CN106625774A - Space mechanical arm geometric parameter calibration method - Google Patents

Space mechanical arm geometric parameter calibration method Download PDF

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Publication number
CN106625774A
CN106625774A CN201611226444.2A CN201611226444A CN106625774A CN 106625774 A CN106625774 A CN 106625774A CN 201611226444 A CN201611226444 A CN 201611226444A CN 106625774 A CN106625774 A CN 106625774A
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Prior art keywords
joint
target
coordinate
fixed
target stand
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CN106625774B (en
Inventor
顾营迎
乔冠宇
李大为
刘宏伟
徐振邦
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095Means or methods for testing manipulators

Abstract

The invention discloses a space mechanical arm geometric parameter calibration method, belongs to the technical field of mechanical arm geometric parameter calibration, and solves the problem that how the space mechanical arm geometric parameter calibration method is provided to reduce the large flexible space mechanical arm geometric parameter calibration complexity and to improve the large flexible space mechanical arm geometric parameter calibration precision. The calibration method comprises the following steps: the precise measurement setting of a joint end surface coordinate system is performed in a joint assembly phase, and three target bases fixedly connected with motion parts of joints are used for performing fixed connection tracking for the joint end surface coordinate system; and when the mechanical arm geometric parameter calibration is needed after assembly of a mechanical arm, the three target bases on the joints recover and rebuild the coordinate system of each joint end surface to realize geometric parameter calibration of the space mechanical arm. The calibration method can simply, quickly and precisely finish calibration of the mechanical arm under constraint of a ground gravity unloading system to provide the data basis for space on-rail calibration.

