CN105509671A - Method for calibrating central point of robot tool through employing plane calibration plate - Google Patents

Method for calibrating central point of robot tool through employing plane calibration plate Download PDF

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Publication number
CN105509671A
CN105509671A CN201510867618.2A CN201510867618A CN105509671A CN 105509671 A CN105509671 A CN 105509671A CN 201510867618 A CN201510867618 A CN 201510867618A CN 105509671 A CN105509671 A CN 105509671A
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robot
tcp
contact
coordinate
coordinate system
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CN105509671B (en
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韩奉林
江晓磊
严宏志
何锐波
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Central South University
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Central South University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant

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  • General Physics & Mathematics (AREA)
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Abstract

The invention discloses a method for calibrating a central point of a robot tool through employing a plane calibration plate. The method comprises the steps: controlling a robot to enable a TCP to carry out plane contact with a calibrating tool for more than six times at different attitudes during calibration; just recording the coordinate information of a robot joint; combing with the structure parameter of the robot to calculate the coordinates of the TCP in a flange coordinate system at the tail end of the robot; and evaluating the calibration precision. The method does not need to enable the TCP of the robot to repeatedly coincide with the same fixed point, and lowers the point-point coincidence to the point-plane coincidence. A calibration tool is simple, and the method is easy to implement. When the TCP of the robot deflects lightly, the method can achieve autonomous calibration.

