CN106994687B - Installation posture calibration method of six-dimensional force sensor at the end of industrial robot - Google Patents
Installation posture calibration method of six-dimensional force sensor at the end of industrial robot Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
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Abstract
Description
技术领域technical field
本发明属于工业机器人传感控制技术领域，具体涉及一种工业机器人末端六维力传感器安装姿态标定方法。The invention belongs to the technical field of sensor control of industrial robots, and in particular relates to a method for calibrating the installation attitude of a six-dimensional force sensor at the end of an industrial robot.
背景技术Background technique
六维力传感器常安装在机器人末端，用于测量机器人工作过程中的末端受力信息。六维力传感器具有其自身固有的坐标系，能够测量空间任意力系中的三维正交力和三维正交力矩。六维力传感器直接测得的数据基于其自身的坐标系。此外，工业机器人也具有其自身固有的坐标系，将六维力传感器安装在机器人末端后，希望通过力传感器的数据反馈控制机器人运动，这样，首先需要明确传感器与机器人间的安装关系，从而确定出传感器坐标系与机器人坐标系间的转换关系，进而可以将传感器数据转换至机器人坐标系下，用于机器人的运动控制。The six-dimensional force sensor is often installed at the end of the robot to measure the force information of the end during the working process of the robot. The six-dimensional force sensor has its own inherent coordinate system and can measure the three-dimensional orthogonal force and three-dimensional orthogonal moment in any force system in space. The data directly measured by the six-dimensional force sensor is based on its own coordinate system. In addition, industrial robots also have their own inherent coordinate system. After installing the six-dimensional force sensor at the end of the robot, it is hoped to control the movement of the robot through the data feedback of the force sensor. In this way, it is first necessary to clarify the installation relationship between the sensor and the robot, so as to determine The conversion relationship between the sensor coordinate system and the robot coordinate system is obtained, and then the sensor data can be converted to the robot coordinate system for the motion control of the robot.
目前，传感器与机器人间的安装关系主要依靠机械定位确定，通过设计机器人与传感器的转接件，并在转接件上设计定位特征，如销钉、销孔等，与机器人末端、传感器上的销钉、销孔配合，确保传感器与机器人间的安装关系。通过转接件的设计尺寸，直接获得传感器与机器人坐标系间的姿态转换关系。这种方法得到的姿态转换关系依赖于机器人末端接口、转接件、传感器安装接口三者的机械加工精度，机械加工误差会带来相应的姿态转换误差。At present, the installation relationship between the sensor and the robot is mainly determined by mechanical positioning. By designing the adapter between the robot and the sensor, and designing positioning features on the adapter, such as pins, pin holes, etc., and the pins on the end of the robot and the sensor , Pin-hole fit to ensure the installation relationship between the sensor and the robot. Through the design size of the adapter, the attitude transformation relationship between the sensor and the robot coordinate system can be obtained directly. The attitude conversion relationship obtained by this method depends on the machining accuracy of the robot end interface, the adapter, and the sensor installation interface. Machining errors will bring corresponding attitude conversion errors.
为解决姿态转换精度对各部件机械加工精度的依赖问题，本发明提出工业机器人末端六维力传感器安装姿态在线标定方法，在传感器与机器人以任意姿态安装固定后，均可以标定出传感器与机器人间的安装关系，得到的决姿态转换关系与部件机械加工精度无关，这有助于突破部件机械加工精度对姿态转换精度的限制，进一步提高机器人相应的感应控制精度。In order to solve the dependence of the attitude conversion accuracy on the machining accuracy of each component, this invention proposes an online calibration method for the installation attitude of the six-dimensional force sensor at the end of the industrial robot. After the sensor and the robot are installed and fixed at any attitude, the distance between the sensor and the robot can be calibrated. The installation relationship, the obtained attitude conversion relationship has nothing to do with the machining accuracy of the parts, which helps to break through the limitation of the machining accuracy of the parts on the attitude conversion accuracy, and further improves the corresponding induction control accuracy of the robot.
