CN107450376B - A kind of service mechanical arm crawl attitude angle calculation method based on intelligent family moving platform - Google Patents
A kind of service mechanical arm crawl attitude angle calculation method based on intelligent family moving platform Download PDFInfo
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Abstract
The invention discloses a kind of, and the service mechanical arm based on intelligent family moving platform grabs attitude angle calculation method, belongs to the attitude angle analytical calculation of manipulator motion control field more particularly to mechanical arm.Coordinate position of the object in camera coordinates system is determined according to camera；Coordinate of the object in camera coordinates system is transformed into mechanical arm coordinate system by the transition matrix demarcated in advance；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 acquired by the mapped function relation of three components in the angle theta and mechanical arm posture；By the object pose of target article coordinate and mechanical arm tail end posture synthesis control mechanical arm, it is sent to mechanical arm, i.e. completion object grasping movement.Each component in attitude angle is determined by the angle theta of object and mechanical arm coordinate system X-axis, and crawl object is gone with specified posture to complete mechanical arm.
Description
Technical field
The invention belongs to the attitude angle analytical calculations of manipulator motion control field more particularly to mechanical arm.Mechanical arm appearance
The calculation method at state angle is to be calculated using the mapped function relation formula of the angle of object and coordinate system and each attitude angle.
Background technique
At present in intellectualization times, China, which is in, to be carried forward vigorously in process of industrialization, promotes domestic industrial machine
People's technology is constantly reformed, and most important executing agency of the mechanical arm as robot, using more more and more universal, is gradually seeped
Thoroughly to the various aspects such as military affairs, space flight, medical treatment, daily life and Edutainment, so to its research 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, priority research areas is: Mechanical transmission test and dynamics, the design of the structure of mechanical arm and path planning
Deng.When specifically used, need to consider structure design, the design of control system, kinematics analysis, dynamic analysis and track
The many aspects such as project study.Mechanical arm performance will affect the designing quality of entire robot.The effect of mechanical arm is to make end
It holds actuator to reach desired target location and completes corresponding job task.And the freedom degree quantity of mechanical arm and structure shape
Formula has direct relationship to the flexibility ratio, kinematic accuracy and working space of end effector.
Mechanical arm can classify according to mechanical arm arm coordinate, driving method and purposes.According to arm coordinate into
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 classification, can be divided into the mechanical arms such as hydraulic drive, Pneumatic Transmission, Electric Drive, machine driving；Classification has depending on the application
Special-purpose machinery arm, two class of universal mechanical arm.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, is connected group by six rotary joints by connecting rod
At, its six joints mostly use greatly different design forms, to meet the effective connection and power transmitting between each joint,
To increase development difficulty of the developer when controlling the athletic posture of mechanical arm.Especially when mechanical arm is held in circumstances not known
When 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 be all it is fixed on the base, thus mechanical arm can only be fixed on it is a certain
It is operated on a position, so being only applicable to the repetitive operation in industrial production under normal circumstances.And in real life
Circumstances not known in, mechanical arm to execute crawl object when, not only need the coordinate of object, it is also necessary to determine mechanical arm
Grab 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, mechanical arm in daily life universal 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, merge, shape
At the eyesight of people.The coordinate that object is determined by visual manner is a kind of very reasonable mode.
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 the difference of user task and 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, and make in image some regions total energy significantly attracting note that these regions often information rich in.Cause
The characteristics of this can be according to human visual system passes through certain bottoms of image using the universal law during human cognitive
Feature approximatively judges the marking area in image.The marking area extracted in this way is more conform with the subjective assessment of people, is vision
Upper important region.
Summary of the invention
When control mechanical arm carries out crawl object, the pose of given mechanical arm is needed, i.e. mechanical arm tail end to be reached
Position coordinates and posture coordinate.Wherein position coordinates can be easy to get by equipment such as external cameras, but posture coordinate is not
Uniquely, algorithm complexity height is determined using external equipment, it is more difficult to develop.
For sixdegree-of-freedom simulation when grabbing object, Attitude Calculation complexity is high, so introducing a kind of basis
The low complex degree attitude angle mapping function method of the posture of position computer tool arm end to object.This method can reduce appearance
The complexity that state calculates, strong robustness, it is readily appreciated that, facilitate exploitation.