Description

A kind of robot tooling center points scaling method utilizing plane reference plate
Technical field
The present invention relates to robot tooling center points (Toolcenterpoint, TCP) scaling method, particularly relate to a kind of robot tooling center points scaling method utilizing plane reference plate.
Background technology
Robot tooling center points (Toolcenterpoint, TCP) is the initial point of the tool coordinates system be connected with robot tool, and the coordinate of instrument real work point in tool coordinates system remains unchanged.Robot wants the position of accurate control tool real work point, first must obtain tool coordinates system initial point, i.e. the coordinate of TCP in robot end's flange coordinate system.
The process calculating TCP coordinate in robot end's flange coordinate system is called that robot tooling center points is demarcated.Accurate calibration robot TCP is the basis of carrying out off-line programing.
The core that TCP demarcates to determine the coordinate of TCP in robot end's flange coordinate system.Traditional method is " 4 methods ", namely allows robot be overlapped with a space point of fixity by four different azimuth Qu Shi robot TCP, then utilizes joint of robot corner and robot architecture's information to go to resolve TCP coordinate.
The difficult point of this method be to realize point with put overlap and must be completed by manual operation, and need meticulous adjustment.As inaccurate in aimed at, be easy to occur that error is excessive.Take time and effort very much so TCP demarcates, affect machine task efficiency.
Patent CN104827480A discloses a kind of robot automatic calibration method, utilizes the immanent structure parameter of scaling board calibration sensor and the sensor coordinate system relative to world coordinate system; With with multiple different attitude, the initial point of the coordinate system of instrument mounted thereto is accurately being moved to same impact point by control under the guiding of sensor of demarcating, and calculate the transfer matrix tcpTt of tool coordinates system relative to the tool center point coordinate system of robot according to robot in the pose data of this impact point.
The problem of the program is, before operating, and the demarcation carrying out in advance to scaling board calibration sensor, and this calibration tool should possess position detecting function, namely needs to carry out pre-service, implementation step is comparatively loaded down with trivial details.
Patent CN104457645A discloses a kind of robot tooling center points scaling method utilizing two-dimensional measurement function flat board, weakens the coincidence of some constraint in order to a face contact, is easy to operation, can realizes Auto-calibration when less offset appears in TCP.
But such scheme requires that dull and stereotyped calibration tool possesses two-dimensional measurement function, cause the cost of enforcement higher.
Summary of the invention
The present invention proposes a kind of robot tooling center points scaling method utilizing plane reference plate, its object is to overcome in prior art and demarcate complicated operation, the problem that precision is not high, by the scaling board utilizing plane precision higher, carry out auxiliary robot TCP staking-out work, reduce the difficulty of aiming in calibration process, improve and demarcate efficiency, be easy to realize demarcating robotization, reduce costs simultaneously.
In order to realize above-mentioned technical purpose, the solution of the present invention is,
Utilize a robot tooling center points scaling method for plane reference plate, comprise the following steps:
Step one: allow robot tooling center points and TCP contact with same plane under robot is in different attitude, and form different contacts, record corner and the contact demarcation coordinate expressions in robot world's coordinate system in each joint of robot when contacting, each contact;
Step 2: optional four contacts are one group, therefrom choose contact sets pair between two, and four contacts at least occur once as vector end point, are formed in three vectors in robot world's coordinate system, equal zero as condition obtains an equation with three vectorial parallelopipedal products; In selected contact sets, remove a contact, and increase a new contact, repeat said method and obtain second equation; Operate acquisition the 3rd equation equally again; Finally solve the system of equations that three equations are formed, obtain the coordinate of TCP in robot tool end flange coordinate system, complete demarcation;
Step 3: utilize the demarcation coordinate of TCP in robot tool end flange coordinate system demarcated and obtain, and corresponding robot each joint rotation angle when producing contact, calculate the demarcation coordinate of each contact in robot world's coordinate system, least square fitting is adopted to obtain fit Plane, using multiple contact to the mean distance of described fit Plane as the basis for estimation of calibration result, if mean distance is less than setting threshold value, then show that current calibration result meets accuracy requirement, otherwise, need to remeasure new contact coordinate, re-start demarcation, until calibration result meets stated accuracy requirement.
