CN106643601B - The sextuple measurement method of parameters of industrial robot dynamic - Google Patents
The sextuple measurement method of parameters of industrial robot dynamic Download PDFInfo
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- CN106643601B CN106643601B CN201611149301.6A CN201611149301A CN106643601B CN 106643601 B CN106643601 B CN 106643601B CN 201611149301 A CN201611149301 A CN 201611149301A CN 106643601 B CN106643601 B CN 106643601B
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a kind of sextuple measurement method of parameters of industrial robot dynamic, including laser tracker, computer, sextuple measuring instrument, teaching machine in robot, sextuple measuring instrument includes sextuple target ball and processor, sextuple target ball include laser target ball, three-dimensional fibre optic gyroscope and three axis accelerometer, laser target ball, three-dimensional fibre optic gyroscope and three axis accelerometer are electrically connected with processor, and computer is electrically connected with laser tracker, teaching machine and processor respectively.The present invention has operand smaller, supports the feature that preferably dynamic measurement measurement accuracy is high.
Description
Technical field
The present invention relates to electronic surveying and technical field of data processing, in particular to a kind of measurement accuracy is high, dynamic is good
The sextuple measurement method of parameters of industrial robot dynamic.
Background technique
Industrial robot is the core equipment of modern production and pipelining." GB/T12642-2013 industrial machine
People's performance specification and test method " clearly detailed elaboration has been carried out to the performance indexes of industrial robot, it is specified that work
14 performance indicators and its test method for needing to measure of industry robot, the measurement to robot end's pose is industrial machine
The core content that device human nature is capable of measuring, the pose of robot refer to the position of the TCP point opposite base coordinate system of industrial robot
(x, y, z) and using TCP point as the spatial attitude (a, b, c) of the coordinate system opposite base coordinate system of origin, while to position and appearance
State, which measures, is collectively referred to as sextuple parameter measurement.
It in the prior art include the image method based on video camera and more target ball methods based on more laser target balls.The former is limited to
Image resolution ratio factor, it is difficult to accomplish high-precision.More target ball schemes are based on laser tracker and multiple target balls, pass through in static state
Attitude measurement is realized in the switching of laser, but can not more target balls be carried out with the measurement under same pose when movement, cannot achieve 6 DOF
The dynamic of measurement.
Summary of the invention
Goal of the invention of the invention is to overcome method precision in the prior art low or cannot achieve dynamic not
Foot provides the sextuple measurement method of parameters of industrial robot dynamic that a kind of measurement accuracy is high, dynamic is good.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of sextuple measurement method of parameters of industrial robot dynamic, including laser tracker, computer, sextuple measuring instrument,
Teaching machine in robot, sextuple measuring instrument includes sextuple target ball and processor, sextuple target ball include laser target ball, three-dimensional
Fibre optic gyroscope and three axis accelerometer, laser target ball, three-dimensional fibre optic gyroscope and three axis accelerometer are electrically connected with processor
It connects, computer is electrically connected with laser tracker, teaching machine and processor respectively；Include the following steps:
(1-1) determines the sextuple target ball reference attitude before measurement, obtains the measurement posture of robot pose and sextuple target ball
Transition matrix T1；
(1-2) obtains the position transition matrix T of measurement coordinate system2；
(1-3) computer obtains the real-time position signal (x (t), y (t), z (t)) of laser tracker output, three-dimensional optical fiber
The real-time tach signal (vx (t), vy (t), vz (t)) of gyroscope output, the acceleration signal (ax of three axis accelerometer output
(t), ay (t), az (t))；
Position signal (x (t), y (t), z (t)) is transformed into robot base coordinate from measurement coordinate system by (1-4) computer
Position data Pr (t) under system；
3 tach signals of gyroscope are integrated to angle signal by (1-5) computer, and three angle values are to measure coordinate
Attitude data is transformed into the attitude data under robot base coordinate sys-tem from measurement coordinate system by the attitude data under system；
(1-6) temporally stabs position data and attitude data and merges, and obtains the sextuple data of high-precision, dynamic.
No matter existing method or the method for the present invention, basic process all includes sextuple parameter measurement and will under measurement coordinate system
Parameter is transformed under robot base coordinate sys-tem by transition matrix under measurement coordinate system.Sextuple parameter measurement refers to measuring system
By specifically sensing identification device, the posture of robot TCP point position in space and TCP coordinate system is obtained, at this time
Position data and attitude data be all based on measurement coordinate system, be the basis for completing sextuple measurement, robot 6 DOF measured,
Can focus of attention be measurement accuracy, dynamically measure, the data output rate of dynamic measurement is how many, and different measurement methods is poor
It is heteropolar big.Measurement data is transformed into robot coordinate substantially and is the mathematical operation under one group of rule from measurement coordinate, it is different
Measurement method realization principle it is essentially identical, be all based on the theoretical of robot kinematics and carry out mathematic(al) manipulation to realize.