The technical solution used of the invention is to be a kind of based on the service mechanical arm of intelligent family moving platform crawl attitude angle
The realization process of calculation method, this method is 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
It changes matrix coordinate of the object in camera coordinates system is transformed 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 acquires the posture of Current mechanical arm；Then by target article coordinate and machinery
The object pose of arm terminal angle synthesis control mechanical arm, is then sent to mechanical arm, i.e. completion object grasping movement.Pass through
The angle theta of object and mechanical arm coordinate system X-axis determines each component in attitude angle, to complete mechanical arm with specified
Posture removes crawl object.
It the described method comprises the following steps:
Step 1 obtains the coordinate of object
Object is extracted using the method extracted using conspicuousness, then determines seat of the object in camera coordinates system
Mark.
Step 2, under the coordinate to mechanical arm coordinate system of switch target object.
When control mechanical arm goes to complete the movement 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.
When mechanical arm and camera in mobile robot after the installation is completed, there are two coordinate system: camera coordinates system OcAnd machine
Tool arm coordinate system Om.And the transition matrix of existence anduniquess is converted to the point under camera coordinates system under mechanical arm coordinate system
Point.
Step 3 establishes angle-posture mapping function
When mechanical arm grabs object, both needed object in OmCoordinate in coordinate system, it is also necessary to when grabbing 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) different quadrant multiple groups mechanical arm posture coordinates are obtained
In mechanical arm coordinate system, Z=a plane is taken, a is constant；A plane is divided into four quadrants, in first quartile,
Mechanical arm is moved at target point, then keeps mechanical wrist coordinate constant, i.e. three freedom of the mechanical arm from origin
Degree remains unchanged, and the posture N (N value is greater than 5) for changing mechanical arm is secondary, obtains the different mechanical arm pose coordinate of N group: 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 is obtained according to same way in fourth quadrant
Take the mechanical arm pose coordinate that N group is different.Obtain 4N group mechanical arm pose coordinate.
2) angle of object and X-axis is calculated
According to obtained 4N group mechanical arm posture coordinate, 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, calculation method are as follows:
Obtain 4N angle theta={ θ1, θ2... ..., θN}.
3) corresponding relationship of object Yu X-axis angle and attitude angle is determined
Posture coordinate has a corresponding relationship in different quadrants, corresponding relationship such as Fig. 1, i.e., in different quadrants, attitude angle
Variation is embodied in different reference axis.It is calculated to simplify, takes the average value of the two to reduce error, obtain in different quadrants
In corresponding attitude angle.To there is such mapping relations: the angle theta of an object and X-axis just four differences as
The corresponding posture of existence anduniquess in limit.And quadrature where object is obtained 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
Determine above each mapping function.Pass through the 4N group posture coordinate got and the 4N group object and X asked
The angle theta data of axis, using angle theta as independent variable, using each attitude angle as variable, are carried out data fitting, obtained using multinomial
Approximate expression.The expression formula of fitting result is obtained using matlab.Thus the letter of the attitude angle of angle theta and 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.
It is directly input with the coordinate of object when carrying out crawl object by the way that mechanical arm posture is carried out function
Amount, is calculated mechanical arm tail end posture, the Attitude Calculation mode for avoiding passing through the complexity such as image recognition gestures of object determines machine
Tool arm posture.To simplify the exploitation process for using of mechanical arm, the use difficulty of mechanical arm is reduced.
Detailed description of the invention
Attitude angle corresponding relationship in Fig. 1 difference quadrant
Fig. 2 data mapped function relation formula, 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 respectively represent attitude angle Rx, Ry, Rz.
Fig. 3 the method for the present invention flow chart
Fig. 4 wrist position is 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
Specific embodiment
Further explaination is done to the present invention with reference to the accompanying drawings and detailed description.
The present invention is with the artificial hardware platform of intelligent Mobile Service machine, which is furnished with Ling Hua MXC-6321D industry control
(industrial personal computer uses i7-3610QE processor to machine, which is four cores, eight thread processors, dominant frequency 2.3GHz, installation
Win8 Professional operating system), (mechanical arm has six degree of freedom to the UR5 mechanical arm of Universal Robots company, and work model
Enclose for 850mm, repeating error is positive and negative 0.1mm), Microsoft's XBOX ONE Kinect2.0 3 D stereo video camera and RGK
REH-64 clamping jaw (quality 1.9kg, maximum grip power 45N).
The detailed process of present embodiment is to obtain object in camera coordinates by Kinect 3 D stereo camera first
Then coordinate under system reaches target point by control UR5 mechanical arm, obtains coordinate of the object under mechanical arm coordinate system.
