CN106780627A - A kind of position orientation relation scaling method of all-purpose robot and positioner - Google Patents

A kind of position orientation relation scaling method of all-purpose robot and positioner Download PDF

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Publication number
CN106780627A
CN106780627A CN201611198507.8A CN201611198507A CN106780627A CN 106780627 A CN106780627 A CN 106780627A CN 201611198507 A CN201611198507 A CN 201611198507A CN 106780627 A CN106780627 A CN 106780627A
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China
Prior art keywords
positioner
robot
outside axle
outside
axle
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CN201611198507.8A
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Chinese (zh)
Inventor
黄嘉鑫
徐晗
王富林
何杏兴
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
XIONGMAO INSTRUMENT AND METER CO Ltd NANJING
Nanjing Panda Electronics Co Ltd
Nanjing Panda Electronics Equipment Co Ltd
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XIONGMAO INSTRUMENT AND METER CO Ltd NANJING
Nanjing Panda Electronics Co Ltd
Nanjing Panda Electronics Equipment Co Ltd
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Application filed by XIONGMAO INSTRUMENT AND METER CO Ltd NANJING, Nanjing Panda Electronics Co Ltd, Nanjing Panda Electronics Equipment Co Ltd filed Critical XIONGMAO INSTRUMENT AND METER CO Ltd NANJING
Priority to CN201611198507.8A priority Critical patent/CN106780627A/en
Publication of CN106780627A publication Critical patent/CN106780627A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a kind of all-purpose robot and the position orientation relation scaling method of positioner, comprise the following steps:(1) each outside axle is demarcated respectively, obtains its axial vector zn, n=1 .., N, wherein n are outside axle sequence number, and N is the outside number of axle;(2) according to the axial vector z of each outside axlenObtain module and carriage transformation matrixThe method does not have special requirement for the position relationship between the axle of multiple outside, and versatility is stronger.

