CN102278963A - Self-calibration method of parallel robot - Google Patents
Self-calibration method of parallel robot Download PDFInfo
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- CN102278963A CN102278963A CN 201110180512 CN201110180512A CN102278963A CN 102278963 A CN102278963 A CN 102278963A CN 201110180512 CN201110180512 CN 201110180512 CN 201110180512 A CN201110180512 A CN 201110180512A CN 102278963 A CN102278963 A CN 102278963A
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Abstract
The invention discloses a self-calibration method of a parallel robot. The method comprises the following steps of: arranging a displacement sensor on each driving branch of the parallel robot, additionally arranging a measuring branch between a fixed platform and a movable platform of the parallel robot, arranging a rope sensor on the measurement branch, establishing a function relation between the relative variation of displacement of the drive branches and the measuring branch and parameters of pose of the movable platform and mechanism parameters of all the branches, driving the parallel robot to carry out pose transformation, enabling the number of established equations to be greater than or more to the number of the mechanism parameters to be identified, and carrying out numerical value solving to obtain poses of the movable platform in any state and mechanism parameter errors and further realize self-calibration. The self-calibration method has the advantage of low cost, convenience for operation and freedom from restriction of distance, hardly has restriction to mechanism design and is a good choice for calibration schemes of the parallel robots.
Description
Technical field
The present invention relates to a kind of robot, particularly parallel robot from the method for demarcating.
Background technology
The artificial many ring closed chain mechanisms of parallel manipulator and each kinematic chain and joint motions pair are spatial placement, and the more and detection difficult of structural parameters is so the traditional serial machine people of the marked ratio of parallel robot wants the many of complexity.The difficult point that parallel robot is demarcated is the long acquisition of the initial bar of its moving platform posture information and each branch.No matter adopt which kind of scaling method, all need the movable information of parallel robot is carried out all or part of measurement.Substantially be to adopt outside method of demarcating to parallel robot at present, this outside is demarcated to be needed to test by the external measurement devices of precision, timing signal should detect all measurement points as far as possible in a certain appointed equipment present position, otherwise change the station or increase measuring equipment with regard to needing, and this will improve the measurement cost, reduce measuring accuracy and work efficiency.For equipment to be calibrated, particularly aerial lift device, because of its measuring distance is far away, the cloth station of measuring equipment will be very difficult, and these instrument mounting conditions are comparatively harsh, need carry out meticulous adjustment when using, and length consuming time requires height to operation, uses inconvenience.
Summary of the invention
The objective of the invention is to guaranteeing under the constant substantially prerequisite of physical construction, organically combine the Kinematics of Parallel Robot characteristics, provide a kind of hardly to mechanism design increase constraint with low cost, easy and simple to handle, efficient is high, be not subjected to distance limit, parallel robot self-calibrating method that measuring accuracy is high.
The present invention mainly is:
Drive installation position displacement sensor on branch's moving sets 6 of parallel robots, as grating chi or magnetostrictive displacement sensor; Between parallel robot fixed platform and moving platform, set up N measurement branches (
l 1,
l 2...,
l N), its two ends respectively with fixed, moving platform is fixed, and a rope sensor is installed in each branch;
Further, if need to consider more theory of mechanisms parameter error, then, can set up enough equations and come solve un-known parameters by increasing moving platform pose change frequency.Meanwhile, the increase of equation number purpose may cause the difficulty of numerical solution to strengthen, but theory of mechanisms parameter to be identified for equal number, increase the number of rope sensor, required moving platform pose change frequency will be reduced, the equation sum of being set up also can reduce, and the difficulty of numerical solution decreases naturally.
The present invention compared with prior art has following advantage:
1, drives branch's installation position displacement sensor at parallel robot, between fixed, moving platform, set up the rope sensor that some is installed, only by conversion simple, limited number of time moving platform pose, it is long to need not known initial bar, and it is long to solve under the free position moving platform posture information and each minute pole by sensor displacement relative variation.The rope sensor installation dimension is little, compact conformation, the measurement stroke is big, measuring accuracy is high, and installs simply, and installation accuracy is easy to guarantee.
2, measuring method of the present invention does not need the space outerpace pose measuring apparatus of complexity, costliness, and is lower to demarcating environmental requirement, and mechanism design do not increased constraint substantially, with low cost, simple operation is reliable, is not subjected to distance limit, is applicable to multiple occasions such as high-altitude, long distance work.