发明内容Contents of the invention
基于此，本发明的目的在于提供一种工业机器人末端六维力传感器安装姿态标定方法，解决六维力传感器在机器人末端安装姿态的标定问题，通过控制机器人沿其自身的坐标轴运动，由于运动中的惯性力，致使六维力传感器的各轴读数发生变化，从而可以由对应的传感器读数标定出机器人相应坐标轴与传感器坐标轴的方向关系，实现传感器坐标系与机器人坐标系的相对姿态标定。Based on this, the object of the present invention is to provide a method for calibrating the installation posture of the six-dimensional force sensor at the end of the industrial robot, which solves the problem of calibrating the installation posture of the six-dimensional force sensor at the end of the robot. By controlling the robot to move along its own coordinate axis, due to the movement The inertial force in the sensor causes the readings of each axis of the six-dimensional force sensor to change, so that the direction relationship between the corresponding coordinate axis of the robot and the sensor coordinate axis can be calibrated by the corresponding sensor readings, and the relative posture calibration between the sensor coordinate system and the robot coordinate system can be realized. .
本发明是通过如下技术方案实现的：The present invention is achieved through the following technical solutions:
工业机器人末端六维力传感器安装姿态标定方法，包括如下步骤：The installation posture calibration method of the six-dimensional force sensor at the end of the industrial robot includes the following steps:
1)在六维力传感器工具端固定设置具有一定质量的工件，在工业机器人的静止状态下，读取六维力传感器三个轴的力数据，作为初始值，其中：1) Fixedly set a workpiece with a certain quality on the tool end of the six-dimensional force sensor. In the static state of the industrial robot, read the force data of the three axes of the six-dimensional force sensor as the initial value, where:
2)控制工业机器人沿工具坐标系X轴做正向加速运动，期间采集六维力传感器数据计算得到机器人工具坐标系X轴在六维力传感器坐标系下的单位向量：2) Control the industrial robot to make positive acceleration along the X-axis of the tool coordinate system, and collect data from the six-dimensional force sensor during the period Calculate the unit vector of the X-axis of the robot tool coordinate system in the six-dimensional force sensor coordinate system:
3)控制工业机器人沿工具坐标系Y轴做正向加速运动，期间采集六维力传感器数据计算得到机器人工具坐标系Y轴在六维力传感器坐标系下的单位向量为：3) Control the industrial robot to make positive acceleration along the Y axis of the tool coordinate system, and collect data from the six-dimensional force sensor during the period The unit vector of the robot tool coordinate system Y axis in the six-dimensional force sensor coordinate system is calculated as:
4)控制工业机器人沿工具坐标系Z轴做正向加速运动，期间采集六维力传感器数据计算得到机器人工具坐标系Z轴在六维力传感器坐标系下的单位向量为：4) Control the industrial robot to accelerate forward along the Z-axis of the tool coordinate system, and collect data from the six-dimensional force sensor during the period The calculated unit vector of the Z-axis of the robot tool coordinate system in the six-dimensional force sensor coordinate system is:
5)由步骤2)、3)、4)的计算结果，得到由机器人工具坐标系到六维力传感器坐标系的姿态变换矩阵：5) From the calculation results of steps 2), 3), and 4), the attitude transformation matrix from the robot tool coordinate system to the six-dimensional force sensor coordinate system is obtained:
利用该姿态变换矩阵即可实现机器人工具坐标系到六维力传感器坐标系间姿态的相互转换，标定至此完成。Using the attitude transformation matrix, the attitude transformation between the robot tool coordinate system and the six-dimensional force sensor coordinate system can be realized, and the calibration is completed.
上述技术方案中，所述机器人是串联式的6自由度工业机器人。In the above technical solution, the robot is a serial industrial robot with 6 degrees of freedom.
上述技术方案步骤2)中，控制机器人沿工具坐标系X轴做正向加速运动，假设期间某一时刻的加速度在机器人工具坐标系下表示为：In step 2) of the above technical solution, the robot is controlled to perform positive acceleration along the X-axis of the tool coordinate system, assuming that the acceleration at a certain moment during the period is expressed in the robot tool coordinate system as:
则在六维力传感器坐标系下表示为：but In the six-dimensional force sensor coordinate system, it is expressed as:
假设六维力传感器敏感端的负载质量为m，则机器人加速运动带来的负载惯性力为：Assuming that the load mass at the sensitive end of the six-dimensional force sensor is m, the load inertial force brought about by the robot's accelerated motion is:
机器人运动时，六维力传感器测得的力由初始力及惯性力组成，即：When the robot moves, the force measured by the six-dimensional force sensor is determined by the initial force and inertia force Composition, namely:
于是得到：So get:
由于是单位向量，则由式(10)可得到式(2)，按照相同原理可以推导出式(3)、(4)。because is a unit vector, formula (2) can be obtained from formula (10), and formulas (3) and (4) can be deduced according to the same principle.
