CN106406277A - Robot kinematic parameter error optimized compensation method and device - Google Patents
Robot kinematic parameter error optimized compensation method and device Download PDFInfo
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- CN106406277A CN106406277A CN201610845741.9A CN201610845741A CN106406277A CN 106406277 A CN106406277 A CN 106406277A CN 201610845741 A CN201610845741 A CN 201610845741A CN 106406277 A CN106406277 A CN 106406277A
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
- G05B23/0254—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model based on a quantitative model, e.g. mathematical relationships between inputs and outputs; functions: observer, Kalman filter, residual calculation, Neural Networks
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- G06F30/36—Circuit design at the analogue level
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Abstract
The invention relates to the field of robot parameter correction technologies, in particular to a robot kinematic parameter error optimized compensation method and a robot kinematic parameter error optimized compensation device. The robot kinematic parameter error optimized compensation method comprises the steps of: constructing a robot kinematic nominal value model according to robot kinematic parameters before calibration, and constructing a robot kinematic calibration value model according to robot kinematic parameters after calibration; calculating a pose of an end effector coordinate system origin according to the robot kinematic calibration value model at a preset joint spatial position; constructing a parameter compensation constrained optimization model, wherein the parameter compensation constrained optimization model is used for constraining a difference value between the pose of the end effector coordinate system origin and a preset object pose to be minimum; and calculating the parameter compensation constrained optimization model to obtain joint spatial coordinate values after optimized compensation. The robot kinematic parameter error optimized compensation method and the robot kinematic parameter error optimized compensation device can solve the problem of inverse kinematics analysis failure caused after the compensation of the kinematic parameters.
Description
Technical field
The present invention relates to robot parameter correction technical field, in particular to a kind of robot kinematics' parameter by mistake
Difference Optimization Compensation method and device.
Background technology
With the development of technology, the application of industrial robot is gradually popularized.At present, the repeatable accuracy of industrial robot is relative
Relatively higher, but positioning precision compare poor.Therefore need in many applications the relevant parameter of robot is demarcated.
So-called demarcation refers to pick out the accurate parameter of robot model with related measurement means and suitable parameter identification method.
Robot kinematics calibration is the more commonly used robot parameter calibration method, and the method is passed through model, measure, distinguishing
The step such as know and compensate the kinematics parameters of robot to be recognized again and corrects, producing, assembling to reduce robot
With use during the geometric parameter error that produces, thus reaching the purpose improving robot absolute fix precision.
During to robot kinematics' parameter calibration, how the parameter error picking out to be compensated into robot control
Device processed is a critically important problem.Invention finds under study for action, existing compensates the parameter error picking out into robot
Mode to there is the likelihood ratio leading to demarcate failure larger, the positioning precision of raising robot may not be simply failed to, and have can
Can make that robot kinematics are inverse to be parsed unsuccessfully.
Content of the invention
It is an object of the invention to provide robot kinematics' parameter error Optimization Compensation method and device, to solve to move
Learn the problem that the Inverse Kinematics Solution leading to after parameter compensates parses failure.
In a first aspect, embodiments providing a kind of robot kinematics' parameter error Optimization Compensation method, including：
According to before Robot calibration and calibrated kinematics parameters, build respectively robot kinematics' nominal value model and
Robot kinematics calibration value model, wherein, in described robot kinematics' nominal value model and robot kinematics calibration value
In model, using between the pose vector representation end effector coordinate system of end effector coordinate system initial point and basis coordinates system
Pose transformational relation；
Under default joint space position, end effector coordinate system initial point is calculated according to described Kinematic Calibration value model
Pose；
Build parameter and compensate Constraint Anchored Optimization, wherein, described parameter compensates Constraint Anchored Optimization and is used for constraint according to fortune
Difference between the dynamic pose learning calibration value model calculated end effector coordinate system initial point and goal-selling pose is
Little；
Solve described parameter and compensate Constraint Anchored Optimization, obtain the joint space coordinate value after Optimization Compensation；
Described joint space coordinate value after Optimization Compensation is substituted by described robot kinematics' nominal value model
Carry out Inverse Kinematics calculated joint space coordinate.