Description

A kind of space manipulator geometrical parameter calibration method
Technical field
The invention belongs to mechanical arm geometrical parameter calibration field, and in particular to a kind of space manipulator geometrical parameter calibration Method, is especially adapted for use in the demarcation of the geometric parameter of space large-scale flexible mechanical arm.
Background technology
Mechanical arm is a kind of automated machine device, and it can receive instruction, is precisely positioned to three-dimensional (or two dimension) empty Between on certain point carry out operation.In industrial manufacture, therapeutic treatment, entertainment service, military affairs, semiconductor manufacturing and space probation It is widely used Deng field tool.
The demarcation of mechanical arm geometric parameter directly affects the absolute Pose Control precision of mechanical arm, is to develop mechanical arm process In a key technique.For small volume, lightweight, not high to end absolute fix required precision mechanical arm, can be by Whole mechanical arm can also be measured in parameter calibration as rigid body process in assembling, or with the side of inverse kinematics Method records mechanical arm multiple specific poses in space, counter to push away geometric parameter.But the large-scale handling machinery arm of space application, by In the absolute pose positioning accuracy request in end it is high, volume size is big, need gravity unloading system to coordinate in ground survey and It is difficult to carry out the reasons such as three-dimensional space motion on ground, causes its geometrical parameter calibration extremely difficult, time-consuming and stated accuracy It is not ideal enough.
In prior art, still without the geometric parameter that can simply, fast, accurately demarcate space large-scale flexible mechanical arm Method.
The content of the invention
It is an object of the invention to provide a kind of space manipulator geometrical parameter calibration method, to reduce large-scale flexible space The complexity of mechanical arm geometrical parameter calibration, improves the stated accuracy of large-scale flexible space manipulator geometric parameter.
A kind of space manipulator geometrical parameter calibration method, comprises the following steps:
Step one, each joint of mechanical arm moving component side process three target stand end faces, three target stand ends Face is centrally located on three summits of triangle, and simultaneously visible in certain orientation of space, is fixed with each target stand end face One target stand, three target stands number in order successively, after the completion of, obtain multiple joints for being fixed with target stand;
Step 2, the joint end face coordinate system for setting up each joint for being fixed with target stand respectively, each is fixed with target stand The process of setting up of the joint end face coordinate system in joint is:
Laser dual-frequency interferometer and the joint for being fixed with target stand are placed on test platform, and keep Laser Dual-Frequency to interfere The spatial relation in instrument and the joint that is fixed with target stand immobilizes, and measurement target ball is placed on the joint that is fixed with target stand On any one target stand, then allow joint to be powered and freely rotate, target is measured in motion process with Laser Dual-Frequency Interferometer The locus of ball, with laser dual-frequency interferometer the center of circle and the circumferential plane of software fitting test target ball motion are processed, and setting should The center of circle is the origin of joint end face coordinate system, sets the circumferential plane as the x/y plane of joint end face coordinate system, uses Laser Dual-Frequency The axis of interferometer measurement joint arm rod base, sets projection and and joint arm of the axis of joint arm rod base in circumferential plane Rod base stretches out the x directions that the consistent direction in direction is joint end face coordinate system;
Step 3, the joint end face coordinate system for determining each joint for being fixed with target stand respectively and this be fixed with the pass of target stand The position relationship of three target stands of section, each is fixed with the joint end face coordinate system in the joint of target stand and is fixed with the pass of target stand with this The continuous mode of position relationship of three target stands of section is:
Step 2 is kept when setting up joint end face coordinate system, the position in laser dual-frequency interferometer and the joint for being fixed with target stand Relation is constant, and measurement target ball is placed sequentially in respectively on three target stands for being fixed with the joint of target stand by target stand number order, With joint end face coordinate system as work coordinate system, the spatial position data of three target stands is sequentially recorded, obtains joint end face and sit Mark system and the connected relation in the locus of three target stands;
Step 4, each joint of make-up machinery arm, after the completion of assembling, by instructing the joint rotation angles in each joint of mechanical arm Degree zero position keeps the locus of mechanical arm constant in whole measurement process, presses target stand numbering with laser dual-frequency interferometer suitable Sequence measures respectively the locus point of three target stands of the joint for being respectively fixed with target stand, according to the joint end face that step 3 is obtained The connected relation in the locus of coordinate system and three target stands, recovers the joint end face coordinate system in each joint for being fixed with target stand;
Step 5, by data processing software, according to recover each be fixed with target stand joint joint end face coordinate The geometric parameter of system's measurement mechanical arm, completes the demarcation of space manipulator geometric parameter.
Further, three target stand end faces are circle.
Further, the target stand is bonding with target stand end face rigidly fixes.
Further, the geometric parameter is the joint angle between length of connecting rod a, connecting rod torsional angle α, connecting rod offset d, connecting rod θ, the joint end face coordinate system of each base coordinate system of mechanical arm, mechanical arm first and last joint.
Further, the data processing software is Spatial Analyzer softwares.
Compared with prior art, beneficial effects of the present invention:
The space manipulator geometrical parameter calibration method of the present invention carries out joint end face coordinate system in joint assembling stage Accurate measurement sets, and by three target stands connected with the moving component in joint joint end face coordinate system is carried out it is connected with Track, when needing to carry out mechanical arm geometrical parameter calibration after the whole arm of mechanical arm is completed, according to three target stands on joint Restoration and reconstruction are carried out to the coordinate system of each joint end face, so as to realize the geometrical parameter calibration of space manipulator, the demarcation side Method can be under the constraint of ground gravity uninstalling system, and demarcation that is simple, quick, completing mechanical arm in high precision, is space-orbit mark Data foundation is provided surely, the on-orbit calibration of space manipulator is also applied for.
Description of the drawings
Fig. 1 is the flow chart of the space manipulator geometrical parameter calibration method of the present invention;
Fig. 2 is the schematic diagram of the mechanical arm in the space manipulator geometrical parameter calibration method of the present invention;
Fig. 3 is the partial enlarged drawing of A in Fig. 2;
