CN107450376A - A kind of service mechanical arm crawl attitude angle computational methods based on intelligent family moving platform - Google Patents
A kind of service mechanical arm crawl attitude angle computational methods based on intelligent family moving platform Download PDFInfo
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Abstract
The invention discloses a kind of service mechanical arm based on intelligent family moving platform to capture attitude angle computational methods, belongs to manipulator motion control field, more particularly to the attitude angle analysis of mechanical arm calculates.Coordinate position of the object in camera coordinates system is determined according to camera；By the transition matrix demarcated in advance by Coordinate Conversion of the object in camera coordinates system into mechanical arm coordinate system；Angle theta of the object in mechanical arm coordinate system with the X-axis in mechanical coordinate system is calculated by the coordinate points of the object after conversion, the posture of Current mechanical arm is tried to achieve by the mapped function relation of three components in the angle theta and mechanical arm posture；By target article coordinate and the object pose of mechanical arm tail end posture synthesis control machinery arm, mechanical arm is sent to, that is, completes object grasping movement.Each component in attitude angle is determined by the angle theta of object and mechanical arm coordinate system X-axis, goes to capture object so as to complete mechanical arm with specified posture.
Description
Technical field
The invention belongs to the attitude angle analysis of manipulator motion control field, more particularly to mechanical arm to calculate.Mechanical arm appearance
The computational methods at state angle are to be calculated using the mapped function relation formula of the angle of object and coordinate system and each attitude angle.
Background technology
At present in intellectualization times, China, which is in, to carry forward vigorously in process of industrialization, promotes the industrial machine of the country
People's technology is constantly reformed, and most important executing agency of the mechanical arm as robot, and its application is increasingly popularized, and is gradually oozed
Thoroughly to various aspects such as military affairs, space flight, medical treatment, daily life and Edutainments, so the research to it is increasingly by technology
The concern of personnel.
The application of mechanical arm includes the every subjects such as mechanics, mechanics, electronics, software, algorithm and cybernetics field
Relevant knowledge, its priority research areas is：Mechanical transmission test and dynamics, the structure design and path planning of mechanical arm
Deng., it is necessary to consider structure design, the design of control system, kinematics analysis, dynamic analysis and track when specifically used
The many aspects such as project study.Mechanical arm performance will have influence on the designing quality of whole robot.The effect of mechanical arm is to make end
Hold actuator to reach desired target location and complete corresponding job task.And the free degree quantity of mechanical arm and structure shape
Formula has direct relation to the flexibility ratio, kinematic accuracy and working space of end effector.
Mechanical arm can be classified according to mechanical arm arm coordinate, type of drive and purposes.Enter according to arm coordinate
Row classification, can be divided into rectangular co-ordinate construction machine arm, polar coordinates construction machine arm, articulated robot mechanical arm；According to drive
Flowing mode is classified, and can be divided into the mechanical arms such as hydraulic drive, Pneumatic Transmission, Electric Drive, machine driving；Had according to purpose classification
Special-purpose machinery arm, the class of universal mechanical arm two.In the control technology of mechanical arm, be broadly divided into four classes, be respectively Self Adaptive Control,
Variable-structure control, modern robust control and intelligent control.
The most mechanical arm of application is sixdegree-of-freedom simulation at present, and it is connected group by six rotary joints by connecting rod
Into, its six joints use different design forms mostly, to meet the effective connection and power transmission between each joint,
So as to add development difficulty of the developer in the athletic posture of control machinery arm.Especially when mechanical arm is held in circumstances not known
During row grasping movement, the crawl posture of mechanical arm is difficult to determine, limits mechanical arm and plays a role in daily life.
In practical application, the mechanical arm overwhelming majority is integrally fixed on pedestal, thus mechanical arm can only be fixed on it is a certain
Operated on individual position, so being generally only applicable to the repetitive operation in industrial production.And in real life
Circumstances not known in, when mechanical arm will perform crawl object, not only need the coordinate of object, it is also necessary to determine mechanical arm
Capture posture.And the crawl posture of mechanical arm needs to determine by other approach (such as camera), these modes are to equipment and algorithm
Degree of dependence is high, causes mechanical arm gesture stability complicated, the popularization of mechanical arm in daily life is hindered, so mechanical arm exists
Real-life grasping body function is still left to be desired.