Description

A kind of position orientation relation scaling method of all-purpose robot and positioner
Technical field
The invention belongs to all-purpose robot application field, and in particular between a kind of all-purpose robot and multiaxis positioner Position orientation relation scaling method.
Background technology
Most widely used robot is welding robot in industry manufacture field, especially in auto manufacturing, weldering The usage amount of welding robot accounts for 50% in industrial robot total amount.Welding robot is that a kind of supermatic welding sets It is standby, be the development trend of welding manufacture industry instead of manual welding operation using robot, be improve welding quality, reduces cost, Improve the important means of working environment.Welding robot system is made up of robot, positioner and controller, typically using machine The outside s function of device people's controller controls the motion of positioner, realizes coordinating welding.
The effect of outside axle be with this mates of robotic, make workpiece conjugate or shift, reach robot most Good job position.In the application of outside axle, it is exactly most widely that the cooperating of welding robot and outside axle coordinates fortune Dynamic, the welding for being used to turn round work using outside axle is conjugated, to obtain preferable Working position and speed of welding.It is substantially outside Axle is the expansion of the welding machine joint of robot free degree and the extension of working space.The separate unit welding robot that the application of outside axle is Operating flexibility it is stronger, the size of welding workpiece is also no longer limited by the working space of robot itself in theory.Outside axle The a variety of limitation occurred largely in the weld job of compensate for over.It can be said that outside axle has become bonding machine Device people breaks through the new fulcrum of itself limitation.Certainly, the key of positioner successful Application is the coordination control with welding robot System.And robot and the premise that the demarcation of the position orientation relation of outside axle is robot and the efficient coordinated movement of various economic factors of positioner.
System based on welding robot with outside axle composition, robot is machine with the demarcation of the position orientation relation of outside axle People and the premise of the efficient coordinated movement of various economic factors of outside axle, are also the practical key of off-line programming technique.Harbin Institute of Technology Liu is holy Auspicious Master's thesis " arc welding robot off-line programing practical research " proposes 5 standardizations of the positioner that inclines based on rotation, record TCP points are demarcated in five pose data of different positions by calculate be capable of achieving.The method is simple and quick, but is vulnerable to The influence of accidentalia, random error is larger, it is difficult to meet the requirement of precision welding.Shanghai Communications University, the paper of Zhang Ke A kind of multi-point calibration method that " scaling method of position relationship between welding robot and position changer " is proposed, there is larger limitation, Position to outside axle requires, and only corresponds to the demarcation of twin shaft positioner.
The content of the invention
Goal of the invention:For problems of the prior art, become the invention discloses a kind of all-purpose robot and multiaxis Position orientation relation scaling method between the machine of position, the method does not have special requirement for the position relationship between the axle of multiple outside, Versatility is stronger.
Technical scheme:A kind of all-purpose robot and the position orientation relation scaling method of positioner, comprise the following steps:
Step 1, each outside axle is demarcated respectively, obtain its axial vector zn, n=1 .., N, wherein n are outside axle sequence Number, N is the outside number of axle;
Step 2, the axial vector z according to each outside axlenObtain module and carriage transformation matrix
Specifically, an outside axle J is demarcated in step 1nThe step of include:
(11) anchor point is installed on the outside axle chuck, it is uniform in the outside axle range of movement to choose M It is individual, operational group is transformed under robot-teaching pattern, keep that other outside shaft positions are constant, operation robot makes machine The TCP points of people are overlapped with anchor point, and positioner is gone to the M position of point of selection, record the pose data of corresponding TCP points Pm(Xm,Ym,Zm), wherein m=1..M;
(12) according to M pose data Pm(Xm,Ym,Zm) fit optimal disc;Cross the center of circle O of the optimal discn (An,Bn,Cn) do the normal vector of the disc, the axial vector z of as described outside axlen
Specifically, step (2) includes:
(21) origin of coordinates O (A, B, C) of positioner basis coordinates system is calculated;
To outside axle J1M pose data sampling point Pm(Xm,Ym,Zm) fit optimal sphere:
(X-A)2+(Y-B)2+(Z-C)2=D2
Wherein sphere centre coordinate O (A, B, C) is the origin of coordinates of positioner basis coordinates system;
(22) according to the axial vector z of each outside axlenCalculate the unit vector of the X, Y, Z axis of positioner basis coordinates system:
The unit vector of Z-direction is:
The unit vector of X-direction is:
The unit vector of Y direction is:
(23) module and carriage transformation matrix of the positioner basis coordinates system relative to robot basis coordinates system is obtained
Wherein I (ix,iy,iz) it is X-axis unit vectorJ(jx,jy,jz) it is Y-axis unit vectorK(kx,ky,kz) it is Z Axle unit vectorO (A, B, C) is the origin of coordinates of positioner basis coordinates system.
Preferably, the optimal disc of least square fitting is used in step (12).
Preferably, the optimal sphere of least square fitting is used in step (21).
Preferably, 5 points, i.e. M=5 are uniformly chosen in the outside axle range of movement in step (11).
Beneficial effect:Compared with prior art, all-purpose robot disclosed by the invention is demarcated with the position orientation relation of positioner Method has advantages below:1st, method disclosed by the invention is applied to various positioners, and multiple outside axle can be demarcated; 2nd, there is no special requirement to the position relationship between outside axle, outside axle and the position relationship of robot, the mechanism of positioner, Highly versatile;3rd, multiple points are chosen in the demarcation of each outside axle, and the precision of demarcation has very big carrying relative to conventional method It is high.
Brief description of the drawings
Fig. 1 is the coordinate system schematic diagram of multiaxis positioner;
Fig. 2 is multiaxis positioner outside axle calibration process schematic diagram.
Specific embodiment
With reference to the accompanying drawings and detailed description, the present invention is furture elucidated.
The present embodiment further explains method disclosed by the invention by taking twin shaft positioner as an example.This positioner around rotary shaft and Sloping shaft rotates respectively, can move to multiple positions, and each outside axle gathers 5 pose numbers of location point in the present embodiment According to.
A kind of all-purpose robot and the position orientation relation scaling method of positioner, comprise the following steps:
Step 1, each outside axle is demarcated respectively, obtain its axial vector zn, n=1 .., N, wherein n are outside axle sequence Number, N is the outside number of axle;
First, rotary shaft J is demarcated1The step of include:
(11) in J1One anchor point is installed, anchor point functions as a datum mark, in J on chuck1Range of movement 5 points of interior uniform selection, select to be respectively -60 °, -30 °, 0 °, 30 °, 60 ° five relative to the angle of anchor point in the present embodiment Individual position;Operational group is transformed under robot-teaching pattern, holding inclination shaft position is constant, and operation robot makes robot TCP points overlapped with anchor point, positioner is gone to 5 positions of point of selection respectively, record the pose number of corresponding TCP points According to Pu(Xu,Yu,Zu), wherein u=1..5;
(12) according to 5 pose data P of collectionu(Xu,Yu,Zu), optimal disc is gone out using least square fitting;Cross The center of circle O of the optimal disc1(A1,B1,C1) do the normal vector of the disc, as the axial vector z of rotary shaft1
Similarly, to sloping shaft J2Demarcated, obtained J2Axial vector z2
Step 2, according to axial vector z1And z2Obtain module and carriage transformation matrixSpecifically include following steps:
(21) origin of coordinates O (A, B, C) of positioner basis coordinates system is calculated;
To rotary shaft J15 pose data sampling point Pu(Xu,Yu,Zu) optimal sphere is gone out using least square fitting:
(X-A)2+(Y-B)2+(Z-C)2=D2
Wherein sphere centre coordinate O (A, B, C) is the origin of coordinates of positioner basis coordinates system;
(22) according to axial vector z1And z2Calculate the unit vector of the X, Y, Z axis of positioner basis coordinates system:
The unit vector of Z-direction is:
The unit vector of X-direction is:
The unit vector of Y direction is:
(23) module and carriage transformation matrix of the positioner basis coordinates system relative to robot basis coordinates system is obtained
Wherein I (ix,iy,iz) it is X-axis unit vectorJ(jx,jy,jz) it is Y-axis unit vectorK(kx,ky,kz) it is Z Axle unit vectorO (A, B, C) is the origin of coordinates of positioner basis coordinates system.

