CN108161936B - Optimized robot calibration method and device - Google Patents
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- CN108161936B CN108161936B CN201711442406.5A CN201711442406A CN108161936B CN 108161936 B CN108161936 B CN 108161936B CN 201711442406 A CN201711442406 A CN 201711442406A CN 108161936 B CN108161936 B CN 108161936B
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
The invention provides an optimized robot calibration method and device, wherein the method comprises the following steps: determining a target track according to configuration information of the robot to be calibrated; calibrating a coordinate system based on the calibration track to obtain a mapping relation between a coordinate system of the laser tracker and a coordinate system of the robot to be calibrated; carrying out calibration measurement according to the calibration track to obtain calibration measurement data; and carrying out calibration calculation according to the mapping relation and the calibration measurement data to obtain a calibration result. The method can provide a calibration track and a calibration track for a user, does not need user-defined setting, can automatically calculate a calibration result, can simultaneously control the robot to be calibrated and the laser tracker through the software of the test system, is simple to operate, reduces the technical requirements on the user, improves the calibration efficiency, and solves the technical problems of complex operation, high requirements on testers and low efficiency of the existing robot calibration method.
Description
Technical Field
The invention relates to the technical field of robot calibration, in particular to an optimized robot calibration method and device.
Background
The robot is a core device in modern production, and according to relevant regulations, the robot needs to be calibrated and subjected to performance testing before leaving a factory or after being used for a long time so as to ensure that the precision and the performance of the robot meet requirements. In the conventional method for calibrating and testing the performance of the robot by using the laser tracker, the laser tracker needs to be manually pointed to a target ball in each test cycle, and the robot is operated to start measurement after light tracing is successful.
The existing method generally needs to manually set a test pose, manually store original data, define a calibration track by user and manually calculate a calibration result, and repeatedly switches operation between a robot system and a laser tracker system, so that the operation process is complex and the requirement on testers is high.
In conclusion, the existing robot calibration method is complex in operation, high in requirement on testers and low in efficiency.
Disclosure of Invention
In view of this, the present invention provides an optimized robot calibration method and apparatus to solve the technical problems of complicated operation, high requirement on testing personnel, and low efficiency of the existing robot calibration method.
In a first aspect, an embodiment of the present invention provides an optimized robot calibration method, which is applied to test system software, where the test system software is arranged on a terminal device, and the method includes:
determining a target track according to configuration information of a robot to be calibrated, wherein the target track comprises: calibrating the track and calibrating the track;
calibrating a coordinate system based on the calibration track to obtain a mapping relation between a coordinate system of the laser tracker and a coordinate system of the robot to be calibrated;
performing calibration measurement according to the calibration trajectory to obtain calibration measurement data, wherein the calibration measurement data includes: the terminal coordinates of the robot to be calibrated, the attitude angle of the robot to be calibrated and the coordinates of the target ball measured by the laser tracker;
and performing calibration calculation according to the mapping relation and the calibration measurement data to obtain a calibration result, wherein the calibration result at least comprises: corrected DH parameters, corrected joint angles, corrected residual values.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where before determining the target trajectory according to the configuration information of the robot to be calibrated, the method further includes:
respectively establishing connection relations with a robot system to be calibrated and a laser tracker,
wherein the laser tracker is pointed to a target ball fixed at the end of the robot to be calibrated in advance by means of manual light guiding, and the robot system to be calibrated comprises: the robot to be calibrated and the robot controller.
With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where determining a target trajectory according to configuration information of a robot to be calibrated includes:
acquiring configuration information of the robot to be calibrated, which is selected by a user, wherein the configuration information comprises: the dimension information of the robot to be calibrated and the motion space information of the robot to be calibrated;
and determining a target track according to the configuration information.