Described a kind of robot tooling center points scaling method utilizing plane reference plate, in step one, the plane that TCP contacts is scaling board.
Described a kind of robot tooling center points scaling method utilizing plane reference plate, in step one, scaling board is provided with the feeler whether contacted with scaling board for automatically detecting TCP.
Described a kind of robot tooling center points scaling method utilizing plane reference plate, in step, the coordinate expressions of contact in robot world's coordinate system to be calculated with robot world's coordinate origin by the corner in each joint of robot, robot self structure and obtains, and wherein contains TCP to be asked three coordinates in robot end's flange coordinate system.
Described a kind of robot tooling center points scaling method utilizing plane reference plate, in step one, the number of contact is at least six.
Technique effect of the present invention is, by utilizing a fixing plane, realize the demarcation of robot TCP, avoid the point-coincidence process being difficult to accurately realize under visual inspection, manual control condition, robot TCP point is not needed repeatedly to overlap with the same space point of fixity, a point-coincidence is required to weaken in order to point-face coincidence, is easy to operation.Equipment needed for demarcation is simple, only need comprise the higher plane of a precision.When less offset appears in robot TCP, according to preset program, robot generally can also guarantee that TCP point overlaps with flat instrument, thus realize Auto-calibration.Whole method is simple to operate, is skillfully constructed, and stated accuracy is high, has good popularizing action.In conjunction with feeler, realize the automatic control of contact process, without the need to manual intervention, achieve supermatic demarcation.
Below in conjunction with accompanying drawing, the invention will be further described.
Accompanying drawing explanation
Fig. 1 is the robot that uses in the embodiment of the present invention and scaling board structural representation;
Wherein 1 is robot base, and 2 is 6DOF robot, and 3 is welding gun, and 4 is the flat board being used as calibration tool, and 5 is computing machine, and 6 is robot controller.
Embodiment
See Fig. 1, { F 0be the robot world's coordinate system set up with space, robot base place, { F 6for being fixed on robot end's flange coordinate system of robot end's flange, utilizing computing machine 5 to gather scaling board feeler signal, judging that whether scaling board touched.Computing machine is connected with robot controller 6 by network, after there is touching signal in scaling board, can to machine human hair stop motion signal, and computing machine is read machine people corner joint information from robot controller simultaneously, and completes follow-up calculating.
P tcpbe set to the target set point of TCP, the core of staking-out work is obtains this point at { F 6in coordinate 6p tcp= 6x tcp, 6y tcp, 6z tcp} t.This point is at robot world's coordinate system { F 0coordinate be 0p tcp= 0x tcp, 0y tcp, 0z tcp} t.
First scaling board is positioned in robot working space by the present embodiment, the P on control instrument tcpwhen point moves to the in-plane on scaling board, after scaling board perceives touching, robot stop motion.
First, control, make the plane contact on robot tooling center points and scaling board, form contact, corner and the contact coordinate expressions in robot world's coordinate system in robot each joint when record comes in contact, then control is away from scaling board, and then control, be adjusted to attitudes different when contacting with last time, namely after articulated position changes, robot tooling center points and scaling board plane is made to come in contact again, form different contacts, and registering instrument contact time robot joint rotation angle and the contact coordinate expressions in robot world's coordinate system, repeatable operation is to form multiple contact, wherein the expression formula of contact in world coordinate system is according to joint of robot corner, rod member length and biased give expression to contact with the Cartesian coordinates in fixed space coordinate system, computing method are then obtained by the homogeneous transformation of coordinate, this computation process is that the forward kinematics solution of robot solves, for known technology,