In conjunction with a first aspect, in the first possible embodiment of first aspect, described in default joint space position
Put down, calculate the pose of end effector coordinate system initial point according to described Kinematic Calibration value model, including：
According to described Kinematic Calibration value model, calculate the corresponding end effector coordinate in described default joint space position
Tie up to the homogeneous transform matrix with respect to basis coordinates system in cartesian space；
According to described homogeneous transform matrix, determine the pose of described end effector coordinate system initial point.
In conjunction with the first possible embodiment of first aspect or first aspect, can in the second of the embodiment of the present invention
In the embodiment of energy, described parameter compensates Constraint Anchored Optimization and is：
Min ω (θ)=| | Pn-fc(θ)||2
Wherein, ω (θ) represents the Euclidean Norm of position and attitude error vector；Pn represents described end effector coordinate system conversion square
The calculated specified pose vector [p of battle arrayxpypzα β γ]T；fc(θ) represent according to calibration value model and joint space position
Put θ calculated attained pose vector；WithRepresent that the minimum of joint i is spacing spacing with maximum respectively, moving
In joint, the maximum displacement that this constraint representation can move in the axial direction for joint.
In conjunction with the possible embodiment of the second of first aspect, in the third possible embodiment of first aspect
In, described solve described parameter and compensate Constraint Anchored Optimization, obtain the joint space coordinate value after Optimization Compensation, including：
Described parameter is solved using interior point method and compensates Constraint Anchored Optimization, obtain the joint space after Optimization Compensation and sit
Scale value.
In conjunction with the third possible embodiment of first aspect, in the 4th kind of possible embodiment of first aspect
In, described employing interior point method solves described parameter and compensates Constraint Anchored Optimization, obtains the joint space after Optimization Compensation and sits
Scale value, including：
Constraint Anchored Optimization is compensated according to described parameter and builds no constrained objective function：
In formula, r(k)Be penalty factor, be a sequence of positive numbers successively decreasing, i.e. r(0)＞ r(1)＞ ... r(k), and havegi(θ) it is the constraints that described parameter compensates in Constraint Anchored Optimization；
Described no constrained objective function is iterated, obtains described joint space coordinate value after Optimization Compensation.
Second aspect, embodiments provides a kind of robot kinematics' parameter error Optimization Compensation device, including：
First model construction unit, for according to before Robot calibration and calibrated kinematics parameters, building machine respectively
Device people's kinematics nominal value model and robot kinematics calibration value model, wherein, in described robot kinematics' nominal value mould
In type and robot kinematics calibration value model, using the pose vector representation end effector of end effector coordinate system initial point
Pose transformational relation between coordinate system and basis coordinates system；
First computing unit, for, under default joint space position, calculating end according to described Kinematic Calibration value model
The pose of end actuator coordinate origin；
Second model construction unit, compensates Constraint Anchored Optimization for building parameter, and wherein, it is excellent that described parameter compensates constraint
Change model and to preset according to the pose of the calculated end effector coordinate system initial point of Kinematic Calibration value model for constraint
Difference between object pose is minimum；
Second computing unit, compensates Constraint Anchored Optimization for solving described parameter, obtains the pass after Optimization Compensation
Section spatial value；
Compensating unit, for substituting described joint space coordinate value after Optimization Compensation by described robot motion
Learn nominal value model and carry out Inverse Kinematics calculated joint space coordinate.
In conjunction with second aspect, in the first possible embodiment of second aspect, described first computing unit is pre-
If under joint space position, calculate the pose of end effector coordinate system initial point according to described Kinematic Calibration value model, specifically
Including execution：
According to described Kinematic Calibration value model, calculate the corresponding end effector coordinate in described default joint space position
Tie up to the homogeneous transform matrix with respect to basis coordinates system in cartesian space；
According to described homogeneous transform matrix, determine the pose of described end effector coordinate system initial point.