本发明提出的工业机器人末端六维力传感器安装姿态标定方法可以确定出传感器坐标系与机器人坐标系间的转换关系，进而可以将传感器数据转换至机器人坐标系下，用于机器人的运动控制。The installation posture calibration method of the six-dimensional force sensor at the end of the industrial robot proposed by the present invention can determine the conversion relationship between the sensor coordinate system and the robot coordinate system, and then can convert the sensor data to the robot coordinate system for motion control of the robot.
附图说明Description of drawings
图1为本发明的六维力传感器安装在工业机器人上的状态示意图。Fig. 1 is a schematic diagram of a state in which a six-dimensional force sensor of the present invention is installed on an industrial robot.
其中，1－机器人；2－六维力传感器；3－工件；4－夹具；5－机器人末端法兰。Among them, 1-robot; 2-six-dimensional force sensor; 3-workpiece; 4-fixture; 5-robot end flange.
具体实施方式Detailed ways
以下介绍的是作为本发明所述内容的具体实施方式，下面通过具体实施方式对本发明的所述内容作进一步的阐明。当然，描述下列具体实施方式只为示例本发明的不同方面的内容，而不应理解为限制本发明范围。The following is a specific implementation manner of the content of the present invention, and the content of the present invention will be further clarified through the specific implementation mode below. Of course, the following specific embodiments are described only to illustrate different aspects of the present invention, and should not be construed as limiting the scope of the present invention.
如图1所示，六维力传感器2固定端连接至机器人末端法兰5，六维力传感器2敏感端上连接夹具4，夹具4夹持工件3。As shown in Figure 1, the fixed end of the six-dimensional force sensor 2 is connected to the end flange 5 of the robot, the sensitive end of the six-dimensional force sensor 2 is connected to the fixture 4, and the fixture 4 clamps the workpiece 3.
机器人1工具坐标系与末端法兰5固连，六维力传感器2坐标系与其自身固连。The tool coordinate system of the robot 1 is fixedly connected with the end flange 5, and the coordinate system of the six-dimensional force sensor 2 is fixedly connected with itself.
定义坐标系如下：Define the coordinate system as follows:
机器人1工具坐标系OT-XTYTZT；Robot 1 tool coordinate system OT-XTYTZT;
六维力传感器2坐标系OS-XSYSZS。Six-dimensional force sensor 2 coordinate system OS-XSYSZS.
机器人1在静止状态下，六维力传感器2测力初始值为：When robot 1 is in a static state, the initial value of force measurement by six-dimensional force sensor 2 is:
控制机器人1沿工具坐标系X轴做正向加速运动，期间某一时刻的加速度在坐标系OT-XTYTZT下为：Control robot 1 to perform positive acceleration along the X axis of the tool coordinate system, and the acceleration at a certain moment during the period In the coordinate system OT-XTYTZT is:
记机器人1工具坐标系X轴方向的单位向量为在坐标系Note that the unit vector in the X-axis direction of the robot 1 tool coordinate system is in the coordinate system
OT-XTYTZT可表示为：OT-XTYTZT can be expressed as:
假设在六维力传感器2坐标系OS-XSYSZS下可表示为：suppose In the six-dimensional force sensor 2 coordinate system OS-XSYSZS, it can be expressed as:
则加速度在OS-XSYSZS下可表示为：then the acceleration Under OS-XSYSZS, it can be expressed as:
机器人1运动造成的惯性力在六维力传感器2坐标系下为：The inertial force caused by the movement of robot 1 in the coordinate system of six-dimensional force sensor 2 is:
其中m为负载质量。机器人1运动时，六维力传感器2测得的力由初始力及惯性力组成，即：where m is the mass of the load. When the robot 1 moves, the force measured by the six-dimensional force sensor 2 is determined by the initial force and inertia force Composition, namely:
进而得到：And then get:
由于是单位向量，则：because is a unit vector, then:
同理控制机器人1沿工具坐标系Y、Z轴做正向加速运动，对于机器人1工具坐标系Y、Z轴方向的单位向量在六维力传感器2坐标系下可表示为：In the same way, robot 1 is controlled to perform positive acceleration along the Y and Z axes of the tool coordinate system. For the unit vector in the direction of the Y and Z axes of the tool coordinate system of robot 1 In the six-dimensional force sensor 2 coordinate system, it can be expressed as:
则由坐标系OT-XTYTZT到坐标系OS-XSYSZS的旋转转换矩阵为：Then the rotation transformation matrix from the coordinate system OT-XTYTZT to the coordinate system OS-XSYSZS is:
这样便完成了六维力传感器2安装姿态关的标定。In this way, the calibration of the installation attitude of the six-dimensional force sensor 2 is completed.