Fig. 4 is the space that laser dual-frequency interferometer determines target stand in space manipulator geometrical parameter calibration method of the invention Position view;
In figure, 1, be fixed with the joint of target stand, 11, moving component, 111, target stand end face, 12, joint arm rod base, 2, close Joint arm bar, 3, target stand, 4, laser dual-frequency interferometer, 5, test platform.
Specific embodiment
The present invention is further illustrated below in conjunction with accompanying drawing.
As shown in figure 1, the step of space manipulator geometrical parameter calibration method of the present invention is as follows:
Step one, target stand 3 are arranged
As shown in Figures 2 and 3, three target stand end faces are processed in the side of the moving component 11 in each joint of mechanical arm 111, three target stand end faces 111 are circle, and three target stand end faces 111 are centrally located on three summits of triangle, in sky Between certain orientation it is simultaneously visible, a target stand 3 is fixed with each target stand end face 111, to three target stands number consecutively in order, Fixing means is typically adhesively fixed using super glue, and elastic deformation is reduced as far as possible, it is ensured that three target stands 3 and moving component 11 Relative position relation is constant;
After the completion of step one operation, multiple joints 1 for being fixed with target stand are obtained;
Step 2, joint end face Coordinate Setting
The joint end face coordinate system in each joint 1 for being fixed with target stand is set up respectively, and each is fixed with the joint 1 of target stand The process of setting up of joint end face coordinate system is:
As shown in figure 4, laser dual-frequency interferometer 4 and the joint 1 for being fixed with target stand are placed on test platform 5, and protect The spatial relation for holding laser dual-frequency interferometer 4 and the joint 1 for being fixed with target stand immobilizes, and measurement target ball is placed on solid Surely have on the target stand 3 of any one convenient test in the joint 1 of target stand, be then electrified to, the joint 1 for being fixed with target stand is slow freely Rotate, the locus that target ball is measured in motion process is measured with laser dual-frequency interferometer 4, and by laser dual-frequency interferometer The center of circle and the circumferential plane of software fitting test target ball motion are processed, the center of circle is set as the origin of joint end face coordinate system, if The fixed circumferential plane is the x/y plane of joint end face coordinate system, and with laser dual-frequency interferometer 4 axle of joint arm rod base 12 is measured Line, sets the axis of joint arm rod base 12 and stretches out the consistent side in direction in the projection of circumferential plane and with joint arm rod base 12 To the x directions for joint end face coordinate system, z directions can be determined by the right-hand rule;
In step 2, it is prior art that laser dual-frequency interferometer processes software, and by laser dual-frequency interferometer software is processed The center of circle of fitting test target ball motion and circumferential plane process software and complete by laser dual-frequency interferometer, are people in the art The routine techniques of member.
Step 3, joint end face coordinate system and the position relationship of target stand 3 are determined
The joint end face coordinate system in each joint 1 for being fixed with target stand is determined respectively is fixed with the joint 1 of target stand with this The position relationship of three target stands 3, each is fixed with the joint end face coordinate system in the joint 1 of target stand and is fixed with the joint of target stand with this The continuous mode of the position relationship of 1 three target stands 3 is:
Keep step 2 set up the joint 1 for being fixed with target stand joint end face coordinate system when, laser dual-frequency interferometer 4 with The position relationship in the joint 1 of target stand is fixed with, measurement target ball is placed on respectively by target stand number order and is fixed with target stand Joint 1 three target stands 3 on, with step 2 set up joint end face coordinate system as work coordinate system, by target stand number order The spatial position data of three target stands 3 of record, obtains the connected relation in the locus of joint end face coordinate system and three target stands 3;
Step 4, mechanical arm assembling posterior joint end face coordinate system recover
Make-up machinery arm is respectively fixed with the joint 1 of target stand, and assembling process is prior art, the two ends of a joint armed lever 2 The joint arm rod base 12 for being fixed with the joint 1 of target stand with two respectively is connected, and multiple joints 1 for being fixed with target stand are by multiple Joint armed lever 2 is realized connecting two-by-two.
After the completion of assembling, each joint 1 for being fixed with target stand is made into its anglec of rotation zero by instruction, keep mechanical arm Locus it is constant in whole measurement process, measured successively respectively by target stand number order respectively with laser dual-frequency interferometer 4 The locus point of three target stands 3 in the joint 1 of target stand is fixed with, the joint end face coordinate system obtained according to step 3 and three The connected relation in the locus of target stand 3, recovers the joint end face coordinate system in each joint 1 for being fixed with target stand;
Step 5, by data processing software, according to recover each be fixed with target stand joint 1 joint end face coordinate The geometric parameter of system's measurement mechanical arm, such as length of connecting rod a, the joint angle θ between connecting rod torsional angle α, connecting rod offset d, connecting rod, machinery Joint end face coordinate system of each base coordinate system of arm, mechanical arm first and last joint etc., completes space manipulator several The demarcation of what parameter;
Wherein, by data processing software, according to recover each be fixed with target stand joint 1 joint end face coordinate system Each geometric parameter is measured for prior art.
In present embodiment, the T3 equipment that laser dual-frequency interferometer 4 is produced using API companies;Target stand 3 and target ball are originated from API companies;Data processing software is soft using the Spatial Analyzer of New River Kinematics companies of U.S. production Part, the data handling procedure of the software is:
In step 2 joint, end face Coordinate Setting is completed, and step 3 measures in order the locus number of three target stands 3 According to rear, in Spatial Analyzer softwares, by the joint end face Coordinate Setting for setting as work coordinate system, will in order The spatial position data of three target stands 3 of measurement is recorded, and is used for end face coordinate system restoration and reconstruction in joint in step 4; When step 4 recovers joint end face coordinate system, by preserve before three in the menu bar of Spatial Analyzer softwares The spatial point position of individual target stand 3 is input into order, spatial point position number of the software according to new three target stands 3 for determining in step 4 The spatial point position data of three target stands 3 for preserving according to this and in step 3, complete in Spatial Analyzer softwares In joint end face coordinate system restoration and reconstruction, repeat above step complete other joint end face coordinate systems reconstruction recover.Utilize The query function that Spatial Analyzer softwares are provided, completes the measure work of mechanical arm geometric parameter.