The position for changing object, repeats the above 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 fixed value, then in first quartile, mechanical wrist is taken
Portion is fixed position, is changed the posture n times of clamping jaw, is taken N=10 here, and the pose coordinate of mechanical arm is recorded.Similarly at other three
It in quadrant, repeats the above process, available 4N group pose coordinate points.By the mathematical tools such as matlab to this 4N group data into
Row processing, seeks the angle of object and X-axis by position coordinates first, the posture being then fitted in the angle and each quadrant
The mapped function relation at angle establishes corresponding mapping function.Such as Fig. 2, the mapping function being fitted by data is as follows:
Third quadrant RzWith fourth quadrant RyWith the mapping relations of angle theta are as follows:
H (θ)=0.0449 θ3-1.0831θ2+0.2362θ+4.6996
Second quadrant RzWith first quartile RyWith the mapping relations of angle theta are as follows:
F (θ)=- 0.1949 θ3+1.1312θ2-3.1801θ+0.6266
Fourth quadrant RxWith the second quadrant RyWith first quartile RzAnd third quadrant RxWith the mapping relations of angle theta are as follows:
G (θ)=- 0.2323 θ3+0.3589θ2+1.6923θ-0.214
Third quadrant RyWith fourth quadrant RzWith the mapping relations of angle theta are as follows:
J (θ)=0.212 θ3-0.8481θ2+1.0164θ+2.0847
Second quadrant RxWith first quartile RxWith the mapping relations of angle theta are as follows:
K (θ)=0.0449 θ3-1.0831θ2+0.2362θ+4.6996
The attitude angle that mechanical arm crawl object can be calculated according to the above mapping function, then can control machinery
Arm carries out crawl object movement.Fig. 3 is algorithm flow chart of the 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 seek the transition matrix of two coordinate systems.
Step 2, in four quadrants, the mechanical wrist coordinate of acquisition is identical respectively, and the different N group of clamping jaw posture is mechanical
Arm posture coordinate, as shown in Figure 4.
Step 3 seek to the data of acquisition the angle of object and X-axis.
Step 4 is fitted the Function Mapping relationship of angle and attitude angle.
Step 5 obtains the seat under mechanical arm coordinate system by transformation matrix by the coordinate that camera obtains object
Mark.
Step 6 calculates the angle of object and X-axis by obtained coordinate.
The above-mentioned angle being calculated is brought into corresponding mapping function, seeks the attitude angle of clamping jaw by step 7.
Step 8 sends the pose coordinate of final mechanical arm in UR5 mechanical arm, completes object clamping movement.
An application example of the invention is given below.
The experimental situation selected is laboratory, and a cup is placed on testing an indoor desk, allows UR5 mechanical arm
Grasping movement is carried out, the accuracy of cup is grabbed by assessment mechanical arm to verify mechanical arm Attitude Calculation side proposed by the present invention
The validity of method.As shown in figure 4, having a cup on the desk in front of robot, UR5 mechanical arm is needed to be grabbed
It takes, is put on the desk on side.Fig. 5 (a) is experimental duties scene figure, and Fig. 5 (b) is using method proposed by the present invention according to mesh
The clamping jaw posture that is calculated of mark object, it can be seen that clamping jaw posture is a very reasonable posture relative to cup, in Fig. 5
(e), (d), (c), the movement of object (f) is grabbed for UR5 mechanical arm.
In experimentation, by the reasonability and Accuracy Verification calculating machine proposed by the present invention that grab cup posture
The validity of arm attitude angle method, while the method using calculating machine arm posture proposed by the present invention is also shown, grab mesh
The posture for marking object is rationally and accurate, and in program, and the complexity of program reduces, and improves the real-time and calculating of algorithm
The speed that mechanical arm pose calculates reduces the difficulty of mechanical arm control, facilitates the gesture stability of mechanical arm.
