CN102785246B - Robot calibration method capable of achieving automatic trajectory correction - Google Patents

Robot calibration method capable of achieving automatic trajectory correction Download PDF

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Publication number
CN102785246B
CN102785246B CN201210303338.5A CN201210303338A CN102785246B CN 102785246 B CN102785246 B CN 102785246B CN 201210303338 A CN201210303338 A CN 201210303338A CN 102785246 B CN102785246 B CN 102785246B
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China
Prior art keywords
robot
workpiece
effector
robot clamp
clamp
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CN201210303338.5A
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Chinese (zh)
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CN102785246A (en
Inventor
刘霖
刘娟秀
叶溯
杨先明
叶玉堂
秦娟
张峰
刘平
尹志强
刘文聪
张童
王奕然
邹修功
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电子科技大学
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Priority to CN201210303338.5A priority Critical patent/CN102785246B/en
Publication of CN102785246A publication Critical patent/CN102785246A/en
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Publication of CN102785246B publication Critical patent/CN102785246B/en

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Abstract

The invention discloses a robot calibration method capable of achieving an automatic trajectory correction and resolves the problems of not only consuming time and labor but also having low correction precision caused by an artificial correction trajectory in prior art. The method comprises the following steps of: (1) shooting a robot clamp and a workpiece by a vidicon, and calibrating the shot image, so as to obtain a newest position relation between the robot clamp and the workpiece; (2) performing an image processing algorithm analysis on the shot image, so as to obtain the position informations of the workpiece and the end effector of the robot clamp; (3) according to the position informations, calculating the moving data required by keeping the consistent positions of the workpiece and the end effector of the robot clamp; and (4) automatically loading the moving data into an original motion trajectory program, thereby automatically obtaining a new motion trajectory program aiming at the new position of the workpiece or the robot, so as to finish the trajectory correction.

Description

A kind of robot calibration method realizing automatic orbit correction

Technical field

What the present invention relates to is a kind of track correct method, specifically, is a kind of robot calibration method realizing automatic orbit correction.

Background technology

At present, most products processing all needs applied robot to coordinate other process equipment to carry out processing operation again, as: for process equipment puts undressed, and workpiece is taken off from process equipment.If process equipment breaks down, keep in repair after often needing that process equipment is moved away from workshop, and the process equipment returning to workshop after maintenance is again difficult to accurately be fixed on home position, the position of retightening there will be skew among a small circle compared to home position, and traditional machine man-hour, all need in advance the track and action that need motion to be carried out teaching or programming, use former movement locus if now continue, robot just cannot complete the work of material loading and blanking exactly.

In prior art, once the location of workpiece or robot location offset, or the fixture that robot is installed is changed, all need to revise one by one the coordinate in each motor point in former movement locus program artificially, artificial correction track not only consuming time, effort, have a strong impact on working (machining) efficiency, and the artificial accuracy revised also is difficult to obtain effective guarantee.

Summary of the invention

The object of the invention is to overcome above-mentioned defect, a kind of robot calibration method realizing automatic orbit correction is provided.

To achieve these goals, the technical solution used in the present invention is as follows:

Realize a robot calibration method for automatic orbit correction, comprise the following steps:

(1) by video camera, robot clamp and workpiece are taken, and the image of shooting gained is demarcated, obtain the latest position relation between robot clamp and workpiece;

(2) image drawn captured by described step (1) is carried out image processing and analysis, obtain the end effector of robot clamp and the positional information of workpiece;

(3) according to described positional information, the end effector required Mobile data consistent with workpiece retention position of robot clamp is calculated;

(4) described Mobile data is loaded into former movement locus program automatically, thus automatically obtains the new movement locus program for workpiece or robot reposition, complete track correct.

Wherein, the positional information in described step (2) comprises the end effector of robot clamp and the center point coordinate of workpiece and the anglec of rotation.

Meanwhile, the Mobile data in described step (3) comprises the end effector of robot clamp in locus, the translational movement namely on 3-D walls and floor X, Y, Z tri-directions, and the angle rotated.