以上说明了本发明的原理，通过控制机器人沿其自身的坐标轴运动，由于运动中的惯性力，致使六维力传感器的各轴读数发生变化，从而可以由对应的传感器读数标定出机器人相应坐标轴与传感器坐标轴的方向关系，实现传感器坐标系与机器人坐标系的相对姿态标定。The principle of the present invention has been explained above. By controlling the robot to move along its own coordinate axis, the readings of each axis of the six-dimensional force sensor will change due to the inertial force in the motion, so that the corresponding coordinates of the robot can be calibrated by the corresponding sensor readings. The direction relationship between the axis and the sensor coordinate axis realizes the relative attitude calibration between the sensor coordinate system and the robot coordinate system.
尽管上文对本发明的具体实施方式给予了详细描述和说明，但是应该指明的是，本领域的技术人员可以依据本发明的精神对上述实施方式进行各种等效改变和修改，其所产生的功能作用在未超出说明书及附图所涵盖的精神时，均应在本发明保护范围之内。Although the specific embodiments of the present invention have been described and illustrated in detail above, it should be noted that those skilled in the art can make various equivalent changes and modifications to the above embodiments according to the spirit of the present invention, and the resulting When the functional effect does not exceed the spirit covered by the specification and drawings, it shall be within the protection scope of the present invention.
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| CN108284456A (en) * | 2018-01-31 | 2018-07-17 | 哈尔滨工业大学 | Gravitational compensation method in sensor load external force measurement based on dimensionality reduction parsing |
| CN108818538A (en) * | 2018-07-17 | 2018-11-16 | 杭州崧智智能科技有限公司 | A kind of method, apparatus and terminal device of real-time calibration robot sensor posture |
| CN108956003B (en) * | 2018-07-17 | 2020-10-20 | 崧智智能科技(苏州)有限公司 | Method and device for calibrating six-dimensional sensor posture in real time and terminal equipment |
| CN109822574B (en) * | 2019-03-20 | 2021-01-05 | 华中科技大学 | A method for calibrating a six-dimensional force sensor at the end of an industrial robot |
| CN110160701B (en) * | 2019-06-26 | 2020-12-08 | 中国科学院长春光学精密机械与物理研究所 | A six-dimensional force calibration equipment |
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| CN111351615B (en) * | 2020-03-25 | 2021-07-20 | 东南大学 | High-precision and miniaturized on-orbit calibration device and calibration method for six-dimensional force sensor of space station manipulator |
| CN112710424B (en) * | 2020-12-08 | 2021-08-24 | 上海交通大学 | A method for calibrating a six-dimensional force sensor at the end of a robot |
| CN113189367A (en) * | 2021-04-01 | 2021-07-30 | 中国第一汽车股份有限公司 | Acceleration sensor detection device |
| CN113790963A (en) * | 2021-11-16 | 2021-12-14 | 南京东仪新智能科技有限公司 | Drawing and stretching test device and drawing and stretching test method |
| CN114791333B (en) * | 2022-03-17 | 2024-04-30 | 清华大学 | Force sensor measurement coordinate system calibration method, device, equipment and storage medium |
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