In conjunction with the first possible embodiment of second aspect or second aspect, may in the second of second aspect
Embodiment in, described parameter compensates Constraint Anchored Optimization and is：
Min ω (θ)=| | Pn-fc(θ)||2
Wherein, ω (θ) represents the Euclidean Norm of position and attitude error vector；Pn represents described end effector coordinate system conversion square
The calculated specified pose vector [p of battle arrayxpypzα β γ]T；fc(θ) represent according to calibration value model and joint space position
Put θ calculated attained pose vector；WithRepresent that the minimum of joint i is spacing spacing with maximum respectively, moving
In joint, the maximum displacement that this constraint representation can move in the axial direction for joint.
In conjunction with the possible embodiment of the second of second aspect, in the third possible embodiment of second aspect
In, described second computing unit solves described parameter and compensates Constraint Anchored Optimization, obtains the joint space after Optimization Compensation
Coordinate value, specifically includes execution：
Described parameter is solved using interior point method and compensates Constraint Anchored Optimization, obtain the joint space after Optimization Compensation and sit
Scale value.
In conjunction with the third possible embodiment of second aspect, in the 4th kind of possible embodiment of second aspect
In, described compensating unit adopts interior point method to solve described parameter and compensates Constraint Anchored Optimization, obtains the pass after Optimization Compensation
Section spatial value, specifically includes execution：
Constraint Anchored Optimization is compensated according to described parameter and builds no constrained objective function：
In formula, r(k)Be penalty factor, be a sequence of positive numbers successively decreasing, i.e. r(0)＞ r(1)＞ ... r(k), and havegi(θ) it is the constraints that described parameter compensates in Constraint Anchored Optimization；
Described no constrained objective function is iterated, obtains described joint space coordinate value after Optimization Compensation.
In embodiment of the present invention scheme, build machine using before Robot calibration respectively with calibrated kinematics parameters
People's kinematics nominal value model and calibration value model, and under default joint space position, based on Kinematic Calibration value model
Calculate the pose of end effector coordinate system initial point, compensating Constraint Anchored Optimization using parameter afterwards makes above-mentioned calculated end
Difference between the pose of end actuator coordinate origin and goal-selling pose is minimum, and is compensated by solving above-mentioned parameter
Constraint Anchored Optimization obtains the joint space coordinate value after Optimization Compensation；Obtain the joint space after Optimization Compensation to sit
After scale value, the joint space coordinate value after Optimization Compensation is replaced and is transported by described robot kinematics' nominal value model
Dynamic is against calculated joint space coordinate.Embodiment of the present invention scheme, mode of demarcating is simple, and can solve the problem that kinematics
The Inverse Kinematics Solution that parameter leads to after compensating parses the problem of failure.
For enabling the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be attached to use required in embodiment
Figure is briefly described it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the flow chart of embodiment of the present invention robot kinematics' parameter error Optimization Compensation method；
Fig. 2 is the effect diagram that the embodiment of the present invention builds robot kinematics' model；
Fig. 3 is the structural representation of embodiment of the present invention robot kinematics' parameter error Optimization Compensation device.
Specific embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Generally exist
The assembly of the embodiment of the present invention described and illustrated in accompanying drawing can be arranged with various different configurations and design herein.Cause
This, be not intended to limit claimed invention to the detailed description of the embodiments of the invention providing in the accompanying drawings below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment being obtained on the premise of going out creative work, broadly falls into the scope of protection of the invention.
In prior art, the parameter error picking out is compensated the process entering controller typically by modification robot
Completing, the success or not of robot model's modification directly determines the one-tenth of Kinematic Calibration to robot model in controller
Lose.With the raising of robot universalness degree, most of unprofessional users do not have the modification authority of robot controller,
Thus be difficult to for the compensating parameter picking out to write robot controller, this makes the result of parameter identification cannot be applied to reality
In operation, also just cannot realize the raising of robot absolute fix precision.
On the other hand, even if user has the modification authority of robot controller, if through the kinematics parameters demarcated
It is not inconsistent with nominal value, the kinematics parameters of such as three axis coordinate systems of wrist joint of robot through demarcating are not inconsistent with nominal value,
Three axis of the wrist joint being likely to result in the robot model after compensation no longer intersect at a point, and thus can lead to robot
The parsing failure of Inverse Kinematics Solution.