Specifically, the concrete grammar of described step (4) is: be automatically loaded into by described Mobile data in former movement locus program, thus the actual position information of robot clamp is automatically updated into target position information, and then according to this target position information, former movement locus program is reconstructed.

The present invention compared with prior art, has the following advantages and beneficial effect:

(1) actual positional relationship of robot clamp and workpiece is carried out computational analysis by the method for camera calibration by the present invention, then show that robot clamp and the location of workpiece are consistent the data of required movement, and these data are loaded into automatically in former movement locus program, thus the new movement locus program automatically obtained for workpiece or robot reposition, the step completing track correct all only needs computer intelligence to operate, not only complete track correct fast, overcome the defect manually revised in prior art and take time and effort, and computer executable operations, its correction is more accurate, thus effectively ensure that the degree of accuracy of track correct result,

(2) the present invention still belongs to pioneering in robot clamp track reparation field, not only there is novelty, and, track reparation is that those skilled in the art wishes to solve and long-term insurmountable technical barrier, track automatic correcting method disclosed in this invention is manually revised in prior art, has outstanding substantive distinguishing features and marked improvement;

(3) realizing the present invention without the need to increasing expensive additional hardware facility, meanwhile, having saved a large amount of costs of labor, greatly increase the efficiency of processing operation, ensure that product quality, reduce processing cost, there are boundless market prospects.

Accompanying drawing explanation

Fig. 1 is principle schematic of the present invention.

Detailed description of the invention

Below in conjunction with embodiment and accompanying drawing thereof, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.

Embodiment

Robot clamp is when coordinating other process equipment operation, and in order to ensure robot clamp feeding, reinforced accuracy, its movement locus is generally controlled by pre-set movement locus program.But in processing operation, if process equipment or processing parts displacement, robot clamp still runs according to former movement locus, and robot just cannot complete the work of material loading and blanking exactly, now, then needs again to correct the movement locus of robot.Usually, traditional bearing calibration is that it not only takes time and effort by manually carrying out track correct, and the accuracy revised also is difficult to be guaranteed.Therefore, the present invention, on the basis of existing equipment, take camera calibration as the relative program of benchmark, coupled computer, realizes the auto modification of robot motion's track.

As shown in Figure 1, a kind of robot calibration method realizing automatic orbit correction, the method is step based on camera calibration mainly, the latest position relation (i.e. actual positional relationship) between robot clamp and workpiece is drawn by camera calibration, and then the calculating carrying out being correlated with, analysis, needed for robot clamp and the location of workpiece being consistent, the data of movement are loaded into former movement locus program automatically, complete the automatic renewal of program, revise the movement locus of robot with this.Specifically, the method comprises following four steps:

One, by video camera, robot clamp and workpiece are taken, and the image of shooting gained is demarcated, obtain the latest position relation between robot clamp and workpiece;

Two, the image drawn captured by described step one is carried out image processing algorithm analysis, obtain the end effector of robot clamp and the positional information of workpiece;

Three, according to described positional information, the end effector required Mobile data consistent with workpiece retention position of robot clamp is calculated;

Four, described Mobile data is loaded into former movement locus program automatically, thus automatically obtains the new movement locus program for workpiece or robot reposition, complete track correct.

The central principle of the method is mainly calibration process, and in fact this calibration process is obtain the location of workpiece relative to the relation between robot (end effector of robot).In order to energy more detailed description, supposed premise condition is not for before the location of workpiece or robot location change, workpiece can be caught exactly when end effector of robot moves to certain point in trajectory planning program, drafting this point is P, namely, when robot motion is to P point, end effector is consistent with the location of workpiece; After the location of workpiece or robot location change, when robot motion is to P point, deviation will be there is between end effector and the location of workpiece, now, then by the mode of pictures taken, robot clamp is taken into image with the actual positional relationship of workpiece, and image processing algorithm analysis is carried out to this image, the image processing algorithm used in the present invention is prior art, be not repeated at this, obtain the positional information of end effector and workpiece, i.e. the end effector of robot clamp and the center point coordinate of workpiece and the anglec of rotation.

