CN114888791B - Head-eye combined calibration method for osteotomy robot - Google Patents
Head-eye combined calibration method for osteotomy robot Download PDFInfo
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- CN114888791B CN114888791B CN202210426150.3A CN202210426150A CN114888791B CN 114888791 B CN114888791 B CN 114888791B CN 202210426150 A CN202210426150 A CN 202210426150A CN 114888791 B CN114888791 B CN 114888791B
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000009466 transformation Effects 0.000 claims abstract description 60
- 239000011159 matrix material Substances 0.000 claims abstract description 56
- 206010034701 Peroneal nerve palsy Diseases 0.000 claims description 8
- 230000001131 transforming effect Effects 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
A head-eye joint calibration method for an osteotomy robot comprises the steps of obtaining a homogeneous transformation matrix of a robot terminal coordinate system in the osteotomy robot relative to a robot base coordinate system; establishing a first coordinate system based on the spatial position of the cutter; establishing a second coordinate system based on a stereoscopic vision acquisition device, and calculating a homogeneous transformation matrix of the first coordinate system in the second coordinate system; calculating a homogeneous transformation matrix of the first coordinate system relative to the robot end coordinate system and a homogeneous transformation matrix of the second coordinate system relative to the robot base coordinate system according to the obtained homogeneous transformation matrix of the first coordinate system in the second coordinate system and the homogeneous transformation matrix of the robot end coordinate system relative to the robot base coordinate system; the invention introduces a vision system to reduce the flow and time of preoperative calibration.
Description
Technical Field
The invention relates to the technical field of calibration of osteotomy robots, in particular to a head-eye combined calibration method for an osteotomy robot.
Background
In the course of a robot holding a tool to perform a cut, the cutting position and the tool plane of the tool must coincide with the cutting position and the cutting plane planned preoperatively by the doctor. The cutting motion of the cutter forms a cutting seam plane, and the cutter plane enters the cutting seam as the cutting proceeds. Since bone tissue has a certain stiffness, the robot controls the cutting movement of the tool, and it is necessary to keep the plane of the tool coincident with the plane of the cutting slit, otherwise the tool receives a force perpendicular to the plane of the tool, which may deform the cutting trajectory or collapse the tool. Therefore, in the robot-assisted osteotomy molding operation, the pose parameters of the osteotomy tool in the robot coordinate system need to be accurately calibrated, so that the tool can accurately reach the cutting position and complete cutting.
The existing robot tool calibration methods can be mainly divided into two types. The first type is mainly directed to arc welding robots where there is no particular requirement for the pose of the tool, and only the position of the end tool TCP (Tool Center Point) in the robot tool coordinate system needs to be calibrated. The second type is to calibrate the drilling robot, and besides acquiring the parameters of the drill bit TCP, the parameter information of the drill axis of the drill bit in the end tool coordinate system of the robot needs to be calibrated. The existing robot tool calibration method cannot meet the calibration requirements of the osteotomy robot on the cutting tool, so that the invention is highly required to be invented for accurately obtaining the parameter information of the cutting tool TCP and the tool plane in the tool coordinate system at the tail end of the robot.
Disclosure of Invention
In view of the above, the invention provides a head-eye combined calibration method for an osteotomy robot, which can effectively obtain the posture of a tool plane under the terminal coordinate system of the robot, realize the tool coordinate system calibration of the tool and the head-eye combined calibration, and improve the calibration efficiency.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a head-eye joint calibration method for osteotomy robot includes the following steps:
acquiring a homogeneous transformation matrix of a robot tail end coordinate system in the osteotomy robot relative to a robot base coordinate system;
establishing a first coordinate system based on the spatial position of the cutter;
establishing a second coordinate system based on a stereoscopic vision acquisition device, and calculating a homogeneous transformation matrix of the first coordinate system in the second coordinate system;
and calculating the homogeneous transformation matrix of the first coordinate system relative to the robot end coordinate system and the homogeneous transformation matrix of the second coordinate system relative to the robot base coordinate system according to the obtained homogeneous transformation matrix of the first coordinate system in the second coordinate system and the homogeneous transformation matrix of the robot end coordinate system relative to the robot base coordinate system.