Vision is the main mode in the human perception world and the understanding world.Information is got in the mankind visual field often very
Abundant, these information give vision system diversified stimulation, and by the domination of nervous system, they influence each other, merged, shape
Into the eyesight of people.Determine that the coordinate of object is a kind of very rational mode by visual manner.
In the picture, marking area is most to cause user interest in image, can most show the region of picture material.Although
The area-of-interest of user is very subjective, and due to user task and the difference of knowledge background, for same piece image,
Different users may select different regions as area-of-interest.But due to human visual system and attention mechanism
General character, make again in image some regions can significantly attracting attention, these regions are often containing abundant information.Cause
This, using the universal law during human cognitive, can pass through some bottoms of image according to the characteristics of human visual system
Feature approx judges the marking area in image.The marking area so extracted is more conform with the subjective assessment of people, is vision
Upper important region.
The content of the invention
, it is necessary to give the pose of mechanical arm when control machinery arm carries out crawl object, i.e. mechanical arm tail end to be reached
Position coordinates and posture coordinate.Wherein position coordinates can be readily available by equipment such as external cameras, but posture coordinate is not
Uniquely, it is determined algorithm complex height using external equipment, it is more difficult to develop.
For sixdegree-of-freedom simulation when capturing object, its Attitude Calculation complexity is high, so introducing a kind of basis
Treat the low complex degree attitude angle mapping function method of the posture of the position computer tool arm end of object.This method can reduce appearance
The complexity that state calculates, strong robustness, it is readily appreciated that, convenient exploitation.
The technical scheme used of the present invention captures attitude angle meter for a kind of service mechanical arm based on intelligent family moving platform
Calculation method, the implementation process of this method are as follows：
Coordinate position of the object in camera coordinates system is determined according to camera first；Then turned by what is demarcated in advance
Matrix is changed by Coordinate Conversion of the object in camera coordinates system into mechanical arm coordinate system；Pass through the seat of the object after conversion
Punctuate calculates angle theta of the object in mechanical arm coordinate system with the X-axis in mechanical coordinate system, then passes through the angle theta and machine
The mapped function relation of three components in tool arm posture tries to achieve the posture of Current mechanical arm；Then by target article coordinate and machinery
Arm terminal angle synthesizes the object pose of control machinery arm, is then sent to mechanical arm, that is, completes object grasping movement.Pass through
The angle theta of object and mechanical arm coordinate system X-axis determines each component in attitude angle, so as to complete mechanical arm with specified
Posture goes to capture object.
It the described method comprises the following steps：
Step 1, obtain the coordinate of object
Object is extracted using the method extracted using conspicuousness, it is then determined that seat of the object in camera coordinates system
Mark.
Step 2, under the coordinate of switch target thing to mechanical arm coordinate system.
When control machinery arm goes to complete the action of crawl object, the coordinate of ground point finally entered in mechanical arm is
Under coordinate system based on mechanical arm, so the coordinate of object is transformed under mechanical arm coordinate system by transition matrix.
After mechanical arm and camera are installing in mobile robot, there are two coordinate systems：Camera coordinates system OcAnd machine
Tool arm coordinate system Om.And the transition matrix of existence anduniquess causes the point under camera coordinates system to be converted under mechanical arm coordinate system
Point.
Step 3, establish angle-posture mapping function
When mechanical arm captures object, object had both been needed in OmCoordinate in coordinate system, it is also necessary to when capturing object
Crawl posture.Object and OmThe angle theta and mechanical arm tail end attitude angle R (R of the X-axis of coordinate systemx,Ry,Rz) closed in function
System.