Claims (2)
1. a kind of service mechanical arm based on intelligent family moving platform grabs attitude angle calculation method, it is characterised in that: this method
Realization 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
Coordinate of the object in camera coordinates system is transformed into mechanical arm coordinate system by battle array；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 arm coordinate system is calculated, the angle theta and machinery are then passed through
The mapped function relation of three components in arm posture acquires the posture of Current mechanical arm；Then by target article coordinate and mechanical arm
The object pose of terminal angle synthesis control mechanical arm, is then sent to mechanical arm, i.e. completion object grasping movement；Pass through mesh
The angle theta of object and mechanical arm coordinate system X-axis is marked to determine each component in attitude angle, to complete mechanical arm with specified appearance
State removes crawl object；
It the described method comprises the following steps:
Step 1 obtains the coordinate of object
Object is extracted using the method that conspicuousness is extracted, then determines coordinate of the object in camera coordinates system；
Step 2, under the coordinate to mechanical arm coordinate system of switch target object；
When control mechanical arm goes to complete the movement of crawl object, finally entering the coordinate of ground point in mechanical arm is to be based on
Under the coordinate system of mechanical arm, so the coordinate of object is transformed under mechanical arm coordinate system by transition matrix；
When mechanical arm and camera in mobile robot after the installation is completed, there are two coordinate system: camera coordinates system OcIt is sat with mechanical arm
Mark system Om；And the transition matrix of existence anduniquess makes the point under camera coordinates system be converted to the point under mechanical arm coordinate system；
Step 3 establishes angle-posture mapping function
When mechanical arm grabs object, both needed object in OmCoordinate in coordinate system, it is also necessary to grab crawl when 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) different quadrant multiple groups mechanical arm posture coordinates are obtained
In mechanical arm coordinate system, Z=a plane is taken, a is constant；A plane is 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
It holds constant, changes the posture n times of mechanical arm, N value is greater than 5, obtains the different mechanical arm pose coordinate of N group: 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 obtains N according to same way in fourth quadrant
The different mechanical arm pose coordinate of group；Obtain 4N group mechanical arm pose coordinate；
2) angle of object and X-axis is calculated
According to obtained 4N group mechanical arm pose coordinate, the position coordinates P in mechanical arm pose coordinate is takenm(Xm,Ym,Zm) calculate mesh
Mark object and OmThe angle theta of the X-axis of coordinate system, calculation method are as follows:
Obtain 4N angle theta={ θ1, θ2... ..., θN}.
3) corresponding relationship of object Yu X-axis angle and attitude angle is determined
Mechanical arm pose coordinate has corresponding relationship in different quadrants, i.e., in different quadrants, the variation of attitude angle is embodied in not
In same reference axis；It is calculated to simplify, takes the average value of the two to reduce error, obtain corresponding in different quadrants
Attitude angle；To there is such mapping relations: an object and the angle theta of the X-axis just existence anduniquess in four different quadrants
Corresponding posture；And quadrature where object is obtained according to object position coordinates, so that it is determined that a mechanical arm position
Appearance 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 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
The mapping relations of angle θ 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 determined
Determine above each mapping function；By the 4N group mechanical arm pose coordinate got and the 4N group object asked with
The angle theta data of X-axis, using angle theta as independent variable, using each attitude angle as variable, are carried out data fitting, obtained using multinomial
To approximate expression；The expression formula of fitting result is obtained using matlab；Thus the attitude angle of angle theta and each quadrant is established
Function Mapping relationship；
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 based on intelligent family moving platform according to claim 1 grabs attitude angle calculation method,
It is characterized by:
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 seek the transition matrix of two coordinate systems；
Step 2, in four quadrants, the mechanical wrist coordinate of acquisition is identical respectively, the different N group mechanical arm appearance of clamping jaw posture
State coordinate；
Step 3 seek to the data of acquisition the angle of object and X-axis；
Step 4 is fitted the Function Mapping relationship of angle and attitude angle；
Step 5 obtains the coordinate under mechanical arm coordinate system by transformation matrix by the coordinate that camera obtains object；
Step 6 calculates the angle of object and X-axis by obtained coordinate；
The above-mentioned angle being calculated is brought into corresponding mapping function, seeks the attitude angle of clamping jaw by step 7；
Step 8 sends the pose coordinate of final mechanical arm in UR5 mechanical arm, completes object clamping movement.
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| CN109909998B (en) * | 2017-12-12 | 2020-10-02 | 北京猎户星空科技有限公司 | Method and device for controlling movement of mechanical arm |
| CN110298878B (en) * | 2018-03-21 | 2021-03-12 | 北京猎户星空科技有限公司 | Method and device for determining three-dimensional pose of target object and electronic equipment |
| CN109249392B (en) * | 2018-08-31 | 2021-03-23 | 先临三维科技股份有限公司 | Calibration method, calibration piece, device, equipment and medium for workpiece grabbing system |
| CN109773778B (en) * | 2018-12-09 | 2020-09-22 | 西安航天精密机电研究所 | Planning method for joint space synchronous motion of industrial robot |
| CN109976255B (en) * | 2019-04-12 | 2020-08-18 | 清华大学 | Kinematics calibration method for parallel spindle head |
| CN113084808B (en) * | 2021-04-02 | 2023-09-22 | 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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| CN104626206B (en) * | 2014-12-17 | 2016-04-20 | 西南科技大学 | The posture information measuring method of robot manipulating task under a kind of non-structure environment |
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