Further, the establishing of the first coordinate system includes taking a vector of a point on the left side of the cutter pointing to a point on the right side of the cutter as an X axis of the first coordinate system, and taking a point on a connecting line of the point on the left side of the cutter and the point on the right side of the cutter pointing to a tip of the cutter as a Z axis of the first coordinate system; the Z axis and the X axis remain perpendicular.
Further, the establishing the second coordinate system based on the stereoscopic vision acquisition device comprises,
acquiring spatial position coordinates of the tool tip, the tool left side point and the tool right side point in the second coordinate system;
and calculating the vertical foot coordinates of the cutter tip on the connecting line of the cutter left side point and the cutter right side point according to the space position coordinates of the cutter tip, the cutter left side point and the cutter right side point in the second coordinate system, and calculating the homogeneous transformation matrix of the first coordinate system in the second coordinate system according to the vertical foot coordinates.
Further, calculating the foot drop coordinates of the tool tip on the line connecting the left side point of the tool and the right side point of the tool includes,
confirming spatial position coordinates under the second coordinate system:
wherein the tool tip coordinatesThe left side point coordinate of the cutter>And the tool right side point coordinates +.>Spatial position coordinates in the second coordinate system;
calculating the foot drop coordinates
Order theObtaining the foot drop coordinates->
Further, calculating a homogeneous transformation matrix of the first coordinate system in the second coordinate system includes,
the X-axis of the first coordinate system is expressed as V in the second coordinate system 34k ，
The first coordinate system X-axis unit vector under the second coordinate system is as follows:
the Z axis of the first coordinate system is expressed as V under the second coordinate system 12k ，
The Z-axis unit vector of the first coordinate system under the second coordinate system is as follows:
the Y-axis unit vector of the first coordinate system under the second coordinate system is as follows:
[a yk o yk n yk ]＝[a xk o xk n xk ]×[a zk o zk n zk l。
in the present embodiment of the present invention, in the present embodiment,
taking the tool tip as the origin of the first coordinate system, the representation of the first coordinate system under the second coordinate system is:
further, the calculating of the homogeneous transformation matrix of the first coordinate system relative to the robot end coordinate system and the homogeneous transformation matrix of the second coordinate system relative to the robot end coordinate system includes,
transforming n different poses of the robot terminal coordinate system relative to the robot base coordinate system, which is known by homogeneous transformation matrix coordinate system transformation
wherein ,representing a homogeneous transformation matrix of the k-th set of robot end coordinate system relative to the robot base coordinate system,homogeneous transformation matrix representing the first coordinate system relative to the robot end coordinate system, +.>Homogeneous transformation matrix representing the second coordinate system relative to the robot base coordinate system +.>Representing a transformation matrix of the kth set of first coordinate systems relative to the second coordinate system. Substituting n sets of data into the above formula to obtain +.> and />
Compared with the prior art, the head-eye combined calibration method for the osteotomy robot can effectively obtain the posture of a tool plane under the tail end coordinate system of the robot, realize the tool coordinate system calibration of the tool and the head-eye combined calibration, and reduce the flow and time of the preoperative calibration.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a head-eye joint calibration method for an osteotomy robot;
fig. 2 is a schematic view of another embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 and fig. 2, the embodiment of the invention discloses a head-eye joint calibration method for an osteotomy robot, which is characterized by comprising the following steps:
acquiring a homogeneous transformation matrix of a robot tail end coordinate system in the osteotomy robot relative to a robot base coordinate system;
establishing a first coordinate system based on the spatial position of the cutter;
establishing a second coordinate system based on a stereoscopic vision acquisition device, and calculating a homogeneous transformation matrix of the first coordinate system in the second coordinate system;
and calculating the homogeneous transformation matrix of the first coordinate system relative to the robot end coordinate system and the homogeneous transformation matrix of the second coordinate system relative to the robot base coordinate system according to the obtained homogeneous transformation matrix of the first coordinate system in the second coordinate system and the homogeneous transformation matrix of the robot end coordinate system relative to the robot base coordinate system.