The coordinate P of object is obtained by cameram(Xm,Ym,Zm) after, it is divided into the following steps and establishes above-mentioned mapping function：
1) the different multigroup mechanical arm posture coordinates of quadrant are obtained
In mechanical arm coordinate system, Z=a planes are taken, a is constant；A planes are divided into four quadrants, in first quartile,
Mechanical arm is moved at target point, then keeps mechanical wrist coordinate constant, be i.e. three freedom of the mechanical arm from origin
Degree keeps constant, and it is secondary to change the posture N (N values be more than 5) of mechanical arm, obtains the different mechanical arm pose coordinate of N groups：Posture point
R={ R1(R1x,R1y,R1z), R2(R2x,R2y,R2z) ... ..., RN(RNx,RNy,RNz), location point P={ P1(X1,Y1,Z1), P2
(X2,Y2,Z2),……,PN(XN,YN,ZN)}；Similarly, in the second quadrant, third quadrant, obtained according to same way in fourth quadrant
Take the mechanical arm pose coordinate that N groups are different.Obtain 4N group mechanical arm pose coordinates.
2) object and the angle of X-axis are calculated
According to obtained 4N group mechanical arm posture coordinates, the position coordinates P in mechanical arm posture coordinate is takenm(Xm,Ym,Zm)
Calculate object and OmThe angle theta of the X-axis of coordinate system, computational methods are as follows：
Obtain 4N angle theta={ θ1, θ2... ..., θN}.
3) object and X-axis angle and the corresponding relation of attitude angle are determined
Posture coordinate has a corresponding relation in different quadrants, corresponding relation such as Fig. 1, i.e., in different quadrants, attitude angle
Change is embodied in different reference axis.Calculated to simplify, take the average value of the two to reduce error, obtain in different quadrants
In each self-corresponding attitude angle.So as to there is such mapping relations：The angle theta of one object and X-axis just four differences as
The corresponding posture of existence anduniquess in limit.And quadrature where object obtains according to object position coordinates, so that it is determined that
One posture coordinate.Mapping relations are respectively defined as：
Third quadrant RzWith fourth quadrant RyH (θ) is defined as with the mapping relations of angle theta；Second quadrant RzWith first quartile
RyF (θ) is defined as with the mapping relations of angle theta；Fourth quadrant RxWith the second quadrant RyWith first quartile RzAnd third quadrant Rx
G (θ) is defined as with the mapping relations of angle theta；Third quadrant RyWith fourth quadrant RzJ (θ) is defined as with the mapping relations of angle theta；
Second quadrant RxWith first quartile RxK (θ) is defined as with the mapping relations of angle theta.
4) each mapping function expression formula is determined
It is determined that each mapping function of the above.By the 4N group posture coordinates got and seek obtained 4N groups object and X
The angle theta data of axle, using multinomial, using angle theta as independent variable, using each attitude angle as variable, data fitting is carried out, is obtained
Approximate expression.The expression formula of fitting result is obtained using matlab.Thus the letter of angle theta and the attitude angle of each quadrant is established
Number mapping relations.
Hereby it is achieved that the posture of the position computer tool arm end by object to be grabbed.
Compared with prior art, the present invention has the advantages that.
By the way that mechanical arm posture is carried out into function, when carrying out crawl object, directly using the coordinate of object as input
Amount, is calculated mechanical arm tail end posture, avoids passing through the complicated Attitude Calculation mode such as image recognition gestures of object and determines machine
Tool arm posture.So as to simplify the exploitation process for using of mechanical arm, the use difficulty of mechanical arm is reduced.
Brief description of the drawings
Attitude angle corresponding relation figure in Fig. 1 difference quadrants
Fig. 2 data mapped function relation formulas, F represents fourth quadrant in figure, and TH represents third quadrant, and T represents the second quadrant,
O represents first quartile.Lowercase x, y, z represent attitude angle Rx, Ry, Rz respectively.
Fig. 3 the inventive method flow charts
Fig. 4 wrist positions are fixed, the different mechanical arm posture figure of clamping jaw posture
Fig. 5 uses the experiment scene figure of the method for calculating machine arm posture proposed by the present invention
Embodiment
Further explaination is done to the present invention with reference to the accompanying drawings and detailed description.