Wherein, described scaling board only need meet plane precision, hardness requirement, and be fixed on the optional position that robot tooling center points can touch, wherein plane precision with demarcate want the aimed at precision that reaches relevant, if target designation precision is high, then should the accuracy requirement of corresponding raising plane, and hardness requirement is relevant with the type of robot end's instrument, if instrument is harder, then easily scratch scaling board, therefore the hardness of scaling board also needs corresponding raising, plane precision here and hardness all can, in reality is demarcated, need to determine according to scene;
In order to complete follow-up computation process, contact number produced here is at least 6;
In the present embodiment, when robot tooling center points and scaling board plane contact, joint of robot corner is designated as:
θ 1＝{θ 1 1,θ 2 1,θ 3 1,θ 4 1,θ 5 1,θ 6 1} T、θ 2＝{θ 1 2,θ 2 2,θ 3 2,θ 4 2,θ 5 2,θ 6 2} T，θ 3＝{θ 1 3,θ 2 3,θ 3 3,θ 4 3,θ 5 3,θ 6 3} T、θ 4＝{θ 1 4,θ 2 4,θ 3 4,θ 4 4,θ 5 4,θ 6 4} T、θ 5＝{θ 1 5,θ 2 5,θ 3 5,θ 4 5,θ 5 5,θ 6 5} T、θ 6＝{θ 1 6,θ 2 6,θ 3 6,θ 4 6,θ 5 6,θ 6 6} T
Wherein, the coordinate expressions of contact in robot world's coordinate system to be calculated with robot world's coordinate origin by the corner in each joint of robot, robot self structure and obtains, and wherein contains robot tooling center points to be asked three coordinates in robot end's flange coordinate system;
Robot tooling center points and scaling board contact are at robot world's coordinate system { F 0in coordinate 0p tcpwith robot end's coordinate system { F 6in coordinate 6p tcpbetween relation as follows:
P 0 t c p = R 6 0 ( θ ) · P 6 t c p + O 0 6
Wherein, 0o 6robot end's coordinate system { F 6in initial point at robot world's coordinate system { F 0in coordinate, θ is the corner in each joint of robot, θ={ θ 1, θ 2, θ 3, θ 4, θ 5, θ 6} t, from robot end's coordinate system { F 6to robot world's coordinate system { F 0rotation matrix, be 3 × 3 orthogonal matrixes, determined by each joint rotation angle of robot and robot architecture's parameter;
In the present embodiment, the coordinate of contact in world coordinate system is designated as: 0p tcp 1, 0p tcp 2, 0p tcp 3, 0p tcp 4, 0p tcp 5, 0p tcp 6.
Choosing four contacts is one group, therefrom choose the coordinate of contact in world coordinate system between two as head and the tail group to formation three vectors, wherein each contact at least occurs once as vector end point, equal zero as condition can obtain an equation with three vectorial parallelopipedal products, a contact is removed in selected contact sets, and increase a new contact, repeat said method and obtain second equation, again remove a contact by selected contact sets, increase a new contact, repeat said method and obtain the 3rd equation, solve the system of equations that three equations are formed, obtain the coordinate of robot tooling center points in robot end's coordinate system 6p tcp= 6x tcp, 6y tcp, 6z tcp} t, complete demarcation,
Optional two contacts are at the coordinate of robot world's coordinate system 0p tcp awith 0p tcp bhead and the tail group to the vector formed is P 0 t c p a P 0 t c p b = [ R 6 0 ( θ b ) - R 6 0 ( θ a ) ] · P 6 t c p + O 0 6 b - O 0 6 a , Wherein comprise 6p tcp= 6x tcp, 6y tcp, 6z tcp} tthree unknown quantitys;
In this example, first group of contact is chosen for: 0p tcp 1, 0p tcp 2, 0p tcp 3, 0p tcp 4; Second group of contact is chosen for: 0p tcp 1, 0p tcp 2, 0p tcp 3, 0p tcp 5; 3rd group of contact is chosen for: 0p tcp 1, 0p tcp 2, 0p tcp 3, 0p tcp 6;
First group of three vector is chosen for: 0p tcp 10p tcp 2, 0p tcp 10p tcp 3, 0p tcp 10p tcp 4; Second group of three vector is chosen for: 0p tcp 10p tcp 2, 0p tcp 10p tcp 3, 0p tcp 10p tcp 5; 3rd group of three vectors are chosen for: 0p tcp 10p tcp 2, 0p tcp 10p tcp 3, 0p tcp 10p tcp 6;
To equal zero as condition often organizing interior three vectorial parallelopipedal products, obtain three independent equations:
( 0P tcp 10P tcp 2× 0P tcp 10P tcp 3)· 0P tcp 10P tcp 4＝0
( 0P tcp 10P tcp 2× 0P tcp 10P tcp 3)· 0P tcp 10P tcp 5＝0
( 0P tcp 10P tcp 2× 0P tcp 10P tcp 3)· 0P tcp 10P tcp 6＝0
In above-mentioned system of equations, there are 3 independent equations, and only contain 6p tcp= 6x tcp, 6y tcp, 6z tcp} t3 unknown quantitys, therefore can solve data to be calibrated altogether.
Utilization is tried to achieve 6p tcpand joint of robot corner, according to formula calculate TCP 6 contact coordinates under robot world's coordinate system when contacting with flat board.Utilizing 6 the contact coordinate values calculated, adopt least square fitting plane, calculating the mean value of 3 contacts to institute's fit Plane distance through calculating acquisition, and it can be used as the index evaluated and demarcate effect, if be less than 5mm, then think that calibration result meets the demands, calibration process terminates.
Above embodiment is only unrestricted for illustration of technical scheme of the present invention, and those skilled in the art can modify to technical scheme of the present invention or equivalent replacement, and does not depart from the spirit and scope of the present invention program.