With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the calibrating the coordinate system based on the calibration trajectory, and obtaining a mapping relationship between a laser tracker coordinate system and a coordinate system of a robot to be calibrated includes:
receiving a calibration track selected by a user;
sending the calibration track to the robot controller so that the robot controller controls the robot to be calibrated to move according to the calibration track;
receiving first calibration data returned by the robot controller in the calibration track and second calibration data measured by the laser tracker, wherein the first calibration data is terminal coordinates of the robot to be calibrated, and the second calibration data is target ball coordinates measured by the laser tracker;
calculating a conversion matrix between the first calibration data and the second calibration data, wherein the conversion matrix is capable of converting the second calibration data into first calibration data;
and taking the conversion matrix as the mapping relation between the laser tracker coordinate system and the robot coordinate system to be calibrated.
With reference to the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where performing calibration measurement according to the calibration trajectory, and obtaining calibration measurement data includes:
acquiring a calibration track selected by a user;
sending the calibration track to a robot controller so that the robot controller controls the robot to be calibrated to move according to the calibration track;
detecting whether the laser tracker tracks the target ball at the tail end of the robot to be calibrated in real time;
if the laser tracker tracks the target ball at the tail end of the robot to be calibrated, receiving the tail end coordinate of the robot to be calibrated and the attitude angle of the robot to be calibrated returned by the robot controller in the calibration track, and the target ball coordinate measured by the laser tracker;
and if the target ball at the tail end of the robot to be calibrated is not tracked by the laser tracker, controlling the laser tracker to point to a target position, and receiving a tail end coordinate of the robot to be calibrated, a posture angle of the robot to be calibrated and a target position coordinate measured by the laser tracker, wherein the target position is a position where the target ball is supposed to be located, and the tail end coordinate of the robot to be calibrated and the posture angle are returned by the robot controller, and the target position coordinate is calculated according to the mapping relation and the calibration track.
In a second aspect, an embodiment of the present invention further provides an optimized robot calibration apparatus, where the apparatus is disposed on a terminal device, and the apparatus includes:
the determining module is used for determining a target track according to configuration information of the robot to be calibrated, wherein the target track comprises: calibrating the track and calibrating the track;
the coordinate system calibration module is used for calibrating a coordinate system based on the calibration track to obtain a mapping relation between a coordinate system of the laser tracker and a coordinate system of the robot to be calibrated;
a calibration measurement module, configured to perform calibration measurement according to the calibration trajectory to obtain calibration measurement data, where the calibration measurement data includes: the terminal coordinates of the robot to be calibrated, the attitude angle of the robot to be calibrated and the coordinates of the target ball measured by the laser tracker;
a calibration calculation module, configured to perform calibration calculation according to the mapping relationship and the calibration measurement data to obtain a calibration result, where the calibration result at least includes: corrected DH parameters, corrected joint angles, corrected residual values.
With reference to the second aspect, an embodiment of the present invention provides a first possible implementation manner of the second aspect, where the apparatus further includes:
the establishing module is used for respectively establishing the connection relation with the robot system to be calibrated and the laser tracker,
wherein the laser tracker is pointed to a target ball fixed at the end of the robot to be calibrated in advance by means of manual light guiding, and the robot system to be calibrated comprises: the robot to be calibrated and the robot controller.
With reference to the second aspect, an embodiment of the present invention provides a second possible implementation manner of the second aspect, where the determining module includes:
the first obtaining unit is used for obtaining configuration information of the robot to be calibrated, wherein the configuration information comprises: the dimension information of the robot to be calibrated and the motion space information of the robot to be calibrated;
and the determining unit is used for determining the target track according to the configuration information.
With reference to the second aspect, an embodiment of the present invention provides a third possible implementation manner of the second aspect, where the coordinate system calibration module includes:
the first receiving unit is used for receiving a calibration track selected by a user;
the first sending unit is used for sending the calibration track to the robot controller so that the robot controller controls the robot to be calibrated to move according to the calibration track;
a second receiving unit, configured to receive first calibration data returned by the robot controller in the calibration trajectory and second calibration data measured by the laser tracker, where the first calibration data is coordinates of an end of the robot to be calibrated, and the second calibration data is coordinates of a target ball measured by the laser tracker;
a calculation unit configured to calculate a conversion matrix between the first calibration data and the second calibration data, wherein the conversion matrix is capable of converting the second calibration data into the first calibration data;
and the setting unit is used for taking the conversion matrix as the mapping relation between the coordinate system of the laser tracker and the coordinate system of the robot to be calibrated.