The present invention is that be furnished with Ling Hua MXC-6321D industry controls with the artificial hardware platform of intelligent Mobile Service machine, the robot
(industrial computer uses i7-3610QE processors to machine, and the processor is four cores, eight thread processors, dominant frequency 2.3GHz, is installed
Win8 Professional operating systems), (mechanical arm has six degree of freedom to the UR5 mechanical arms of Universal Robots companies, and work model
Enclose for 850mm, it is positive and negative 0.1mm to repeat error), Microsoft's XBOX ONE Kinect2.0 3 D stereos video cameras and RGK
REH-64 clamping jaws (quality 1.9kg, maximum grip power 45N).
The detailed process of present embodiment is to obtain object in camera coordinates by Kinect 3 D stereos camera first
Coordinate under system, then by controlling UR5 mechanical arms to reach target point, obtain coordinate of the object under mechanical arm coordinate system.
Change the position of object, repeat said process.By this obtained two groups of coordinates, carry out calculating camera coordinates system and mechanical arm
The transition matrix of coordinate system.Secondly, the Z coordinate of mechanical arm tail end is taken into fixed value, then in first quartile, takes mechanical wrist
Portion is fixed position, is changed the posture n times of clamping jaw, is taken N=10 here, records the pose coordinate of mechanical arm.Similarly at other three
In quadrant, said process is repeated, 4N group pose coordinate points can be obtained.This 4N group data is entered by mathematical tools such as matlab
Row processing, asks for object and the angle of X-axis by position coordinates first, is then fitted the angle and the posture in each quadrant
The mapped function relation at angle, establish corresponding mapping function.Such as Fig. 2, the mapping function being fitted by data is as follows：
Third quadrant RzWith fourth quadrant RyMapping relations with angle theta are：
H (θ)=0.0449 θ3-1.0831θ2+0.2362θ+4.6996
Second quadrant RzWith first quartile RyMapping relations with angle theta are：
F (θ)=- 0.1949 θ3+1.1312θ2-3.1801θ+0.6266
Fourth quadrant RxWith the second quadrant RyWith first quartile RzAnd third quadrant RxMapping relations with angle theta are：
G (θ)=- 0.2323 θ3+0.3589θ2+1.6923θ-0.214
Third quadrant RyWith fourth quadrant RzMapping relations with angle theta are：
J (θ)=0.212 θ3-0.8481θ2+1.0164θ+2.0847
Second quadrant RxWith first quartile RxMapping relations with angle theta are：
K (θ)=0.0449 θ3-1.0831θ2+0.2362θ+4.6996
The attitude angle of mechanical arm crawl object can be calculated according to above mapping function, then can control machinery
Arm carries out capturing object action.Fig. 3 is the algorithm flow chart of the present invention, specifically includes following steps：
Step 1, camera and mechanical arm obtain the coordinate of object respectively, using obtained corresponding camera coordinates system and
Coordinate points under mechanical arm coordinate system, ask for the transition matrix of two coordinate systems.
Step 2, in four quadrants, obtain that mechanical wrist coordinate is identical respectively, the different N groups machinery of clamping jaw posture
Arm posture coordinate, as shown in Figure 4.
Step 3, the data of acquisition are carried out asking for object and the angle of X-axis.
Step 4, it is fitted the Function Mapping relation of angle and attitude angle.
Step 5, the coordinate of object is obtained by camera, by transformation matrix, obtains the seat under mechanical arm coordinate system
Mark.
Step 6, by obtained coordinate, calculate object and the angle of X-axis.
Step 7, the above-mentioned angle being calculated is brought into corresponding mapping function, asks for the attitude angle of clamping jaw.
Step 8, the pose coordinate of final mechanical arm is sent in UR5 mechanical arms, completes object gripping action.
The application example of the present invention is given below.
The experimental situation of selection is laboratory, and a cup is placed in laboratory a desk, allows UR5 mechanical arms
Grasping movement is carried out, mechanical arm Attitude Calculation side proposed by the present invention is verified by assessing the degree of accuracy of mechanical arm crawl cup
The validity of method.As shown in figure 4, there is a cup, it is necessary to which UR5 mechanical arms are grabbed on the desk in front of robot
Take, be put on the desk on side.Fig. 5 (a) is experimental duties scene graph, and Fig. 5 (b) is according to mesh using method proposed by the present invention
The clamping jaw posture that is calculated of mark thing, it can be seen that clamping jaw posture is a very rational posture relative to cup, in Fig. 5
(e), (d), (c) (f) is the action that UR5 mechanical arms grab object.