3, described method is suitable equally for the lower-mobility parallel robot.
Description of drawings
Fig. 1 is a parallel robot self-calibrating method simplified schematic diagram of the present invention.
Embodiment
In conjunction with the accompanying drawings, be that example specifically describes parallel robot self-calibrating method of the present invention with it.
As shown in Figure 1, parallel robot involved in the present invention is by fixed platform 1, moving platform 2, the driving 3(of branch
A 1 B 1,
A 2 B 2...,
A 6 B 6) and connect each branch and hinge 4,5(Hooke's hinge or ball pivot fixed, moving platform) form; Between parallel robot fixed platform 1 and moving platform 2, have additional 3 measurement branches 6(
A 7 B 7,
A 8 B 8,
A 9 B 9), its two ends respectively with fixed, moving platform fixed (can also can weld by being threaded, the position is any), rope sensor 7 is installed in each branch; Equal installation position displacement sensor 8 on the moving sets of each driving branch of parallel robot.
Corresponding a certain specific pose, can set up 6 drive branches and 3 measurement branches bars long with 6 pose parameters of moving platform (3 location variables, 3 attitude variablees) and each position of articulating point vector between relation equation as follows:
In the formula,
Be corresponding the
Under the inferior pose situation
The bar of individual branch is long;
Be corresponding the
Under the inferior pose situation
The bar long vector of individual branch;
For by the attitude transformation matrices of parallel robot moving platform to fixed platform;
Be each branch (comprise drive branch and the measurement branches) position vector of hinge in being that link to each other with fixed platform with the fixed position fixing of fixed platform;
For each branch link to each other with moving platform hinge with the fixed moving coordinate system of moving platform in position vector;
Be corresponding the
The moving coordinate system initial point is with respect to the position vector of position fixing system under the inferior pose situation;
Expression pose number of transitions,
(with measurement branches number and theory of mechanisms relating to parameters to be calibrated);
(M=6+N).
With situation shown in Figure 1 is example, suppose to set up 3 measurement branches, be N=3, then by following formula, corresponding a certain pose, can set up 9 independently equations, and moving platform attitude (3 angles) is unknown parameter with position (3) and 9 bars long (comprise and drive branch and measurement branches) in the equation, has 15 altogether.This moment, the equation number was less than unknown parameter number, intangibility.
Drive machines people's conversion pose, then corresponding new pose according to following formula, can be set up 9 equations again, and this moment, equation add up to 18.After pose changed, corresponding driving branch and the long variable quantity of measurement branches bar can be obtained by the displacement transducer that is mounted thereon, so the long unknown quantity sum of bar is constant, unknown parameter only increases moving platform attitude and position (6).At this moment, unknown parameter has 21 (15+6) altogether, more than equation sum, still intangibility.
Drive machines people conversion one new pose once more, in like manner, can set up 9 equations again, newly-increased 6 unknown pose parameters, at this moment, equation adds up to 27 (18+9), and unknown parameter also is 27 (21+6), and equation number is identical with unknown parameter, equation can be separated, unknown parameter can be asked, and then can obtaining robot, respectively to drive the initial bar of branch long, and pose parameter in the change procedure and measurement branches bar are long simultaneously also can obtain.
Further,,,, can set up enough equations and come solve un-known parameters, and then realize that robot is from demarcating by increasing moving platform pose change frequency according to same thinking if consider each hinge point site error.
Claims (2)
1. parallel robot self-calibrating method is characterized in that: 1. drive installation position displacement sensor in the branch 6 of parallel robots, between parallel robot fixed platform and moving platform, set up N measurement branches (
l 1,
l 2...,
l N), its two ends respectively with fixed, moving platform is fixed, and a rope sensor is installed in each branch; 2. corresponding arbitrary specific pose, can set up 6 driving branches and the counter of N measurement branches solves an equation, can set up (6+N) individual independently explicit equation, and unknown number comprises 6 pose parameters of moving platform and (6+N) individual minute pole is long in the equation, amounts to (12+N) individual unknown parameter; 3. be original state with arbitrary pose, drive machines people's conversion pose, then corresponding new pose, can set up (6+N) individual equation again, this drives branch's variable quantity and can be obtained by the displacement transducer that is mounted thereon, and the measurement branches variable quantity can be obtained by rope sensor, promptly only newly-increased 6 pose parameters, then this moment, equation add up to 2 * (6+N), and the unknown quantity number is (18+N); 4. drive machines people conversion one new pose once more in like manner, can be set up (6+N) individual equation again, newly-increased 6 pose parameters; 5. by that analogy, suppose the new pose of conversion n time, it is individual then can to set up equation (6+N) * (n+1) altogether, and unknown parameter is that (12+N+6n) is individual, therefore, when equation number during more than or equal to the unknown parameter number, promptly when (6+N) * (n+1) 〉=(12+N+6n), equation can be separated, then drive displacement transducer in the branch and the change in displacement information that rope sensor detected on the measurement branches by being installed on parallel robot, can can realize that robot is from demarcating in the hope of free position moving platform pose and theory of mechanisms parameter error.