Inverse Kinematics Solution in order to solve to lead to after kinematics parameters present in prior art compensate parses asking unsuccessfully
Topic, embodiments provides a kind of robot kinematics' parameter error Optimization Compensation method.
Fig. 1 is the flow chart of embodiment of the present invention robot kinematics' parameter error Optimization Compensation method.Method shown in Fig. 1
Executive agent be controller in robot, methods described includes：
Step S101：According to before Robot calibration and calibrated kinematics parameters, build robot motion's scientific name respectively
Justice value model and robot kinematics calibration value model.
In described robot kinematics' nominal value model and robot kinematics calibration value model, using end effector
Pose transformational relation between the pose vector representation end effector coordinate system of coordinate origin and basis coordinates system.
In embodiment of the present invention scheme, above-mentioned robot kinematics' nominal value model and machine are built using D-H parameter
Device people's Kinematic Calibration value model.Classical D-H parameter is usually used in describing robot kinematics' model, is robot links and joint
A kind of straightforward procedure of modeling, can be used for any robot modeling.
In embodiment of the present invention scheme, included using the method that D-H parameter builds robot kinematics' model：
(1) as shown in Fig. 2 with joints axes as Z axis at joint of robot, with the connecting rod starting point being connected with this joint being
The origin of coordinates, sets up the coordinate system in each joint, and wherein, the coordinate system in each joint of foundation is referred to as basis coordinates system.
(2) one is adopted to describe adjacent two connecting rods by 4 × 4 homogeneous transform matrix of robot geometry's parametric configuration
Space transformational relation.
(3) end effector coordinate system is gone out according to adjacent segment coordinate system transformation resolution of equal value neat with respect to basis coordinates system
Secondary transformation matrix.
It is possible to determine for phase between denotation coordination system i-1 and coordinate system i after the coordinate system defining whole connecting rods
4 parameters to position and position relation, i.e. rod length ai-1, rod member torsional angle i-1, joint apart from di and joint rotation angle θ i,
Wherein, rod length ai-1, rod member torsional angle i-1, joint is referred to as classical D-H parameter apart from di and joint rotation angle θ i.Using basic
Homogeneous rotation and homogeneous translation transformation matrix, the homogeneous transform matrix i-1iT of adjacent coordinates system i-1 and i can be obtained, that is,：
Wherein c i-1 represents that cos (i-1), s i-1 represent that sin (i-1), c θ i represent that cos (θ i), s θ i represent sin (θ
i).
Thus, the homogeneous transform matrix of robot basis coordinates system to end effector coordinate system can be expressed as：
Wherein n, o, a and p represent the element in homogeneous transform matrix respectively.Accordingly, kinematics before demarcation can be utilized respectively
The nominal value of parameter and calibrated calibration value, set up robot kinematics nominal value model RnWith calibration value model Rc.Wherein name
Justice value model representation in the controller ending coordinates system with respect to the transformational relation of basis coordinates system, its three coordinate system of wrist joint
Axis intersects at a point, and can obtain corresponding joint space according to given end actuator coordinate system pose using Inverse Kinematics Solution
The analytic solutions of position；And after demarcating, ending coordinates system is relative in the calibration value model representation after kinematic calibration
In the accurate transformational relation of basis coordinates system, its rod member torsional angle is not necessarily 0 or 90 °, causes three axles of wrist joint not necessarily to intersect,
Thus its inverse solution cannot be obtained by analytic solutions.
Homogeneous transform matrix is converted into by position in basis coordinates system for the end effector coordinate system initial point according to RPY angle method
Appearance P, then x, y and z coordinate are respectively px, py and pz, and end effector coordinate system is around basis coordinates system reference axis x, y, z rotation
Deflection angle, pitching angle beta and roll angle γ can be calculated as respectively：
So far, it is possible to use the pose vector P of end effector coordinate system initial pointn=[pxpypzα β γ]TTo represent
Pose transformational relation between end effector coordinate system and basis coordinates system.
Step S102：Under default joint space position, end effector is calculated according to described Kinematic Calibration value model
The pose of coordinate origin.