In experimentation, by reasonability and the Accuracy Verification calculating machine proposed by the present invention for capturing cup posture
The validity of arm attitude angle method, while the method using calculating machine arm posture proposed by the present invention is also show, capture mesh
It is rationally and accurate to mark the posture of thing, and in program, the complexity of program reduces, and improves real-time and the calculating of algorithm
The speed that mechanical arm pose calculates, the difficulty of mechanical arm control is reduced, facilitate the gesture stability of mechanical arm.
Claims (2)
- A kind of 1. service mechanical arm crawl attitude angle computational methods based on intelligent family moving platform, it is characterised in that：This method Implementation process is as follows,Coordinate position of the object in camera coordinates system is determined according to camera first；Then the conversion square by having demarcated in advance Battle array is by Coordinate Conversion of the object in camera coordinates system into mechanical arm coordinate system；Pass through the coordinate points of the object after conversion Angle theta of the object in mechanical arm coordinate system with the X-axis in mechanical coordinate system is calculated, then passes through the angle theta and mechanical arm The mapped function relation of three components in posture tries to achieve the posture of Current mechanical arm；Then by target article coordinate and mechanical arm end The object pose of posture synthesis control machinery arm is held, is then sent to mechanical arm, that is, completes object grasping movement；Pass through target The angle theta of thing and mechanical arm coordinate system X-axis determines each component in attitude angle, so as to complete mechanical arm with specified posture Go to capture object；It the described method comprises the following steps：Step 1, obtain the coordinate of objectObject is extracted using the method extracted using conspicuousness, it is then determined that coordinate of the object in camera coordinates system；Step 2, under the coordinate of switch target thing to mechanical arm coordinate system；When control machinery arm goes to complete the action of crawl object, it is to be based on to finally enter the coordinate of ground point in mechanical arm Under the coordinate system of mechanical arm, so the coordinate of object is transformed under mechanical arm coordinate system by transition matrix；After mechanical arm and camera are installing in mobile robot, there are two coordinate systems：Camera coordinates system OcSat with mechanical arm Mark system Om；And the transition matrix of existence anduniquess causes the point under camera coordinates system to be converted to the point under mechanical arm coordinate system；Step 3, establish angle-posture mapping functionWhen mechanical arm captures object, object had both been needed in OmCoordinate in coordinate system, it is also necessary to capture crawl during object Posture；Object and OmThe angle theta and mechanical arm tail end attitude angle R (R of the X-axis of coordinate systemx,Ry,Rz) it is in functional relation；The coordinate P of object is obtained by cameram(Xm,Ym,Zm) after, it is divided into the following steps and establishes above-mentioned mapping function：1) the different multigroup mechanical arm posture coordinates of quadrant are obtainedIn mechanical arm coordinate system, Z=a planes are taken, a is constant；A planes are divided into four quadrants, in first quartile, by machine Tool arm is moved at target point, then keeps mechanical wrist coordinate constant, i.e. three degree of freedom of the mechanical arm from origin is protected Hold constant, change the posture n times of mechanical arm, N values are more than 5, obtain the different mechanical arm pose coordinate of N groups：Posture point R= {R1(R1x,R1y,R1z), R2(R2x,R2y,R2z) ... ..., RN(RNx,RNy,RNz), location point P={ P1(X1,Y1,Z1), P2(X2, Y2,Z2),……,PN(XN,YN,ZN)}；Similarly, in the second quadrant, third quadrant, N is obtained according to same way in fourth quadrant The different mechanical arm pose coordinate of group；Obtain 4N group mechanical arm pose coordinates；2) object and the angle of X-axis are calculatedAccording to obtained 4N group mechanical arm posture coordinates, the position coordinates P in mechanical arm posture coordinate is takenm(Xm,Ym,Zm) calculate mesh Mark thing and OmThe angle theta of the X-axis of coordinate