggered to take a picture to obtain a third pixel coordinate.
3. The robot calibration method according to claim 1, wherein the obtaining second measurement data of the robot to be calibrated according to the first measurement data comprises:
obtaining the rotation angles of the camera coordinate system and the base coordinate system of the robot to be calibrated according to the first pixel coordinate and the second pixel coordinate;
calculating to obtain pixel equivalent according to the radius value, the first pixel coordinate, the second pixel coordinate, the third pixel coordinate and the rotation angle;
setting at least two discrete points, and acquiring discrete point coordinates of the at least two discrete points;
according to the discrete point coordinates of the at least two discrete points, acquiring a first position corresponding to each joint when the robot to be calibrated moves to the at least two discrete point coordinates, and triggering photographing to obtain a first photographing coordinate;
according to the first photographing coordinate, second photographing coordinates when the robot to be calibrated moves to the first photographing coordinate under the other hand system are obtained, and coordinate deviation of each first photographing coordinate and each second photographing coordinate is calculated according to the pixel equivalent;
if the coordinate deviation is within a first preset range, stopping the motion of the robot to be calibrated;
and acquiring a second position corresponding to each joint of the robot to be calibrated when the robot to be calibrated moves to the first photographing coordinate.
4. The robot calibration method according to claim 3, further comprising:
and if the coordinate deviation exceeds the first preset range, enabling the robot to be calibrated to move for multiple times according to the coordinate deviation and needing to recalculate the coordinate deviation until the coordinate deviation meets the first preset range.
5. The robot calibration method according to claim 3, wherein the setting at least two discrete points and the obtaining of the discrete point coordinates of the at least two discrete points comprise:
constructing a discrete circle according to the circle center and the radius of the circular motion path of the robot to be calibrated;
providing at least two discrete points, said at least two discrete points being evenly distributed over said discrete circumference;
and acquiring discrete point coordinates of the at least two discrete points.
6. A method for calibrating a robot as claimed in claim 1, wherein said calculating a calibration coefficient from said second measurement data comprises:
and constructing a matrix equation by using the obtained second measurement data, solving the matrix equation, and calculating to obtain the calibration coefficient.
7. The robot calibration method according to claim 1, wherein calibrating the arm length and the zero point of the robot to be calibrated according to the calibration coefficient comprises:
and calculating to obtain a zero offset value and an arm length of the robot to be calibrated according to the calibration coefficient, and calibrating the arm length and the zero of the robot to be calibrated.
8. Robot calibration device, its characterized in that includes:
the first measurement data acquisition module: the method is used for acquiring first measurement data of the robot to be calibrated, and the first measurement data comprises the following steps: a first pixel coordinate, a second pixel coordinate and a third pixel coordinate of the tail end of the robot to be calibrated on a camera coordinate system;
a second measurement data acquisition module: the robot calibration system is used for acquiring second measurement data of the robot to be calibrated according to the first measurement data, and the second measurement data comprises: a first position and a second position corresponding to each joint of the robot to be calibrated;
a solving module: and the calibration module is used for calculating to obtain a calibration coefficient according to the second measurement data, and calibrating the arm length and the zero point of the robot to be calibrated according to the calibration coefficient.
9. An electronic device, comprising:
at least one processor, and,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions for execution by the at least one processor to cause the at least one processor, when executing the instructions, to implement a robot calibration method as claimed in any one of claims 1 to 7.
10. Computer-readable storage medium, characterized in that it stores computer-executable instructions for performing a robot calibration method according to any of claims 1 to 7.
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