With reference to the second aspect, an embodiment of the present invention provides a fourth possible implementation manner of the second aspect, where the calibration measurement module includes:
the second acquisition unit is used for acquiring the calibration track selected by the user;
the second sending unit is used for sending the calibration track to a robot controller so that the robot controller controls the robot to be calibrated to move according to the calibration track;
the real-time detection unit is used for detecting whether the laser tracker tracks the target ball at the tail end of the robot to be calibrated in real time;
a third receiving unit, configured to receive, if the laser tracker is detected to track the target ball at the end of the robot to be calibrated, the end coordinate of the robot to be calibrated and the attitude angle of the robot to be calibrated, which are returned by the robot controller in the calibration trajectory, and the target ball coordinate measured by the laser tracker;
and the control unit is used for controlling the laser tracker to point to a target position if the laser tracker does not track the target ball at the tail end of the robot to be calibrated through detection, and receiving the tail end coordinate of the robot to be calibrated and the attitude angle of the robot to be calibrated, which are returned by the robot controller, and the target position coordinate measured by the laser tracker, wherein the target position is the position where the target ball should be located, which is calculated according to the mapping relation and the calibration track.
The embodiment of the invention has the following beneficial effects: the embodiment of the invention provides an optimized robot calibration method and device, wherein the method is applied to test system software, the test system software is arranged on terminal equipment, and the method comprises the following steps: determining a target track according to configuration information of the robot to be calibrated, wherein the target track comprises: calibrating the track and calibrating the track; calibrating a coordinate system based on the calibration track to obtain a mapping relation between a coordinate system of the laser tracker and a coordinate system of the robot to be calibrated; carrying out calibration measurement according to the calibration track to obtain calibration measurement data, wherein the calibration measurement data comprises: the terminal coordinates of the robot to be calibrated, the attitude angle of the robot to be calibrated and the coordinates of the target ball measured by the laser tracker; and performing calibration calculation according to the mapping relation and the calibration measurement data to obtain a calibration result, wherein the calibration result at least comprises: corrected DH parameters, corrected joint angles, corrected residual values.
The existing robot calibration method needs manual setting of test poses, manual storage of original data, self-definition of calibration tracks and manual calculation of calibration results, and has the disadvantages of complex operation of the calibration process, high requirement on testers and low efficiency. Compared with the existing robot calibration method, the embodiment of the invention provides an optimized robot calibration method, which can automatically determine a calibration track and a calibration track according to the configuration information of a robot to be calibrated, further perform coordinate system calibration based on the calibration track to obtain the mapping relation between the laser tracker coordinate system and the robot coordinate system to be calibrated, perform calibration measurement according to the calibration track to obtain calibration measurement data, and finally calculate the calibration result according to the mapping relation and the calibration measurement data. The method can provide a calibration track and a calibration track for a user, does not need user-defined setting, can automatically calculate a calibration result, and can simultaneously control the robot to be calibrated and the laser tracker through the software of the test system, thereby reducing repeated switching operation between the robot system and the laser tracker system, having simple operation, lowering technical requirements on the user, improving calibration efficiency, and relieving the technical problems of complicated operation, high requirements on testers and low efficiency of the existing robot calibration method.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of an optimized robot calibration method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a connection structure of a testing apparatus according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a process of determining a target trajectory according to configuration information of a robot to be calibrated according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating that a coordinate system is calibrated based on a calibration trajectory to obtain a mapping relationship between a laser tracker coordinate system and a robot coordinate system to be calibrated according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of coordinate system calibration provided by an embodiment of the present invention;
fig. 6 is a flowchart illustrating calibration measurement performed according to a calibration trajectory to obtain calibration measurement data according to an embodiment of the present invention;
fig. 7 is a structural block diagram of an optimized robot calibration device according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For the convenience of understanding the embodiment, a detailed description will be given to an optimized robot calibration method disclosed in the embodiment of the present invention.