2. parallel robot self-calibrating method according to claim 1, it is characterized in that: the increase of equation number purpose may cause the difficulty of numerical solution to strengthen, but theory of mechanisms parameter to be identified for equal number, increase the number of rope sensor, required moving platform pose change frequency will be reduced, the equation sum of being set up also can reduce, and the difficulty of numerical solution decreases naturally.
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102636139A (en) * | 2012-04-12 | 2012-08-15 | 中国工程物理研究院激光聚变研究中心 | Six-displacement-sensor dynamic measuring method of space six-degree-of-freedom movement |
| CN102692201A (en) * | 2012-06-19 | 2012-09-26 | 重庆大学 | Device for measuring spatial motion with six degrees of freedom and dynamic measuring method |
| CN102915031A (en) * | 2012-10-25 | 2013-02-06 | 中国科学技术大学 | Intelligent self-calibration system for kinetic parameters of parallel robot |
| CN103363937A (en) * | 2013-06-28 | 2013-10-23 | 朱留存 | Three-freedom-degree space position detecting mechanism |
| CN103934823A (en) * | 2014-04-28 | 2014-07-23 | 哈尔滨工程大学 | Six-PTRT type parallel robot with self-calibration function |
| CN104084943A (en) * | 2014-06-26 | 2014-10-08 | 西南科技大学 | Hydraulically-controlled demolition robot in intense-radiation environment |
| CN104390612A (en) * | 2014-07-08 | 2015-03-04 | 西安电子科技大学 | Standard pose calibration method for six-degree-of-freedom parallel robot used for Stewart platform structure |
| CN106476013A (en) * | 2016-12-18 | 2017-03-08 | 河南机电职业学院 | Cell configuration and the method for algorithm expression 6-dof motion platform structure and algorithm |
| CN104236491B (en) * | 2014-06-27 | 2017-03-22 | 华东交通大学 | Four-rope traction three-freedom-degree intelligent measurement robot |
| CN110815207A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Kinematic calibration method for Stewart type parallel flexible cable robot |
| CN110815206A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Stewart type parallel robot kinematics calibration method |
| CN111872922A (en) * | 2020-07-29 | 2020-11-03 | 江南大学 | Three-degree-of-freedom parallel robot hand-eye calibration method based on 3D vision sensor |
| CN112975913A (en) * | 2021-03-10 | 2021-06-18 | 清华大学 | Self-calibration method and system for cable-driven parallel mechanism |
| CN113146627A (en) * | 2021-04-01 | 2021-07-23 | 洛阳理工学院 | Parallel mechanism dynamic parameter solving method based on real-time measurement data |
| CN113183137A (en) * | 2020-06-28 | 2021-07-30 | 中国科学院长春光学精密机械与物理研究所 | Parameter calibration device and method for six-degree-of-freedom parallel mechanism |
| CN113386110A (en) * | 2021-07-14 | 2021-09-14 | 上海交通大学医学院附属第九人民医院 | Six-degree-of-freedom platform |
| CN114485500A (en) * | 2021-12-30 | 2022-05-13 | 南京理工大学 | Integrated structure of parallel driving mechanism moving platform pose measurement system |
| CN114571465A (en) * | 2022-03-31 | 2022-06-03 | 伯朗特机器人股份有限公司 | Four-axis parallel robot calibration method based on simulated annealing algorithm |
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| CN102636139B (en) * | 2012-04-12 | 2014-11-05 | 中国工程物理研究院激光聚变研究中心 | Six-displacement-sensor dynamic measuring method of space six-degree-of-freedom movement |
| CN102636139A (en) * | 2012-04-12 | 2012-08-15 | 中国工程物理研究院激光聚变研究中心 | Six-displacement-sensor dynamic measuring method of space six-degree-of-freedom movement |
| CN102692201A (en) * | 2012-06-19 | 2012-09-26 | 重庆大学 | Device for measuring spatial motion with six degrees of freedom and dynamic measuring method |