In another embodiment, establishing the first coordinate system includes taking a vector of a point on the left side of the tool pointing to a point on the right side of the tool as an X-axis of the first coordinate system, and taking a point on a line connecting the point on the left side of the tool and the point on the right side of the tool pointing to a tool tip as a Z-axis of the first coordinate system; the Z axis and the X axis remain perpendicular.
In another embodiment, the establishing a second coordinate system based on the stereoscopic acquisition device includes,
acquiring spatial position coordinates of the tool tip, the tool left side point and the tool right side point in the second coordinate system;
and calculating the vertical foot coordinates of the cutter tip on the connecting line of the cutter left side point and the cutter right side point according to the space position coordinates of the cutter tip, the cutter left side point and the cutter right side point in the second coordinate system, and calculating the homogeneous transformation matrix of the first coordinate system in the second coordinate system according to the vertical foot coordinates.
In another embodiment, calculating the foot drop coordinates of the tool tip on the line connecting the tool left side point and the tool right side point includes,
confirming spatial position coordinates under the second coordinate system:
wherein the tool tip coordinatesThe left side point coordinate of the cutter>And the tool right side point coordinates +.>Spatial position coordinates in the second coordinate system;
calculating the foot drop coordinates
Order theObtaining the foot drop coordinates->
In another embodiment, computing a homogeneous transformation matrix for the first coordinate system in the second coordinate system includes,
the X-axis of the first coordinate system is expressed as V in the second coordinate system 34k ，
The first coordinate system X-axis unit vector under the second coordinate system is as follows:
the Z axis of the first coordinate system is expressed as V under the second coordinate system 12k ，
The Z-axis unit vector of the first coordinate system under the second coordinate system is as follows:
the Y-axis unit vector of the first coordinate system under the second coordinate system is as follows:
[a yk o yk n yk ]＝[a xk o xk n xk ]×[a zk o zk n zk ]。
in another embodiment, the computing the homogeneous transformation matrix of the first coordinate system with respect to the robot end coordinate system and the homogeneous transformation matrix of the second coordinate system with respect to the robot end coordinate system comprises,
transforming n different poses of the robot terminal coordinate system relative to the robot base coordinate system, which is known by homogeneous transformation matrix coordinate system transformation
wherein ,representing a homogeneous transformation matrix of the k-th set of robot end coordinate system relative to the robot base coordinate system,homogeneous transformation matrix representing the first coordinate system relative to the robot end coordinate system, +.>Homogeneous transformation matrix representing the second coordinate system relative to the robot base coordinate system +.>The transformation matrix representing the k-th set of the first coordinate system relative to the second coordinate system is obtained by substituting n sets of data into the above equation> and />
In order to obtain the gesture of a tool plane under the terminal coordinate system of the robot, the invention provides a first coordinate system calibration and head-eye joint calibration method in an osteotomy robot system based on stereoscopic vision. The method comprises the steps of obtaining positions of a tool tip, a tool left side point and a tool right side point by utilizing stereoscopic vision, constructing a first coordinate system, obtaining a transformation matrix of the first coordinate system in a second coordinate system, transforming n groups of different poses of a robot end coordinate system relative to a robot base coordinate system, recording a homogeneous transformation matrix of the first coordinate system in the second coordinate system and a homogeneous transformation matrix of the robot end coordinate system relative to the robot base coordinate system, and obtaining the homogeneous transformation matrix of the first coordinate system in the robot end coordinate system according to homogeneous coordinate transformation
And a homogeneous transformation matrix of the second coordinate system relative to the robot base coordinate system>The method is applied to the work of clamping the tool by the robot, and has the advantages of accurate attitude control, universality in application and the like.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. A head-eye combined calibration method for an osteotomy robot is characterized by comprising the following steps:
acquiring a homogeneous transformation matrix of a robot tail end coordinate system in the osteotomy robot relative to a robot base coordinate system;
establishing a first coordinate system based on the spatial position of the cutter; taking a vector of a point on the left side of the cutter pointing to a point on the right side of the cutter as an X axis of a first coordinate system, and taking a point on a connecting line of the point on the left side of the cutter and the point on the right side of the cutter pointing to a tip of the cutter as a Z axis of the first coordinate system; the Z axis and the X axis are kept vertical;
establishing a second coordinate system based on a stereoscopic vision acquisition device, and calculating a homogeneous transformation matrix of the first coordinate system in the second coordinate system;
the establishing the second coordinate system based on the stereoscopic vision acquisition device comprises the following steps:
acquiring spatial position coordinates of the tool tip, the tool left side point and the tool right side point in the second coordinate system;
calculating a vertical foot coordinate of the tool tip on a connecting line of the tool left side point and the tool right side point according to the spatial position coordinates of the tool tip, the tool left side point and the tool right side point in the second coordinate system, and calculating a homogeneous transformation matrix of the first coordinate system in the second coordinate system according to the vertical foot coordinate;
and calculating the homogeneous transformation matrix of the first coordinate system relative to the robot end coordinate system and the homogeneous transformation matrix of the second coordinate system relative to the robot base coordinate system according to the obtained homogeneous transformation matrix of the first coordinate system in the second coordinate system and the homogeneous transformation matrix of the robot end coordinate system relative to the robot base coordinate system.
2. The head-eye joint calibration method for an osteotomy robot of claim 1, wherein calculating the foot-hanging coordinates of the tool tip on the line connecting the left-hand point of the tool and the right-hand point of the tool comprises,
confirming spatial position coordinates under the second coordinate system:
wherein the tool tip coordinatesThe left side point coordinate of the cutter>And the tool right side point coordinates +.>Spatial position coordinates in the second coordinate system;
calculating the foot drop coordinates
Order theObtaining the foot drop coordinates->
3. The head-eye joint calibration method for an osteotomy robot of claim 2, wherein calculating a homogeneous transformation matrix of the first coordinate system in the second coordinate system comprises,
the X-axis of the first coordinate system is expressed as V in the second coordinate system 34k ，
The first coordinate system X-axis unit vector under the second coordinate system is as follows:
the Z axis of the first coordinate system is expressed as V under the second coordinate system 12k ，
The Z-axis unit vector of the first coordinate system under the second coordinate system is as follows:
the Y-axis unit vector of the first coordinate system under the second coordinate system is as follows:
[a yk o yk n yk ]＝[a xk o xk n xk ]×[a zk o zk n zk ]。
4. the head-eye joint calibration method for an osteotomy robot of claim 1, wherein calculating the homogeneous transformation matrix of the first coordinate system relative to the terminal coordinate system of the robot and the homogeneous transformation matrix of the second coordinate system relative to the terminal coordinate system of the robot comprises,
n different poses of the robot end coordinate system relative to the robot base coordinate system are transformed,
from homogeneous transformation matrix coordinate system transformation
wherein ,homogeneous transformation matrix representing the k-th set of robot end coordinate system relative to the robot base coordinate system,/->Homogeneous transformation matrix representing the first coordinate system relative to the robot end coordinate system, +.>Homogeneous transformation matrix representing the second coordinate system relative to the robot base coordinate system +.>The transformation matrix representing the k-th set of the first coordinate system relative to the second coordinate system is obtained by substituting n sets of data into the above equation> and />
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