Wherein, when being embodied as, robot controller, according to described Kinematic Calibration value model, calculates described default joint
The corresponding end effector coordinate system in locus is in cartesian space with respect to the homogeneous transform matrix of basis coordinates system；According to
Described homogeneous transform matrix, determines the pose of described end effector coordinate system initial point.
Step S103：Build parameter and compensate Constraint Anchored Optimization, wherein, described parameter compensates Constraint Anchored Optimization and is used for about
Restraint between pose and the goal-selling pose according to the calculated end effector coordinate system initial point of Kinematic Calibration value model
Difference minimum.
In embodiment of the present invention scheme, the step building parameter compensation Constraint Anchored Optimization includes：
(1) the calibration value model R being obtained by the first stepc, on the premise of given joint space position, this pass can be calculated
The corresponding end effector coordinate system in section position is in cartesian space with respect to the homogeneous transform matrix of basis coordinates system, Jin Erqiu
Obtain the pose of end effector coordinate system initial point.In this constrained optimization problem, joint position in calibration value model is as treating
Optimized variable, its optimization aim be make by calibration value model calculated end effector coordinate system initial point pose as far as possible
Ground close to the object pose specified, that is, minimizes the Euclidean Norm of position and attitude error vector.
Parameter can be built accordingly and compensate Constraint Anchored Optimization：
Min ω (θ)=| | Pn-fc(θ)||2
Wherein, ω (θ) represents the Euclidean Norm of position and attitude error vector, the i.e. square root of error vector inner product；Pn represents root
The specified pose vector [p obtaining according to specified end effector coordinate system transform matrix calculationsxpypzα β γ]T；fc(θ)
Represent according to calibration value model and joint space position θ calculated attained pose vector；WithRepresent respectively and close
The minimum of section i is spacing and maximum is spacing, in linear joint, the dominant bit that this constraint representation can move in the axial direction for joint
Move.
Step S104：Solve described parameter and compensate Constraint Anchored Optimization, obtain the joint space after Optimization Compensation and sit
Scale value.
In embodiments of the present invention, described parameter can be solved using interior point method and compensate Constraint Anchored Optimization, obtain through
Joint space coordinate value after Optimization Compensation.Wherein, interior point method has calculating speed soon, and method comparison is ripe, credible result degree
High the advantages of.
Specifically, described parameter compensation Constraint Anchored Optimization is solved using interior point method and obtain the joint after Optimization Compensation
The step of spatial value includes：
First, Constraint Anchored Optimization is compensated according to above-mentioned parameter and construct a new no constrained objective function, i.e. penalty
In formula, r(k)Be penalty factor, be a sequence of positive numbers successively decreasing, i.e. r(0)＞ r(1)＞ ... r(k), and havePenalty factor can be greatly improved the speed of model convergence；gi(θ) it is empty with regard to joint in former Optimized model
Between position 12 constraintss, that is,Deng being and be less than or equal to
0 inequality.
2nd, to penaltyIt is iterated, the optimum of Step wise approximation former constrained optimization problem in feasible zone
Solution, specific inclusion：
(1) take initial penalty factor r(0)＞ 0 is it is allowed to error ε ＞ 0；
(2) take initial point θ in feasible zone D(0), make k=1, initial point can be by kinematics nominal value model according to given
End effector pose solution of inverting obtains；
(3) from θ(k-1)Point sets out, and solves penalty with Optimization without restriction (as steepest descent method or Newton method)Extreme point θ*(r(k))；
(4) check stopping criterion for iteration, if met
Or
||θ*(r(k))-θ*(r(k-1))||≤ε2,
Then terminate iterative calculation, and with θ*(r(k)) for former majorized function ω (θ) constrained optimum solution, otherwise proceed to next
Step；
(5) take r(k+1)=Cr(k), θ(0)=θ*(r(k)), k=k+1, proceed to step 3).Degradation factor C=0.1-0.5, often
Take 0.1.
Through iterative calculation, can get the optimal solution that parameter compensates Constraint Anchored Optimization, i.e. pass after Optimization Compensation
Section spatial value.