The sextuple measurement scheme that the present invention uses is based on laser+optical fiber scheme, and data operation quantity of the present invention is smaller, substantially
It reduces to processor requirement；Data output rate is promoted from several hundred Hz to thousands of Hz, supports that preferably dynamic measures；Laser and optical fiber
Technology is all Technology Precision, ensure that the high-precision of robot measurement.
Preferably, step (1-1) includes the following steps:
So that robot is remain stationary state, records the benchmark pose of three-dimensional fibre optic gyroscope, in the case where measuring coordinate system, at this time
Robot pose coordinate is (0,0,0), while recording the initial attitude (a (0), b (0), c (0)) of the robot on teaching machine；
Attitude angle is set as (a, b, c), then real-time dynamic attitude angle is expressed as (a (t), b (t), c (t)), by Rzyx's
Attitude angle (a, b, c) is converted to spin matrix T by rotational order
Wherein, c is indicated
Cos, s indicate sin；
Attitude data under robot base coordinate sys-tem is converted into spin matrix T1:
Preferably, step (1-2) comprises the following specific steps that:
Teaching machine control 4 points of robot motion, laser tracker measure 4 measured values be respectively ((mxi, myi,
Mzi)), i=1,2,3,4, write as matrix form
Teaching machine read 4 measured values be respectively ((rxi, ryi, rzi)), i=1,2,3,4, write as matrix form
Utilize formula T '=B*A-1Calculate the transition matrix T ' between measurement coordinate system and base coordinate system, whereinA-1For the inverse of matrix A.
Preferably, step (1-4) includes the following steps:
The positional value measured under measurement coordinate is pm (t)=(mx (t), my (t), mz (t)), utilizes formulaEach coordinate value is converted into the position data Pr (t) under robot base coordinate sys-tem.
Preferably, step (1-5) includes the following steps:
(5-1) utilizes matrix T, by Eulerian angles form attitude data pose (t)=(ma under the measurement coordinate system measured
(t), mb (t), mc (t)) be converted to spin matrix form attitude data Ps (t):
Posture sequence is transformed into robot base under measurement coordinate system using formula Tr (t)=T1*Ps (t) by (5-2)
Under coordinate system, attitude data is spin matrix form at this time；
Spin matrix form posture sequence Tr (t) is converted to Eulerian angles form by (5-3), it is assumed that when spin matrix form,
Angle c (t) is calculated using formula c (t)=atan (y1 (t)/x1 (t)), wherein atan is arctan function；
It sets cz (t)=cos (c (t)), sz (t)=sin (c (t))；
Numb (t)=- z1 (t),
Denb (t)=x1 (t) * cz (t)+y1 (t) * sz (t),
Angle b (t) is calculated using formula b (t)=atan (num (t)/den (t))；
Set numa (t)=x3 (t) * sz (t)-y3 (t) * cz (t)
Dena (t)=y2 (t) * cz (t)-x2 (t) * sz (t)
Angle a (t) is calculated using formula a (t)=atan (num (t)/den (t))；
Obtain the attitude data (a (t), b (t), c (t)) of Eulerian angles form.
Therefore, the invention has the following beneficial effects:
<1>data operation quantity is smaller, significantly reduces to processor requirement.
<2>data output rate is promoted from several hundred Hz to thousands of Hz, supports that preferably dynamic measures.
<3>laser and optical fiber technology are all Technology Precisions, ensure that the high-precision of robot measurement.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and detailed description.