Claims (5)

1. a kind of space manipulator geometrical parameter calibration method, it is characterised in that comprise the following steps:
Step one, three target stand end faces are processed in the side of the moving component in each joint of mechanical arm, three target stand end faces It is centrally located on three summits of triangle, and it is simultaneously visible in certain orientation of space, it is fixed with one on each target stand end face Target stand, three target stands number in order successively, after the completion of, obtain multiple joints for being fixed with target stand;
Step 2, the joint end face coordinate system for setting up each joint for being fixed with target stand respectively, each is fixed with the joint of target stand The process of setting up of joint end face coordinate system be:
By laser dual-frequency interferometer and be fixed with the joint of target stand and be placed on test platform, and keep laser dual-frequency interferometer and The spatial relation for being fixed with the joint of target stand immobilizes, and measurement target ball is placed on into any of the joint that is fixed with target stand On one target stand, then allow joint to be powered and freely rotate, target ball is measured in motion process with Laser Dual-Frequency Interferometer Locus, with laser dual-frequency interferometer the center of circle and the circumferential plane of software fitting test target ball motion are processed, and set the center of circle For the origin of joint end face coordinate system, the circumferential plane is set as the x/y plane of joint end face coordinate system, interfered with Laser Dual-Frequency Instrument measure joint arm rod base axis, set joint arm rod base axis circumferential plane projection and with joint armed lever base Seat stretches out the x directions that the consistent direction in direction is joint end face coordinate system;
Step 3, the joint end face coordinate system that determines each joint for being fixed with target stand respectively and this be fixed with the joint of target stand The position relationship of three target stands, each is fixed with the joint end face coordinate system in the joint of target stand and is fixed with the joint of target stand with this The continuous mode of the position relationship of three target stands is:
Step 2 is kept when setting up joint end face coordinate system, the position relationship in laser dual-frequency interferometer and the joint for being fixed with target stand It is constant, measurement target ball is placed sequentially in respectively on three target stands for being fixed with the joint of target stand by target stand number order, to close Section end face coordinate system is work coordinate system, is sequentially recorded the spatial position data of three target stands, obtains joint end face coordinate system With the connected relation in the locus of three target stands;
Step 4, each joint of make-up machinery arm, after the completion of assembling, are returned the joint rotation angle in each joint of mechanical arm by instruction Zero-bit keeps the locus of mechanical arm constant in whole measurement process, and with laser dual-frequency interferometer target stand number order point is pressed The locus point of three target stands of the joint for being respectively fixed with target stand is not measured, according to the joint end face coordinate that step 3 is obtained System and the connected relation in the locus of three target stands, recover the joint end face coordinate system in each joint for being fixed with target stand;
Step 5, by data processing software, surveyed according to the joint end face coordinate system in each joint for being fixed with target stand recovered The geometric parameter of amount mechanical arm, completes the demarcation of space manipulator geometric parameter.
2. a kind of space manipulator geometrical parameter calibration method according to claim 1, it is characterised in that three targets Seat end face is circle.
3. a kind of space manipulator geometrical parameter calibration method according to claim 1, it is characterised in that the target stand with Target stand end face bonding is rigidly fixed.
4. a kind of space manipulator geometrical parameter calibration method according to claim 1, it is characterised in that the geometric parameters Number is joint angle θ, each base coordinate system of mechanical arm, the mechanical arm between length of connecting rod a, connecting rod torsional angle α, connecting rod offset d, connecting rod First and the joint end face coordinate system in last joint.
5. a kind of space manipulator geometrical parameter calibration method according to claim 1, it is characterised in that at the data Reason software is Spatial Analyzer softwares.
CN201611226444.2A 2016-12-27 2016-12-27 A kind of space manipulator geometrical parameter calibration method Active CN106625774B (en)