Step S105：Described joint space coordinate value after Optimization Compensation is substituted by described robot motion's scientific name
Adopted value model carries out Inverse Kinematics calculated joint space coordinate.
In embodiment of the present invention scheme, the kinematics parameters using robot before and after demarcating build robot motion respectively
Learn nominal value model and calibration value model；According to specified end effector of robot pose and calibration value model, by specific bit
Appearance and calculated by calibration value model pose difference value vector minimum Euclidean Norm as optimization aim, by each movable joint
Range of motion, as constraints, builds Constraint Anchored Optimization；Using linear multivariate function optimized algorithm, model is entered
Row solves, the joint space coordinate value after being compensated, and this class value is substituted and is calculated by the Inverse Kinematics Solution of nominal value model
To joint space coordinate and moved by controller operation robot.
In robot kinematics' parameter error Optimization Compensation method of present invention method, kinematics parameters compensate not
Need to change the original parameter in robot controller, convenient demarcation；In addition, present invention method solves robot fortune
What the inverse solution parsing that three axis of wrist joint that dynamic parameter calibration is likely to result in no longer intersect at a point and lead to was lost efficacy asks
Topic.
Fig. 3 is a kind of robot kinematics' parameter error Optimization Compensation device provided in an embodiment of the present invention.As Fig. 3 institute
Show, this device includes：First model construction unit 201, the first computing unit 202, the second model construction unit 203, second are counted
Calculate unit 204 and compensating unit 205；Wherein,
First model construction unit 201, for according to before Robot calibration and calibrated kinematics parameters, building respectively
Robot kinematics' nominal value model and robot kinematics calibration value model, wherein, in described robot kinematics' nominal value
In model and robot kinematics calibration value model, using the pose vector representation end execution of end effector coordinate system initial point
Pose transformational relation between device coordinate system and basis coordinates system；
First computing unit 202, for, under default joint space position, calculating according to described Kinematic Calibration value model
The pose of end effector coordinate system initial point；
Second model construction unit 203, compensates Constraint Anchored Optimization for building parameter, and wherein, described parameter compensates about
Bundle Optimized model be used for constraint according to the pose of the calculated end effector coordinate system initial point of Kinematic Calibration value model with
Difference between goal-selling pose is minimum；
Second computing unit 204, compensates Constraint Anchored Optimization for solving described parameter, obtains after Optimization Compensation
Joint space coordinate value；
Compensating unit 205, for substituting described joint space coordinate value after Optimization Compensation by described robot
Kinematics nominal value model carries out Inverse Kinematics calculated joint space coordinate.
In a kind of possible design, described first computing unit 202 under default joint space position, according to described fortune
The dynamic pose learning calibration value model calculating end effector coordinate system initial point, specifically includes execution：
According to described Kinematic Calibration value model, calculate the corresponding end effector coordinate in described default joint space position
Tie up to the homogeneous transform matrix with respect to basis coordinates system in cartesian space；
According to described homogeneous transform matrix, determine the pose of described end effector coordinate system initial point.
In a kind of possible design, described parameter compensates Constraint Anchored Optimization and is：
Min ω (θ)=| | Pn-fc(θ)||2
Wherein, ω (θ) represents the Euclidean Norm of position and attitude error vector；Pn represents described end effector coordinate system conversion square
The calculated specified pose vector [p of battle arrayxpypzα β γ]T；fc(θ) represent according to calibration value model and joint space position
Put θ calculated attained pose vector；WithRepresent that the minimum of joint i is spacing spacing with maximum respectively, moving
In joint, the maximum displacement that this constraint representation can move in the axial direction for joint.
In a kind of possible design, described second computing unit 204 solves described parameter and compensates Constraint Anchored Optimization, obtains
To the joint space coordinate value after Optimization Compensation, specifically include execution：
Described parameter is solved using interior point method and compensates Constraint Anchored Optimization, obtain the joint space after Optimization Compensation and sit
Scale value.