Embodiment as shown in Figure 1 is a kind of industrial robot dynamically sextuple measurement method of parameters, including laser tracker,
Computer, sextuple measuring instrument, the teaching machine in robot, sextuple measuring instrument include sextuple target ball and processor, sextuple target
Ball includes laser target ball, three-dimensional fibre optic gyroscope and three axis accelerometer, and laser target ball, three-dimensional fibre optic gyroscope and three axis accelerate
Degree meter is electrically connected with processor, and computer is electrically connected with laser tracker, teaching machine and processor respectively；Including walking as follows
It is rapid:
Step 100, it determines the sextuple target ball reference attitude before measurement, obtains the measurement appearance of robot pose and sextuple target ball
State transition matrix T1；
Include the following steps:
So that robot is remain stationary state, records the benchmark pose of three-dimensional fibre optic gyroscope, in the case where measuring coordinate system, at this time
Robot pose coordinate is (0,0,0), while recording the initial attitude (a (0), b (0), c (0)) of the robot on teaching machine；
Attitude angle is set as (a, b, c), then real-time dynamic attitude angle is expressed as (a (t), b (t), c (t)), by Rzyx's
Attitude angle (a, b, c) is converted to spin matrix T by rotational order
Wherein, c is indicated
Cos, s indicate sin；
Attitude data under robot base coordinate sys-tem is converted into spin matrix T1:
Step 200, the position transition matrix T of measurement coordinate system is obtained2；
It comprises the following specific steps that:
Teaching machine control 4 points of robot motion, laser tracker measure 4 measured values be respectively ((mxi, myi,
Mzi)), i=1,2,3,4, write as matrix form
Teaching machine read 4 measured values be respectively ((rxi, ryi, rzi)), i=1,2,3,4, write as matrix form
Utilize formula T '=B*A-1Calculate the transition matrix T ' between measurement coordinate system and base coordinate system, whereinA-1For the inverse of matrix A.
Step 300, computer obtains the real-time position signal (x (t), y (t), z (t)) of laser tracker output, three-dimensional light
The real-time tach signal (vx (t), vy (t), vz (t)) of fiber gyroscope output, the acceleration signal (ax of three axis accelerometer output
(t), ay (t), az (t))；
Step 400, position signal (x (t), y (t), z (t)) is transformed into robot base from measurement coordinate system by computer
Position data Pr (t) under coordinate system；
Include the following steps:
The positional value measured under measurement coordinate is pm (t)=(mx (t), my (t), mz (t)), utilizes formulaEach coordinate value is converted into the position data Pr (t) under robot base coordinate sys-tem.
Step 500,3 tach signals of gyroscope are integrated to angle signal by computer, and three angle values are to measure
Attitude data is transformed into the attitude data under robot base coordinate sys-tem from measurement coordinate system by the attitude data under coordinate system；
Include the following steps:
(5-1) utilizes matrix T, by Eulerian angles form attitude data pose (t)=(ma under the measurement coordinate system measured
(t), mb (t), mc (t)) be converted to spin matrix form attitude data Ps (t):
Posture sequence is transformed into robot base under measurement coordinate system using formula Tr (t)=T1*Ps (t) by (5-2)
Under coordinate system, attitude data is spin matrix form at this time；
Spin matrix form posture sequence Tr (t) is converted to Eulerian angles form by (5-3), it is assumed that when spin matrix form,
Angle c (t) is calculated using formula c (t)=atan (y1 (t)/x1 (t)), wherein atan is arctan function；
It sets cz (t)=cos (c (t)), sz (t)=sin (c (t))；
Numb (t)=- z1 (t),
Denb (t)=x1 (t) * cz (t)+y1 (t) * sz (t),
Angle b (t) is calculated using formula b (t)=atan (num (t)/den (t))；
Set numa (t)=x3 (t) * sz (t)-y3 (t) * cz (t)
Dena (t)=y2 (t) * cz (t)-x2 (t) * sz (t)
Angle a (t) is calculated using formula a (t)=atan (num (t)/den (t))；
Obtain the attitude data (a (t), b (t), c (t)) of Eulerian angles form.
Step 600, position data and attitude data are temporally stabbed and is merged, obtain the sextuple data of high-precision, dynamic.
It should be understood that this embodiment is only used to illustrate the invention but not to limit the scope of the invention.In addition, it should also be understood that,
After having read the content of the invention lectured, those skilled in the art can make various modifications or changes to the present invention, these etc.
Valence form is also fallen within the scope of the appended claims of the present application.