Claims (6)

1. the position orientation relation scaling method of a kind of all-purpose robot and positioner, it is characterised in that comprise the following steps:
(1) each outside axle is demarcated respectively, obtains its axial vector zn, n=1 .., N, wherein n are outside axle sequence number, and N is outside The number of axle;
(2) according to the axial vector z of each outside axlenObtain module and carriage transformation matrix
2. the position orientation relation scaling method of all-purpose robot according to claim 1 and positioner, it is characterised in that step (1) an outside axle J is demarcated innSpecific steps include:
(11) anchor point is installed on the outside axle chuck, M point is uniformly chosen in the outside axle range of movement, Operational group is transformed under robot-teaching pattern, keeps that other outside shaft positions are constant, operation robot makes robot TCP points are overlapped with anchor point, and positioner is gone to the M position of point of selection, record the pose data P of corresponding TCP pointsm (Xm,Ym,Zm), wherein m=1..M;
(12) according to M pose data Pm(Xm,Ym,Zm) fit optimal disc;Cross the center of circle O of the optimal discn(An,Bn, Cn) do the normal vector of the disc, the axial vector z of as described outside axlen
3. the position orientation relation scaling method of all-purpose robot according to claim 1 and positioner, it is characterised in that step (2) specifically include:
(21) origin of coordinates O (A, B, C) of positioner basis coordinates system is calculated;
To outside axle J1M pose data sampling point Pm(Xm,Ym,Zm) fit optimal sphere:
(X-A)2+(Y-B)2+(Z-C)2=D2
Wherein sphere centre coordinate O (A, B, C) is the origin of coordinates of positioner basis coordinates system;
(22) according to the axial vector z of each outside axlenCalculate the unit vector of the X, Y, Z axis of positioner basis coordinates system:
The unit vector of Z-direction is:
The unit vector of X-direction is:
The unit vector of Y direction is:
(23) module and carriage transformation matrix of the positioner basis coordinates system relative to robot basis coordinates system is obtained
T P R = i x i y i z A j x j y j z B k x k y k z C 0 0 0 1 ;
Wherein I (ix,iy,iz) it is X-axis unit vectorJ(jx,jy,jz) it is Y-axis unit vectorK(kx,ky,kz) it is Z axis unit VectorO (A, B, C) is the origin of coordinates of positioner basis coordinates system.
4. the position orientation relation scaling method of all-purpose robot according to claim 2 and positioner, it is characterised in that step (12) the optimal disc of least square fitting is used in.
5. the position orientation relation scaling method of all-purpose robot according to claim 3 and positioner, it is characterised in that step (21) the optimal sphere of least square fitting is used in.
6. the position orientation relation scaling method of all-purpose robot according to claim 2 and positioner, it is characterised in that step (11) 5 points, i.e. M=5 are uniformly chosen in the outside axle range of movement in.
CN201611198507.8A 2016-12-22 2016-12-22 A kind of position orientation relation scaling method of all-purpose robot and positioner Pending CN106780627A (en)