system, computational methods are as follows：<mrow> <mi>&theta;</mi> <mo>=</mo> <mi>arctan</mi> <mrow> <mo>(</mo> <mfrac> <msub> <mi>Y</mi> <mi>m</mi> </msub> <msub> <mi>X</mi> <mi>m</mi> </msub> </mfrac> <mo>)</mo> </mrow> </mrow>Obtain 4N angle theta={ θ1, θ2... ..., θN}.3) object and X-axis angle and the corresponding relation of attitude angle are determinedPosture coordinate has corresponding relation in different quadrants, i.e., in different quadrants, the change of attitude angle is embodied in different seats In parameter；Calculated to simplify, take the average value of the two to reduce error, obtain each self-corresponding posture in different quadrants Angle；So as to there is such mapping relations：Just existence anduniquess is therewith in four different quadrants for the angle theta of one object and X-axis Corresponding posture；And quadrature where object obtains according to object position coordinates, so that it is determined that a posture coordinate；Mapping Relation is respectively defined as：Third quadrant RzWith fourth quadrant RyH (θ) is defined as with the mapping relations of angle theta；Second quadrant RzWith first quartile RyWith The mapping relations of angle theta are defined as f (θ)；Fourth quadrant RxWith the second quadrant RyWith first quartile RzAnd third quadrant RxAnd folder Angle θ mapping relations are defined as g (θ)；Third quadrant RyWith fourth quadrant RzJ (θ) is defined as with the mapping relations of angle theta；Second Quadrant RxWith first quartile RxK (θ) is defined as with the mapping relations of angle theta；4) each mapping function expression formula is determinedIt is determined that each mapping function of the above；The 4N groups object that is obtained by 4N group posture coordinates got and asking and X-axis Angle theta data, using multinomial, using angle theta as independent variable, using each attitude angle as variable, data fitting is carried out, obtains approximation Expression formula；The expression formula of fitting result is obtained using matlab；Thus the function for establishing angle theta and the attitude angle of each quadrant reflects Penetrate relation；Hereby it is achieved that the posture of the position computer tool arm end by object to be grabbed.
- 2. a kind of service mechanical arm crawl attitude angle computational methods based on intelligent family moving platform according to claim 1, It is characterized in that：Specifically include following steps：Step 1, camera and mechanical arm obtain the coordinate of object respectively, utilize obtained corresponding camera coordinates system and machinery Coordinate points under arm coordinate system, ask for the transition matrix of two coordinate systems；Step 2, in four quadrants, obtain that mechanical wrist coordinate is identical respectively, the different N group mechanical arm appearances of clamping jaw posture State coordinate；Step 3, the data of acquisition are carried out asking for object and the angle of X-axis；Step 4, it is fitted the Function Mapping relation of angle and attitude angle；Step 5, the coordinate of object is obtained by camera, by transformation matrix, obtains the coordinate under mechanical arm coordinate system；Step 6, by obtained coordinate, calculate object and the angle of X-axis；Step 7, the above-mentioned angle being calculated is brought into corresponding mapping function, asks for the attitude angle of clamping jaw；Step 8, the pose coordinate of final mechanical arm is sent in UR5 mechanical arms, completes object gripping action.
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| CN109249392A (en) * | 2018-08-31 | 2019-01-22 | 先临三维科技股份有限公司 | Calibration method, calibration element, device, equipment and the medium of workpiece grabbing system |
| CN109773778A (en) * | 2018-12-09 | 2019-05-21 | 西安航天精密机电研究所 | A kind of planing method of industrial robot joint spatial synchronization movement |
| CN109909998A (en) * | 2017-12-12 | 2019-06-21 | 北京猎户星空科技有限公司 | A kind of method and device controlling manipulator motion |
| CN109976255A (en) * | 2019-04-12 | 2019-07-05 | 清华大学 | A kind of Kinematic Calibration method for parallel main shaft head |
| CN110298878A (en) * | 2018-03-21 | 2019-10-01 | 北京猎户星空科技有限公司 | A kind of the determination method, apparatus and electronic equipment of target object three-dimensional pose |
| CN113084808A (en) * | 2021-04-02 | 2021-07-09 | 上海智能制造功能平台有限公司 | Monocular vision-based 2D plane grabbing method for mobile mechanical arm |
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