Claims (3)
1. a kind of sextuple measurement method of parameters of industrial robot dynamic, characterized in that including laser tracker, computer is sextuple
Measuring instrument, the teaching machine in robot, sextuple measuring instrument includes sextuple target ball and processor, sextuple target ball include laser target
Ball, three-dimensional fibre optic gyroscope and three axis accelerometer, laser target ball, three-dimensional fibre optic gyroscope and three axis accelerometer with processing
Device electrical connection, computer are electrically connected with laser tracker, teaching machine and processor respectively；Include the following steps:
(1-1) determines the sextuple target ball reference attitude before measurement, obtains the measurement posture conversion of robot pose and sextuple target ball
Matrix T1；
So that robot is remain stationary state, records the benchmark pose of three-dimensional fibre optic gyroscope, in the case where measuring coordinate system, machine at this time
People's posture coordinate is (0,0,0), while recording the initial attitude (a (0), b (0), c (0)) of the robot on teaching machine；
Attitude angle is set as (a, b, c), then real-time dynamic attitude angle is expressed as (a (t), b (t), c (t)), by the rotation of Rzyx
Attitude angle (a, b, c) is converted to spin matrix T by sequence
Wherein, c indicates cos, s
Indicate sin；
Attitude data under robot base coordinate sys-tem is converted into spin matrix T1:
(1-2) obtains the position transition matrix T of measurement coordinate system2；
Teaching machine controls 4 points of robot motion, and it is respectively ((mxi, myi, mzi)), i that laser tracker, which measures 4 measured values,
=1,2,3,4, write as matrix form
Teaching machine read 4 measured values be respectively ((rxi, ryi, rzi)), i=1,2,3,4, write as matrix form
Utilize formula T '=B*A-1Calculate the transition matrix T ' between measurement coordinate system and base coordinate system, whereinA-1For the inverse of matrix A；
(1-3) computer obtains the real-time position signal (x (t), y (t), z (t)) of laser tracker output, three-dimensional optical fibre gyro
The real-time tach signal (vx (t), vy (t), vz (t)) of instrument output, acceleration signal (ax (t), the ay of three axis accelerometer output
(t), az (t))；
Position signal (x (t), y (t), z (t)) is transformed under robot base coordinate sys-tem by (1-4) computer from measurement coordinate system
Position data Pr (t)；
3 tach signals of gyroscope are integrated to angle signal by (1-5) computer, and three angle values are to measure under coordinate system
Attitude data, by attitude data from measurement coordinate system be transformed into the attitude data under robot base coordinate sys-tem；
(1-6) temporally stabs position data and attitude data and merges, and obtains the sextuple data of high-precision, dynamic.
2. the sextuple measurement method of parameters of industrial robot dynamic according to claim 1, characterized in that step (1-4) packet
Include following steps:
The positional value measured under measurement coordinate is pm (t)=(mx (t), my (t), mz (t)), utilizes formulaEach coordinate value is converted into the position data Pr (t) under robot base coordinate sys-tem.
3. the sextuple measurement method of parameters of industrial robot dynamic according to claim 1, characterized in that step (1-5) packet
Include following steps:
(4-1) utilizes matrix T, by Eulerian angles form attitude data pose (t)=(ma (t), mb under the measurement coordinate system measured
(t), mc (t)) be converted to spin matrix form attitude data Ps (t):
Posture sequence is transformed into robot base coordinate under measurement coordinate system using formula Tr (t)=T1*Ps (t) by (4-2)
Under system, attitude data is spin matrix form at this time；
Spin matrix form posture sequence Tr (t) is converted to Eulerian angles form by (4-3), it is assumed that when spin matrix form,
Angle c (t) is calculated using formula c (t)=atan (y1 (t)/x1 (t)), wherein atan is arctan function；
It sets cz (t)=cos (c (t)), sz (t)=sin (c (t))；
Numb (t)=- z1 (t),
Denb (t)=x1 (t) * cz (t)+y1 (t) * sz (t),
Angle b (t) is calculated using formula b (t)=atan (num (t)/den (t))；
Set numa (t)=x3 (t) * sz (t)-y3 (t) * cz (t)
Dena (t)=y2 (t) * cz (t)-x2 (t) * sz (t)
Angle a (t) is calculated using formula a (t)=atan (num (t)/den (t))；
Obtain the attitude data (a (t), b (t), c (t)) of Eulerian angles form.
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| CN110487182B (en) * | 2019-08-26 | 2020-08-25 | 大连理工大学 | Coordinate conversion method based on multi-dimensional dynamic standard device |
| CN113188444B (en) * | 2021-05-06 | 2023-01-13 | 上海航天测控通信研究所 | Uncertainty testing experiment and calculating method for laser measuring system |
| CN114111627B (en) * | 2021-12-07 | 2024-10-08 | 深圳市中图仪器股份有限公司 | Scanning system and scanning method based on laser tracker |
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Effective date of registration: 20191115 Address after: 315000 7-1-1, building 033, building 2, No. 15, Lane 587, Juxian Road, Ningbo hi tech Zone, Ningbo City, Zhejiang Province Patentee after: Zhejiang Spectrum Technology Co., Ltd. Address before: Hangzhou City, Zhejiang province 310013 Shangcheng District No. 1418 Moganshan Road No. 4, building 2-4, standard workshop Patentee before: Hangzhou Vicon Technology Co., Ltd. |