In a kind of possible design, described compensating unit 205 adopts interior point method to solve described parameter and compensates constrained optimization
Model, obtains the joint space coordinate value after Optimization Compensation, specifically includes execution：
Constraint Anchored Optimization is compensated according to described parameter and builds no constrained objective function：
In formula, r(k)Be penalty factor, be a sequence of positive numbers successively decreasing, i.e. r(0)＞ r(1)＞ ... r(k), and havegi(θ) it is the constraints that described parameter compensates in Constraint Anchored Optimization；
Described no constrained objective function is iterated, obtains described joint space coordinate value after Optimization Compensation.
What the embodiment of the present invention was provided carries out the computer program of robot kinematics' parameter error Optimization Compensation method
Product, including the computer-readable recording medium storing program code, the instruction that described program code includes can be used for executing
Method described in previous methods embodiment, implements and can be found in embodiment of the method, will not be described here.
Those skilled in the art can be understood that, for convenience and simplicity of description, the system of foregoing description,
Device and the specific work process of unit, may be referred to the corresponding process in preceding method embodiment, will not be described here.
It should be understood that disclosed system, apparatus and method in several embodiments provided herein, permissible
Realize by another way.Device embodiment described above is only schematically, for example, the division of described unit,
It is only a kind of division of logic function, actual can have other dividing mode when realizing, and for example, multiple units or assembly can
To combine or to be desirably integrated into another system, or some features can be ignored, or does not execute.Another, shown or beg for
By coupling each other or direct-coupling or communication connection can be by some communication interfaces, device or unit indirect
Coupling or communication connection, can be electrical, mechanical or other forms.
If described function realized using in the form of SFU software functional unit and as independent production marketing or use when, permissible
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
Partly being embodied in the form of software product of part that prior art is contributed or this technical scheme, this meter
Calculation machine software product is stored in a storage medium, including some instructions with so that a computer equipment (can be individual
People's computer, server, or network equipment etc.) execution each embodiment methods described of the present invention all or part of step.
And aforesaid storage medium includes：USB flash disk, portable hard drive, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, all should contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should described be defined by scope of the claims.
Claims (10)
1. a kind of robot kinematics' parameter error Optimization Compensation method is it is characterised in that include：
According to before Robot calibration and calibrated kinematics parameters, build robot kinematics' nominal value model and machine respectively
People's Kinematic Calibration value model, wherein, in described robot kinematics' nominal value model and robot kinematics calibration value model
In, using the pose between the pose vector representation end effector coordinate system of end effector coordinate system initial point and basis coordinates system
Transformational relation；
The position of end effector coordinate system initial point under default joint space position, is calculated according to described Kinematic Calibration value model
Appearance；
Build parameter and compensate Constraint Anchored Optimization, wherein, described parameter compensates Constraint Anchored Optimization and is used for constraint according to kinematics
Difference between the pose of calibration value model calculated end effector coordinate system initial point and goal-selling pose is minimum；
Solve described parameter and compensate Constraint Anchored Optimization, obtain the joint space coordinate value after Optimization Compensation；
Described joint space coordinate value after Optimization Compensation is substituted and is carried out by described robot kinematics' nominal value model
Inverse Kinematics calculated joint space coordinate.
2. method according to claim 1 it is characterised in that described under default joint space position, according to described fortune
The dynamic pose learning calibration value model calculating end effector coordinate system initial point, including：
According to described Kinematic Calibration value model, calculate the corresponding end effector coordinate system in described default joint space position and exist
With respect to the homogeneous transform matrix of basis coordinates system in cartesian space；
According to described homogeneous transform matrix, determine the pose of described end effector coordinate system initial point.
3. method according to claim 1 and 2 is it is characterised in that described parameter compensation Constraint Anchored Optimization is：
Min ω (θ)=| | Pn-fc(θ)||2
s.t.
Wherein, ω (θ) represents the Euclidean Norm of position and attitude error vector；Pn represents described end effector coordinate system transition matrix meter
The specified pose vector [p obtainingxpypzα β γ]T；fc(θ) represent according to calibration value model and joint space position θ meter
The attained pose vector obtaining；WithRepresent that the minimum of joint i is spacing spacing, in linear joint with maximum respectively
In, the maximum displacement that this constraint representation can move in the axial direction for joint.