The first embodiment is as follows:
an optimized robot calibration method is applied to test system software, the test system software is arranged on a terminal device, and with reference to fig. 1, the method includes:
s102, determining a target track according to configuration information of the robot to be calibrated, wherein the target track comprises: calibrating the track and calibrating the track;
in the embodiment of the invention, the execution subject of the optimized robot calibration method is test system software, and the test system software is installed on the terminal equipment. Specifically, the terminal device may be a computer.
The test system software in the invention can determine the target track according to the configuration information of the robot to be calibrated without customizing the track by a user, and the specific content will be described in the following, and is not described again.
S104, calibrating a coordinate system based on the calibration track to obtain a mapping relation between a coordinate system of the laser tracker and a coordinate system of the robot to be calibrated;
after the calibration track is obtained, the coordinate system is calibrated based on the calibration track, which will be described in detail below, and is not described herein again, and finally, a mapping relationship between the laser tracker coordinate system and the robot coordinate system to be calibrated is obtained.
S106, performing calibration measurement according to the calibration track to obtain calibration measurement data, wherein the calibration measurement data comprises: the terminal coordinates of the robot to be calibrated, the attitude angle of the robot to be calibrated and the coordinates of the target ball measured by the laser tracker;
after the coordinate system calibration is performed, calibration measurement is performed according to the calibration trajectory selected by the user, so as to obtain calibration measurement data, and the specific content is described below.
S108, performing calibration calculation according to the mapping relation and the calibration measurement data to obtain a calibration result, wherein the calibration result at least comprises: corrected DH parameters, corrected joint angles, corrected residual values.
After the calibration measurement data is obtained, the test system software can automatically calculate the calibration result according to the mapping relation and the calibration measurement data.
The principle of the calculation is briefly described as follows:
consider the general system of linear equations, y ═ f (x, β) ═ a (x) β, where (x) is1,y1)～(xm,ym) For m-dimensional observation, β ═ β1，...，βn]For n-dimensional parameters to be identified, m>n。
And (3) carrying out regularization: a. theTAβ＝ATy，
If the coefficient matrix ATA full rank, a least squares solution can be obtained β ═ ATA)-1ATy
Because the rank of an equation provided by the generally acquired data is larger than the dimension of the parameter to be identified, and m is larger than or equal to n, accurate geometric errors cannot be obtained, so that all measurement errors are corrected without errors. At this point, the least squares solution gives the residual ResThe smallest estimate.
Taking calibration of DH parameters as an example, y is a value obtained by processing a mapping relation of points measured by a stress light tracker, x is a joint angle (namely an attitude angle of a robot to be calibrated) sent by a robot controller, a coefficient matrix A is obtained according to a robot kinematics equation and an initial DH parameter, β is a correction deviation of the DH parameter, and a residual R isesIs the distance between y and A (x) β in column vector space.
According to the above description, a corrected deviation β of the DH parameter can be obtained, the DH parameter is corrected once according to the corrected deviation β to obtain a corrected DH parameter, and a residual R corresponding to the corrected parameter is calculatedesWhen residual error ResWhen the size of the residual error R is too large, a new coefficient matrix A is obtained by using the DH parameters after primary correction, a new correction deviation β of the DH parameters is solved in an iterative mode, the DH parameters are corrected for primary correction according to the correction deviation β of the new DH parameters, and finally the residual error R is enabled to beesThe requirements are met.
For example, if a value of the initial DH parameter is 10, the actual DH parameter is 10.111, and the correction deviation β of the DH parameter obtained by solving the calibration process is 0.1, the DH parameter after one correction is 10.1Calculating the residual R at this timeesIf the value is still larger, a new coefficient matrix a is obtained by using 10.1, a new correction deviation β is further obtained, for example, 0.01, the DH parameter after correction is 10.11, and the residual R at that time is calculatedesAnd if the requirement is met, stopping iteration after the requirement is met to obtain the corrected DH parameters.
The calculation process is automatically calculated by the test system software and does not need manual calculation.
The calculation process of the corrected joint angle and the corrected residual value is the same as that in the prior art, and is not described in detail in the embodiment of the invention.
That is, if the user selects the calibration track on the software and also selects the calibration result to automatically calculate, the software performs calibration measurement to obtain the calibration measurement data, then automatically calculates the calibration result, and outputs the calibration result after the calculation is completed.