Claims (5)

1. utilize a robot tooling center points scaling method for plane reference plate, it is characterized in that, comprise the following steps:
Step one: allow robot tooling center points and TCP contact with same plane under robot is in different attitude, and form different contacts, record corner and the contact demarcation coordinate expressions in robot world's coordinate system in each joint of robot when contacting, each contact;
Step 2: optional four contacts are one group, therefrom choose contact sets pair between two, and four contacts at least occur once as vector end point, are formed in three vectors in robot world's coordinate system, equal zero as condition obtains an equation with three vectorial parallelopipedal products; In selected contact sets, remove a contact, and increase a new contact, repeat said method and obtain second equation; Operate acquisition the 3rd equation equally again; Finally solve the system of equations that three equations are formed, obtain the coordinate of TCP in robot tool end flange coordinate system, complete demarcation;
Step 3: utilize the demarcation coordinate of TCP in robot tool end flange coordinate system demarcated and obtain, and corresponding robot each joint rotation angle when producing contact, calculate the demarcation coordinate of each contact in robot world's coordinate system, least square fitting is adopted to obtain fit Plane, using multiple contact to the mean distance of described fit Plane as the basis for estimation of calibration result, if mean distance is less than setting threshold value, then show that current calibration result meets accuracy requirement, otherwise, need to remeasure new contact coordinate, re-start demarcation, until calibration result meets stated accuracy requirement.
2. a kind of robot tooling center points scaling method utilizing plane reference plate according to claim 1, is characterized in that, in step one, the plane that TCP contacts is scaling board.
3. a kind of robot tooling center points scaling method utilizing plane reference plate according to claim 2, is characterized in that, in step one, scaling board is provided with the feeler whether contacted with scaling board for automatically detecting TCP.
4. a kind of robot tooling center points scaling method utilizing plane reference plate according to claim 1, it is characterized in that, in step, the coordinate expressions of contact in robot world's coordinate system to be calculated with robot world's coordinate origin by the corner in each joint of robot, robot self structure and obtains, and wherein contains TCP to be asked three coordinates in robot end's flange coordinate system.
5. a kind of robot tooling center points scaling method utilizing plane reference plate according to claim 1, is characterized in that, in step one, the number of contact is at least six.
CN201510867618.2A 2015-12-01 2015-12-01 A kind of robot tooling center points scaling method using plane reference plate Expired - Fee Related CN105509671B (en)

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CN107219845A (en) * 2017-08-07 2017-09-29 北京英泰诺医疗科技有限公司 The system and method that auxiliary robot realizes spatial registration can be manually operated
CN107478183A (en) * 2017-07-31 2017-12-15 华中科技大学 Tandem type robot kinematics' parameter calibration method based on the sampling of multiple spot posture
CN107995885A (en) * 2016-11-18 2018-05-04 深圳配天智能技术研究院有限公司 A kind of coordinate system scaling method, system and device
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CN112025772A (en) * 2020-07-28 2020-12-04 沈阳建筑大学 Mechanical arm autonomous calibration method based on visual measurement
CN112894814A (en) * 2021-01-25 2021-06-04 江苏集萃智能制造技术研究所有限公司 Mechanical arm DH parameter identification method based on least square method
CN114211483A (en) * 2021-11-17 2022-03-22 合肥联宝信息技术有限公司 Robot tool center point calibration method, device and storage medium
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CN111578829A (en) * 2020-04-17 2020-08-25 季华实验室 Device and method for calibrating multi-robot cooperative work coordinate system
CN111578829B (en) * 2020-04-17 2021-11-02 季华实验室 Device and method for calibrating multi-robot cooperative work coordinate system
CN112025772A (en) * 2020-07-28 2020-12-04 沈阳建筑大学 Mechanical arm autonomous calibration method based on visual measurement
CN112025772B (en) * 2020-07-28 2021-11-23 沈阳建筑大学 Mechanical arm autonomous calibration method based on visual measurement
CN112894814A (en) * 2021-01-25 2021-06-04 江苏集萃智能制造技术研究所有限公司 Mechanical arm DH parameter identification method based on least square method
CN115582829A (en) * 2021-07-05 2023-01-10 腾讯科技（深圳）有限公司 Method and device for determining position of mechanical arm, electronic equipment and storage medium
CN114211483A (en) * 2021-11-17 2022-03-22 合肥联宝信息技术有限公司 Robot tool center point calibration method, device and storage medium

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