After above-mentioned steps completes, calculating robot clamp end effector also needs translation in locus X, Y, Z-direction how many, and could be consistent with workpiece retention position after need rotating how many angles, and above-mentioned data are the Mobile data described in step 3.After calculating Mobile data, it is loaded in former movement locus program automatically, thus the actual position information of robot clamp is automatically updated into target position information, be about to before the location of workpiece or robot location do not change, P point in robot clamp movement locus is updated to P ' point by the Mobile data be automatically loaded into, and this P ' is new impact point.Be not difficult to draw, the essence of the automatic renewal process of track program is that P point (old impact point) is replaced with P ' point (new impact point), and the trajectory coordinates point then by upgrading is reconstructed former movement locus program, thus realizes the auto modification of track.

According to above-described embodiment, well the present invention can be realized.

Claims (3)

1. can realize a robot calibration method for automatic orbit correction, it is characterized in that, comprise the following steps:
(1) by video camera, robot clamp and workpiece are taken, and the image of shooting gained is demarcated, obtain the latest position relation between robot clamp and workpiece;
(2) image drawn captured by described step (1) is carried out image processing and analysis, obtain the end effector of robot clamp and the positional information of workpiece;
(3) according to described positional information, the end effector required Mobile data consistent with workpiece retention position of robot clamp is calculated;
(4) described Mobile data is loaded into former movement locus program automatically, thus automatically obtains the new movement locus program for workpiece or robot reposition, complete track correct;
The concrete grammar of described step (4) is: be automatically loaded into by described Mobile data in former movement locus program, thus the actual position information of robot clamp is automatically updated into target position information, and then according to this target position information, former movement locus program is reconstructed.
2. a kind of robot calibration method realizing automatic orbit correction according to claim 1, is characterized in that, the positional information in described step (2) comprises the end effector of robot clamp and the center point coordinate of workpiece and the anglec of rotation.
3. a kind of robot calibration method realizing automatic orbit correction according to claim 2, it is characterized in that, Mobile data in described step (3) comprises the end effector of robot clamp in locus, namely the translational movement on 3-D walls and floor X, Y, Z tri-directions, and the angle rotated.
CN201210303338.5A 2012-08-24 2012-08-24 Robot calibration method capable of achieving automatic trajectory correction CN102785246B (en)

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CN103009388B (en) * 2012-11-05 2015-05-27 肖林 Light wave transmitter as well as robot track locating system and robot track locating method
CN104383689B (en) * 2014-07-15 2017-01-18 广州大学 Intelligent shooting athletic robot
CN104175330B (en) * 2014-08-14 2016-04-20 四川大学 A kind of six joint industrial robot real-time servo tracking means based on aiming mechanism
CN104589346A (en) * 2014-12-15 2015-05-06 广西科技大学 Collisionless path planning method suitable for manipulator
WO2017033362A1 (en) * 2015-08-25 2017-03-02 川崎重工業株式会社 Remote control manipulator system and operation method thereof
DE102015118918B3 (en) * 2015-11-04 2017-05-04 Haddadin Beteiligungs UG (haftungsbeschränkt) Robot with control for discretized manual entry of positions and / or poses
CN105922265B (en) * 2016-06-20 2018-08-24 广州视源电子科技股份有限公司 A kind of motion trail planning method of mechanical arm, device and robot
CN108563184B (en) * 2018-03-05 2019-08-13 北京华航唯实机器人科技股份有限公司 Orbit generation method and device

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CN1415460A (en) * 2002-12-05 2003-05-07 上海交通大学 On-line compensating method for locus coordinates of moving robot
CN102581445A (en) * 2012-02-08 2012-07-18 中国科学院自动化研究所 Visual real-time deviation rectifying system and visual real-time deviation rectifying method for robot

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CN102581445A (en) * 2012-02-08 2012-07-18 中国科学院自动化研究所 Visual real-time deviation rectifying system and visual real-time deviation rectifying method for robot

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