In addition, the test system software in the embodiment of the invention also supports the function of automatically importing the calibration measurement data for calculation. Specifically, after the calibration measurement data is obtained, the calibration measurement data is imported into software, and the software can automatically complete calculation to obtain a calibration result. And manual calculation is not needed, and the calculation accuracy is improved.
The existing robot calibration method needs manual setting of test poses, manual storage of original data, self-definition of calibration tracks and manual calculation of calibration results, and has the disadvantages of complex operation of the calibration process, high requirement on testers and low efficiency. Compared with the existing robot calibration method, the embodiment of the invention provides an optimized robot calibration method, which can automatically determine a calibration track and a calibration track according to the configuration information of a robot to be calibrated, further perform coordinate system calibration based on the calibration track to obtain the mapping relation between the laser tracker coordinate system and the robot coordinate system to be calibrated, perform calibration measurement according to the calibration track to obtain calibration measurement data, and finally calculate the calibration result according to the mapping relation and the calibration measurement data. The method can provide a calibration track and a calibration track for a user, does not need user-defined setting, can automatically calculate a calibration result, and can simultaneously control the robot to be calibrated and the laser tracker through the software of the test system, thereby reducing repeated switching operation between the robot system and the laser tracker system, having simple operation, lowering technical requirements on the user, improving calibration efficiency, and relieving the technical problems of complicated operation, high requirements on testers and low efficiency of the existing robot calibration method.
The above description briefly introduces the optimized robot calibration method, and the details related thereto are described in detail below.
Optionally, before determining the target trajectory according to the configuration information of the robot to be calibrated, the method further includes:
respectively establishing connection relations with a robot system to be calibrated and a laser tracker,
wherein, the mode of having passed through manual light guide in advance will laser tracker point to fix at the terminal target ball of waiting to mark the robot, wait to mark the robot system and include: a robot to be calibrated and a robot controller.
In the embodiment of the invention, before the test system software is used for testing, the devices in the test system software are arranged. Referring to fig. 2, a computer with test system software installed is connected to the robot to be calibrated, the robot controller and the laser tracker through signal lines or power lines.
The distance L between the laser tracker and the base of the robot to be calibrated meets the requirement that L × phi is more than or equal to 2R, wherein phi is the maximum rotation angle of the laser tracker, and R is the working space radius of the robot to be calibrated.
And then, starting test system software on the computer, and connecting the robot to be calibrated and the laser tracker in the software, thereby establishing the connection relation between the robot system to be calibrated and the laser tracker.
The test system software can call the bottom programs of the robot to be calibrated and the laser tracker, directly operate the robot to be calibrated and the laser tracker in the software interface and read the data of the robot to be calibrated and the laser tracker. The existing functions include: the method comprises the steps of controlling a robot to be calibrated to move to a specified position, controlling the robot to be calibrated to move to a specified pose, controlling the robot to be calibrated to move according to a specified track and speed, reading the tail end position and the attitude angle of the robot to be calibrated, controlling a laser tracker to move to a specified position, controlling the laser tracker to select a measurement mode, controlling the laser tracker to start and interrupt measurement, reading data measured by the laser tracker, and the like. The functions meet the requirements of robot calibration and performance test. Therefore, in the calibration process, the operation can be completed only by using the software of the test system without switching between the robot operating system and the laser tracker operating system.
And after the connection is finished, selecting automatic calibration in the test system software. The test system software in the embodiment of the invention can also have a performance test function, and the performance test function is not specifically described in the embodiment of the invention.
In addition, the laser needs to be manually guided once, so that the laser emitted by the laser tracker points to the target ball fixed at the tail end of the robot to be calibrated.
Optionally, referring to fig. 3, determining the target trajectory according to the configuration information of the robot to be calibrated includes:
s301, obtaining configuration information of the robot to be calibrated, wherein the configuration information comprises: the method comprises the steps of obtaining size information of a robot to be calibrated and motion space information of the robot to be calibrated;
after the connection and the manual light guiding between the robot system to be calibrated and the laser tracker are completed, a user configures the robot to be calibrated on the test system software, and the test system software acquires the configuration information of the robot to be calibrated. Specifically, the configuration information includes: the dimension information (namely the initial DH parameters) of the robot to be calibrated and the motion space information of the robot to be calibrated.