| CN102915031A (en) * | 2012-10-25 | 2013-02-06 | 中国科学技术大学 | Intelligent self-calibration system for kinetic parameters of parallel robot |
| CN102915031B (en) * | 2012-10-25 | 2015-08-12 | 中国科学技术大学 | The intelligent self-calibration system of Kinematics of Parallel Robot parameter |
| CN103363937A (en) * | 2013-06-28 | 2013-10-23 | 朱留存 | Three-freedom-degree space position detecting mechanism |
| CN103934823B (en) * | 2014-04-28 | 2015-09-30 | 哈尔滨工程大学 | A kind of 6-PTRT type parallel robot with self calibrating function |
| CN103934823A (en) * | 2014-04-28 | 2014-07-23 | 哈尔滨工程大学 | Six-PTRT type parallel robot with self-calibration function |
| CN104084943A (en) * | 2014-06-26 | 2014-10-08 | 西南科技大学 | Hydraulically-controlled demolition robot in intense-radiation environment |
| CN104236491B (en) * | 2014-06-27 | 2017-03-22 | 华东交通大学 | Four-rope traction three-freedom-degree intelligent measurement robot |
| CN104390612B (en) * | 2014-07-08 | 2017-03-08 | 西安电子科技大学 | Six-degree-of-freedom parallel robot benchmark pose scaling method for Stewart platform configuration |
| CN104390612A (en) * | 2014-07-08 | 2015-03-04 | 西安电子科技大学 | Standard pose calibration method for six-degree-of-freedom parallel robot used for Stewart platform structure |
| CN106476013A (en) * | 2016-12-18 | 2017-03-08 | 河南机电职业学院 | Cell configuration and the method for algorithm expression 6-dof motion platform structure and algorithm |
| CN110815207A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Kinematic calibration method for Stewart type parallel flexible cable robot |
| CN110815206A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Stewart type parallel robot kinematics calibration method |
| CN110815207B (en) * | 2018-08-14 | 2022-10-21 | 中国科学院沈阳自动化研究所 | Kinematic calibration method for Stewart type parallel flexible cable robot |
| CN113183137A (en) * | 2020-06-28 | 2021-07-30 | 中国科学院长春光学精密机械与物理研究所 | Parameter calibration device and method for six-degree-of-freedom parallel mechanism |
| CN113183137B (en) * | 2020-06-28 | 2022-07-01 | 中国科学院长春光学精密机械与物理研究所 | Parameter calibration device and method for six-degree-of-freedom parallel mechanism |
| CN111872922B (en) * | 2020-07-29 | 2021-09-03 | 贵州电网有限责任公司 | Three-degree-of-freedom parallel robot hand-eye calibration method based on 3D vision sensor |
| CN111872922A (en) * | 2020-07-29 | 2020-11-03 | 江南大学 | Three-degree-of-freedom parallel robot hand-eye calibration method based on 3D vision sensor |
| CN112975913A (en) * | 2021-03-10 | 2021-06-18 | 清华大学 | Self-calibration method and system for cable-driven parallel mechanism |
| CN113146627A (en) * | 2021-04-01 | 2021-07-23 | 洛阳理工学院 | Parallel mechanism dynamic parameter solving method based on real-time measurement data |
| CN113386110A (en) * | 2021-07-14 | 2021-09-14 | 上海交通大学医学院附属第九人民医院 | Six-degree-of-freedom platform |
| CN114485500A (en) * | 2021-12-30 | 2022-05-13 | 南京理工大学 | Integrated structure of parallel driving mechanism moving platform pose measurement system |
| CN114485500B (en) * | 2021-12-30 | 2024-06-07 | 南京理工大学 | Integrated structure of parallel driving mechanism movable platform pose measurement system |
| CN114571465A (en) * | 2022-03-31 | 2022-06-03 | 伯朗特机器人股份有限公司 | Four-axis parallel robot calibration method based on simulated annealing algorithm |
| CN114571465B (en) * | 2022-03-31 | 2023-08-22 | 伯朗特机器人股份有限公司 | Four-axis parallel robot calibration method based on simulated annealing algorithm |
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