4. method according to claim 3, it is characterised in that the described parameter of described solution compensates Constraint Anchored Optimization, obtains
Arrive the joint space coordinate value after Optimization Compensation, including：
Described parameter is solved using interior point method and compensates Constraint Anchored Optimization, obtain the joint space coordinate after Optimization Compensation
Value.
5. method according to claim 4 is it is characterised in that described employing interior point method solution described parameter compensation constraint is excellent
Change model, obtain the joint space coordinate value after Optimization Compensation, including：
Constraint Anchored Optimization is compensated according to described parameter and builds no constrained objective function：
In formula, r(k)Be penalty factor, be a sequence of positive numbers successively decreasing, i.e. r(0)＞ r(1)＞ ... r(k), and havegi(θ) it is the constraints that described parameter compensates in Constraint Anchored Optimization；
Described no constrained objective function is iterated, obtains described joint space coordinate value after Optimization Compensation.
6. a kind of robot kinematics' parameter error Optimization Compensation device is it is characterised in that include：
First model construction unit, for according to before Robot calibration and calibrated kinematics parameters, building robot respectively
Kinematics nominal value model and robot kinematics calibration value model, wherein, in described robot kinematics' nominal value model and
In robot kinematics calibration value model, using the pose vector representation end effector coordinate of end effector coordinate system initial point
Pose transformational relation between system and basis coordinates system；
First computing unit, for, under default joint space position, calculating end according to described Kinematic Calibration value model and holding
The pose of row device coordinate origin；
Second model construction unit, compensates Constraint Anchored Optimization for building parameter, and wherein, described parameter compensates constrained optimization mould
Type is used for constraining the pose according to the calculated end effector coordinate system initial point of Kinematic Calibration value model and goal-selling
Difference between pose is minimum；
Second computing unit, compensates Constraint Anchored Optimization for solving described parameter, obtains the joint after Optimization Compensation empty
Between coordinate value；
Compensating unit, for substituting described joint space coordinate value after Optimization Compensation by described robot motion's scientific name
Adopted value model carries out Inverse Kinematics calculated joint space coordinate.
7. device according to claim 6 is it is characterised in that described first computing unit is in default joint space position
Under, calculate the pose of end effector coordinate system initial point according to described Kinematic Calibration value model, specifically include execution：
According to described Kinematic Calibration value model, calculate the corresponding end effector coordinate system in described default joint space position and exist
With respect to the homogeneous transform matrix of basis coordinates system in cartesian space；
According to described homogeneous transform matrix, determine the pose of described end effector coordinate system initial point.
8. the device according to claim 6 or 7 is it is characterised in that described parameter compensation Constraint Anchored Optimization is：
Min ω (θ)=| | Pn-fc(θ)||2
s.t.
Wherein, ω (θ) represents the Euclidean Norm of position and attitude error vector；Pn represents described end effector coordinate system transition matrix meter
The specified pose vector [p obtainingxpypzα β γ]T；fc(θ) represent according to calibration value model and joint space position θ meter
The attained pose vector obtaining；WithRepresent that the minimum of joint i is spacing spacing, in linear joint with maximum respectively
In, the maximum displacement that this constraint representation can move in the axial direction for joint.
9. device according to claim 8 compensates constraint it is characterised in that described second computing unit solves described parameter
Optimized model, obtains the joint space coordinate value after Optimization Compensation, specifically includes execution：
Described parameter is solved using interior point method and compensates Constraint Anchored Optimization, obtain the joint space coordinate after Optimization Compensation
Value.
10. device according to claim 9 is it is characterised in that described compensating unit adopts interior point method to solve described parameter
Compensate Constraint Anchored Optimization, obtain the joint space coordinate value after Optimization Compensation, specifically include execution：
Constraint Anchored Optimization is compensated according to described parameter and builds no constrained objective function：
In formula, r(k)Be penalty factor, be a sequence of positive numbers successively decreasing, i.e. r(0)＞ r(1)＞ ... r(k), and havegi(θ) it is the constraints that described parameter compensates in Constraint Anchored Optimization；
Described no constrained objective function is iterated, obtains described joint space coordinate value after Optimization Compensation.
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