And S302, determining a target track according to the configuration information.
And after the configuration information of the robot to be calibrated is obtained, a recommended target track is given according to the configuration information. The target track meets the requirements of GB/T12642-2013, industrial robot performance specifications and test method standards thereof.
After the target trajectory is obtained, referring to fig. 4, performing coordinate system calibration based on the calibration trajectory, and obtaining a mapping relationship between the laser tracker coordinate system and the robot coordinate system to be calibrated includes:
s401, receiving a calibration track selected by a user;
and after the target track recommended to be used by the software is obtained, receiving a calibration track selected by a user.
Of course, the user can also import and edit the custom track. If a custom trajectory is used, the direction of the end of the robot to be calibrated needs to be kept unchanged and consistent with the direction in the subsequent calibration.
S402, sending the calibration track to a robot controller so that the robot controller controls the robot to be calibrated to move according to the calibration track;
after the calibration track is obtained, the calibration track is sent to the robot controller, and therefore the robot controller can control the robot to be calibrated to move according to the calibration track.
S403, receiving first calibration data returned by the robot controller in the calibration track and second calibration data measured by the laser tracker, wherein the first calibration data are terminal coordinates of the robot to be calibrated, and the second calibration data are target ball coordinates measured by the laser tracker;
s404, calculating a conversion matrix between the first calibration data and the second calibration data, wherein the conversion matrix can convert the second calibration data into the first calibration data;
the calculation process is automatically completed by software without manual calculation, and the calculation principle is described as follows:
specifically, the first calibration data (i.e. the end coordinates of the robot to be calibrated) is denoted as pA(i)＝(xc(i),yc(i),zc(i))TThe subscript A being indicated inIn the robot coordinate system, i is 1,2, …, and n denotes the serial number of the measurement point. The second calibration data (coordinates of the target sphere measured by the laser tracker) is recorded as mB(i)＝(xm(i),ym(i),zm(i))TThe subscript B is indicated in the laser tracker coordinate system.
Referring to fig. 5, fig. 5 is a schematic diagram of coordinate system calibration. According to the scheme, pA(i)＝mA(i)+[pA(i)-mA(i)]Wherein m isA(i) The position of the target ball in the coordinate system of the robot to be calibrated. Because the direction of the tail end of the robot to be calibrated is not changed, the relative position of the target ball and the tail end of the robot to be calibrated is also not changed, namely [ p ]A(i)-mA(i)]Is a constant.
Then, the relationship is converted according to the coordinate system,
wherein, is
Is a rotation matrix (3 × 3) from the laser tracker coordinate system to the coordinate system of the robot to be calibrated,
for the origin B of the coordinate system of the laser tracker0In the position of the robot coordinate system to be calibrated, because the laser tracker coordinate system and the robot coordinate system to be calibrated are not changed in the measuring process,
and
is a constant.
From the two equations above, one can obtain:
is easy to obtain
Is a constant value, thenIs provided with
Let matrix E ═ pA(2)-pA(1)...pA(n)-pA(n-1)]，
Matrix F ═ mB(2)-mB(1)...mB(n)-mB(n-1)]。
Then there is a change in the number of,
substituting the first calibration data and the second calibration data to calculate a rotation matrix
Then obtained by calculation
Substitution into
In (b) can obtain
The value of (D) is denoted as C.
Depending on the nature of the transformation matrix (4 × 4), the transformation matrix may be derived
And is provided with
Namely, the position of the tail end of the robot to be calibrated in the coordinate system of the robot to be calibrated can be obtained according to the position of the target ball in the coordinate system of the laser tracker.
And S405, taking the conversion matrix as a mapping relation between the coordinate system of the laser tracker and the coordinate system of the robot to be calibrated.