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CN107263477A (en) * 2017-07-07 2017-10-20 浙江大学 One kind rope driving series connection joint type Snakelike mechanical arm control method
CN108871195A (en) * 2018-07-25 2018-11-23 中国工程物理研究院激光聚变研究中心 Physical diagnosis equipment method of sight based on reflection sphere tracking ball target
CN109176487A (en) * 2018-09-28 2019-01-11 哈尔滨工业大学(深圳) A kind of cooperating joint section scaling method, system, equipment, storage medium
CN109605372A (en) * 2018-12-20 2019-04-12 中国铁建重工集团有限公司 A kind of method and system of the pose for survey engineering mechanical arm
CN111366094A (en) * 2020-03-05 2020-07-03 山东大学 Method for detecting and calibrating large deformation space pose of flexible body by fiber bragg grating
CN111958603A (en) * 2020-08-20 2020-11-20 成都卡诺普自动化控制技术有限公司 Mechanical arm kinematic parameter separation measuring device and identification method
CN111958603B (en) * 2020-08-20 2021-06-01 成都卡诺普自动化控制技术有限公司 Mechanical arm kinematic parameter separation measuring device and identification method

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Publication number Priority date Publication date Assignee Title
CN107263477A (en) * 2017-07-07 2017-10-20 浙江大学 One kind rope driving series connection joint type Snakelike mechanical arm control method
CN108871195A (en) * 2018-07-25 2018-11-23 中国工程物理研究院激光聚变研究中心 Physical diagnosis equipment method of sight based on reflection sphere tracking ball target
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CN111366094B (en) * 2020-03-05 2021-02-12 山东大学 Method for detecting and calibrating large deformation space pose of flexible body by fiber bragg grating
CN111958603A (en) * 2020-08-20 2020-11-20 成都卡诺普自动化控制技术有限公司 Mechanical arm kinematic parameter separation measuring device and identification method
CN111958603B (en) * 2020-08-20 2021-06-01 成都卡诺普自动化控制技术有限公司 Mechanical arm kinematic parameter separation measuring device and identification method

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