CN104175330B - A kind of six joint industrial robot real-time servo tracking means based on aiming mechanism - Google Patents
A kind of six joint industrial robot real-time servo tracking means based on aiming mechanism Download PDFInfo
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- CN104175330B CN104175330B CN201410399828.9A CN201410399828A CN104175330B CN 104175330 B CN104175330 B CN 104175330B CN 201410399828 A CN201410399828 A CN 201410399828A CN 104175330 B CN104175330 B CN 104175330B
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Abstract
The invention discloses a kind of six joint industrial robot real-time servo tracking means based on aiming mechanism, comprise mechanical arm, described mechanical arm end is connected with connector, laser pen one and laser pen two on described connector, described laser pen one and laser pen two front are respectively equipped with the projection screen one vertical with laser pen two with laser pen one and curtain two, and described curtain one and curtain two rear are placed with first and camera two of making a video recording respectively.The present invention's advantage is compared with prior art: the quick real-time tracking that can realize robot motion's track, carries out volumetric position error compensation by Real-time Feedback.In addition, the present invention adopts laser pen as light source, and laser has that monochromaticjty is good, coherence is good, good directionality, brightness high, improve tracking accuracy, and cost is lower.
Description
Technical field
The present invention relates to track tracing device, particularly relate to a kind of six joint industrial robot real-time servo tracking means and methods based on aiming mechanism.
Background technology
The space repetitive positioning accuracy of six joint industrial robots is far superior to space absolute fix precision, therefore, under six joint industrial robots are operated in teaching pattern mostly.But along with numerous development needing the application system of industrial robot off-line programing such as workpiece handlings under machining, assembling, mixed flow pattern, new demand is proposed to the space absolute fix precision of industrial robot.Traditional approach being improved its precision by the improvement of robot body design and manufacturing technology, technical difficulty is high, expense drops into expensive, and improves limited efficiency.In recent years, visual servo is introduced robot system, improve the intelligent of robot and spatial operation precision, reduce the requirement of robot to environment.But these application systems are all generally that utilize vision system to position adjustment in accuracy to particular job object, it still has very strong limitation for concrete target customized development.Therefore how to set up a kind of effective, there is certain universality vision mechanism to robot spatial positioning accuracy, especially space absolute fix precision, carrying out revising is current robot and the hot research problem in Visual servoing control field.
The mankind fix the aiming of target spot at a distance to scene by vision, the movement warp of perception walking process route, and by vision collimation perception, the trajector deviation in dynamic corrections motion process.Do not need in the aiming mechanism of human eye accurately to measure and three-dimensional reconstruction target spot, and just the quantitative change of qualitative perception target spot deviation diminishes greatly, and then instruct the continuation of current correction motion still to alter course.Human eye aims at the work of process and mainly comprises three parts: to the focusing (i.e. attention mechanism) of point of interest (target spot), the high-speed parallel information processing of many optic nerves metasystem, the high-speed servo tracking of eyeball.The advantage of its relatively traditional visual servo mode is:
(1) the static target preset and the locus of vision system, the predicting tracing aiming at focusing and target spot for target spot provides good priori conditions.
(2) due to only interested in the image information of scene point of impact on target scope, the information content of Vision information processing is greatly reduced.
(3) in aiming mechanism, visual pattern error model maps directly to joint of robot motion model, eliminate visual pattern error model to the mapping of robot end position and the process based on robot end's inverse position kinematics solution, simplify the intermediate node of visual servo feedback link.
(4) the Accurate Calibration problem owing to needing accurate quantification to measure to system in position-based visual servo is solved very well.
Therefore, the aiming mechanism of human eye is applied in industrial robot servo tracking, can the space absolute fix precision of hoisting machine people to a great extent, and do not need accurately to measure and three-dimensional reconstruction target spot, greatly reduce the information content of Vision information processing.
Summary of the invention
The present invention is the problem in order to solve robot space tracking real-time performance of tracking deficiency, provides a kind of six joint industrial robot real-time servo tracking means and methods based on aiming mechanism.
Above-mentioned purpose of the present invention is realized by following technical scheme: a kind of six joint industrial robot real-time servo tracking means based on aiming mechanism, comprise mechanical arm, described mechanical arm end is connected with connector, laser pen one and laser pen two on described connector, described laser pen one and laser pen two front are respectively equipped with the projection screen one vertical with laser pen two with laser pen one and curtain two, and described curtain one and curtain two rear are placed with first and camera two of making a video recording respectively.
A kind of six joint industrial robot real-time servo trackings based on aiming mechanism, it is characterized in that: on mechanical arm, install two laser pens, towards X-direction, towards Y-direction, first preset the space tracking one of a desirable mechanical arm motion for one for one, this desirable space tracking one, when projecting to XZ plane, define curve two, when projecting to YZ face, define curve three, these two curves can as the normative reference of vision system pointing correction mechanical arm precision; Control mechanical arm to move according to this space tracking, the track that two laser pens then on mechanical arm are passed by XZ, YZ face is a plane curve respectively, this curve is the movement locus of the projection in mechanical arm actual moving process, by the aiming mechanism of the camera simulation human eye on thin backstage, XZ, YZ face of aiming projects movement locus, and detects the projected footprint of actual motion and error f (the Δ d of ideal movements track in these two planes in good time
1, Δ d
2) variation tendency, and this error change trend is fed back to the control system of six joint industrial robots, accuracy correction is carried out to the motion next time of six joint industrial robots, thus reaches the space fortune fortune precision of correction six joint industrial robot.