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Cited By (8)

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CN107598919A (en) * 2017-08-18 2018-01-19 华南理工大学 A kind of two axle positioner scaling methods based on 5 standardizations
CN109015652A (en) * 2018-08-29 2018-12-18 苏州艾利特机器人有限公司 A kind of control method of robot and the positioner coordinated movement of various economic factors
CN109048887A (en) * 2018-06-13 2018-12-21 华南理工大学 A kind of single-shaft position changing machine scaling method based on 3 standardizations
CN109079850A (en) * 2018-08-16 2018-12-25 居鹤华 Based on axis invariant multi-axis robot D-H system and D-H parameter determination method
CN109773774A (en) * 2017-11-14 2019-05-21 合肥欣奕华智能机器有限公司 A kind of scaling method of robot and positioner position orientation relation
CN110227873A (en) * 2019-05-21 2019-09-13 南京衍构科技有限公司 A kind of electric arc increasing material manufacturing method of large scale metal works
CN110394554A (en) * 2019-06-14 2019-11-01 广东镭奔激光科技有限公司 A kind of robot motion track off-line programing method that the impeller disk is laser impact intensified
CN111801630A (en) * 2018-07-13 2020-10-20 深圳配天智能技术研究院有限公司 Positioner axis coordinate system calibration method, robot system and storage device

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107598919A (en) * 2017-08-18 2018-01-19 华南理工大学 A kind of two axle positioner scaling methods based on 5 standardizations
CN109773774A (en) * 2017-11-14 2019-05-21 合肥欣奕华智能机器有限公司 A kind of scaling method of robot and positioner position orientation relation
CN109048887A (en) * 2018-06-13 2018-12-21 华南理工大学 A kind of single-shaft position changing machine scaling method based on 3 standardizations
CN111801630A (en) * 2018-07-13 2020-10-20 深圳配天智能技术研究院有限公司 Positioner axis coordinate system calibration method, robot system and storage device
CN109079850B (en) * 2018-08-16 2020-01-07 居鹤华 D-H system and D-H parameter determination method of multi-axis robot based on axis invariance
CN109079850A (en) * 2018-08-16 2018-12-25 居鹤华 Based on axis invariant multi-axis robot D-H system and D-H parameter determination method
CN109015652A (en) * 2018-08-29 2018-12-18 苏州艾利特机器人有限公司 A kind of control method of robot and the positioner coordinated movement of various economic factors
CN110227873A (en) * 2019-05-21 2019-09-13 南京衍构科技有限公司 A kind of electric arc increasing material manufacturing method of large scale metal works
CN110227873B (en) * 2019-05-21 2021-03-12 南京衍构科技有限公司 Electric arc additive manufacturing method for large-size metal workpiece
CN110394554A (en) * 2019-06-14 2019-11-01 广东镭奔激光科技有限公司 A kind of robot motion track off-line programing method that the impeller disk is laser impact intensified

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Application publication date: 20170531