Operation principle of the present invention is: mechanical arm is when according to pre-set space orbiting motion, and the two vertically arranged laser pens of robot end also can accompany movement, and projection screen can obtain imaging point, and camera is transferred to computer after obtaining image.By adopting the image procossing mechanism of simulation human eye aiming mechanism, the relatively projected footprint of two vertical plane coideal space motion paths and robot actual motion, and the error change trend obtained is fed back to control system, error compensation can be carried out to the motion next time of mechanical arm, thus the spatial movement precision in correction mechanical arm actual motion path.
The present invention's advantage is compared with prior art: the quick real-time tracking that can realize robot motion's track, and carries out volumetric position error compensation by Real-time Feedback.In addition, the present invention adopts laser pen as light source, and laser has that monochromaticjty is good, coherence is good, good directionality, brightness high, improve tracking accuracy, and cost is lower, has promotional value in similar application scenario, have certain economy.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is that the present invention realizes principle schematic.
Fig. 3 is the track following process schematic of the embodiment of the present invention.
Fig. 4 is the structural representation of the embodiment of the present invention.
Fig. 5 is the feedback compensation schematic diagram of the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail:
As shown in Figure 1, Figure 2 and Figure 3, a kind of six joint industrial robot real-time servo tracking means based on aiming mechanism, comprise mechanical arm 1, described mechanical arm 1 end is connected with connector 2, laser pen 1 and laser pen 24 on described connector 2, described laser pen 1 and laser pen 24 front are respectively equipped with the projection screen one 5 vertical with laser pen 24 with laser pen 1 and curtain 26, and described curtain 1 and curtain 26 rear are placed with shooting first 7 and camera 28 respectively.
As shown in Fig. 3, Fig. 4 and Fig. 5, mechanical arm installs two laser pens, one towards X-direction, one towards Y-direction, first preset the space tracking 1 of a desirable mechanical arm motion, as shown in Figure 4, this desirable space tracking 1, when projecting to XZ plane, define curve 2 10, when projecting to YZ face, define curve 3 11, these two curves can as the normative reference of correction mechanical arm precision.Control mechanical arm and aim at the motion of this space tracking, the track that two laser pens on mechanical arm are passed by XZ, YZ face is a plane curve, this curve is the projected footprint of the actual motion of mechanical arm, by the camera on thin backstage, detect two plane actual motion tracks in error f (the Δ d of ideal movements track
1, Δ d
2) variation tendency, and feed back to control system, accuracy correction is carried out to the motion next time of mechanical arm, thus the spatial movement precision of correction mechanical arm.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize description of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (1)
1. six joint industrial robot real-time servo tracking means based on aiming mechanism, it is characterized in that: comprise mechanical arm, described mechanical arm end is connected with connector, laser pen one and laser pen two on described connector, described laser pen one and laser pen two front are respectively equipped with the projection screen one vertical with laser pen two with laser pen one and curtain two, and described curtain one and curtain two rear are placed with first and camera two of making a video recording respectively; Described six joint industrial robot real-time servo trackings are: on mechanical arm, install two laser pens, one towards X-direction, one towards Y-direction, first preset the space tracking one of a desirable mechanical arm motion, this desirable space tracking one, when projecting to XZ plane, define curve two, when projecting to YZ face, define curve three, these two curves can as the normative reference of vision system pointing correction mechanical arm precision; Control mechanical arm to move according to this space tracking, the track that two laser pens then on mechanical arm are passed by XZ, YZ face is a plane curve respectively, this curve is the movement locus of the projection in mechanical arm actual moving process, by the aiming mechanism of the camera simulation human eye on thin backstage, XZ, YZ face of aiming projects movement locus, and detects the projected footprint of actual motion and error f (the Δ d of ideal movements track in these two planes in good time
1, Δ d
2) variation tendency, and this error change trend is fed back to the control system of six joint industrial robots, accuracy correction is carried out to the motion next time of six joint industrial robots, thus reaches the space fortune fortune precision of correction six joint industrial robot.
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| CN201410399828.9A CN104175330B (en) | 2014-08-14 | 2014-08-14 | A kind of six joint industrial robot real-time servo tracking means based on aiming mechanism |
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| CN104175330B true CN104175330B (en) | 2016-04-20 |
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| CN116468797B (en) * | 2023-03-09 | 2023-11-24 | 北京航天众信科技有限公司 | Aiming method and device for rail-mounted robot and computer equipment |
| CN116197918B (en) * | 2023-05-05 | 2023-07-21 | 北京华晟经世信息技术股份有限公司 | Manipulator control system based on action record analysis |
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