Optionally, referring to fig. 6, performing calibration measurement according to the calibration trajectory, and obtaining calibration measurement data includes:
s601, acquiring a calibration track selected by a user;
after completing the calibration of the coordinate system, the user selects a calibration trajectory in the test system software. Certainly, the test system software in the embodiment of the invention also supports self-importing and editing of the custom calibration track. When the user-defined calibration track is used, attention needs to be paid to keeping the direction of the tail end of the robot to be calibrated unchanged and consistent with that of a coordinate system during calibration.
The user can select the calculation mode of the calibration result, and the test system software obtains the calibration track.
S602, sending the calibration track to a robot controller so that the robot controller controls the robot to be calibrated to move according to the calibration track;
and after the calibration track is obtained, the calibration track is sent to the robot controller, so that the robot controller controls the robot to be calibrated to move according to the corresponding calibration track, and at the moment, the laser tracker simultaneously tracks the target ball at the tail end of the robot to be calibrated.
S603, detecting whether the laser tracker tracks the target ball at the tail end of the robot to be calibrated in real time;
and in the testing process, detecting whether the laser tracker tracks the target ball at the tail end of the robot to be calibrated in real time. Because the moving speed of the robot to be calibrated is high or the mechanical arm of the robot to be calibrated blocks the laser emitted by the laser tracker sometimes, the laser tracker cannot track the target ball at the tail end of the robot to be calibrated, namely, the light is cut off.
S604, if the target ball at the tail end of the robot to be calibrated is tracked by the laser tracker, receiving the tail end coordinate of the robot to be calibrated and the attitude angle of the robot to be calibrated, which are returned by the robot controller in the calibration track, and the target ball coordinate measured by the laser tracker;
and S605, if the laser tracker does not track the target ball at the tail end of the robot to be calibrated, controlling the laser tracker to point to a target position, and receiving the tail end coordinate of the robot to be calibrated, the attitude angle of the robot to be calibrated and the target position coordinate measured by the laser tracker, wherein the target position is the position where the target ball is supposed to be located, and the position is calculated according to the mapping relation and the calibration track.
If the target ball at the tail end of the robot to be calibrated is not tracked by the laser tracker, the software controls the laser tracker to point to the target position. The target position is a position where the target ball should be calculated according to the mapping relationship and the calibration trajectory, and specifically, when a light-off condition occurs at a certain moment, software calculates the position where the target ball should be located according to a terminal coordinate (i.e., the calibration trajectory) of the robot to be calibrated during light-off and the mapping relationship, so that the laser tracker points to the position.
Because the absolute positioning accuracy of the robot is generally very small compared with the diameter of the target ball, the laser tracker can be basically ensured to shoot the laser to the target ball when pointing to the target position.
The optimized robot calibration method provided by the embodiment of the invention has the following advantages:
1. in the operation process, the robot and the laser tracker can be controlled in the same software interface, and frequent switching between two operation systems is not needed;
2. in the calibration process, a user does not need to operate all the time, and can automatically operate only by carrying out light guiding and basic setting once before the calibration is started. The calibration results may be automatically calculated. The labor consumption is saved, and the technical requirements on operators are reduced;
3. calibration tracks of the robot and the laser tracker are preset, so that the track does not need to be designed by self when the robot is calibrated, and the technical requirement on an operator is reduced;
4. after the light is cut off, the laser tracker can be automatically guided to track the target ball fixed at the tail end of the robot.
Example two:
an optimized robot calibration device, which is arranged on a terminal device and is referred to fig. 7, comprises:
the determining module 11 is configured to determine a target trajectory according to configuration information of the robot to be calibrated, where the target trajectory includes: calibrating the track and calibrating the track;
the coordinate system calibration module 12 is used for calibrating a coordinate system based on the calibration track to obtain a mapping relation between a coordinate system of the laser tracker and a coordinate system of the robot to be calibrated;
a calibration measurement module 13, configured to perform calibration measurement according to the calibration trajectory to obtain calibration measurement data, where the calibration measurement data includes: the terminal coordinates of the robot to be calibrated, the attitude angle of the robot to be calibrated and the coordinates of the target ball measured by the laser tracker;
a calibration calculation module 14, configured to perform calibration calculation according to the mapping relationship and the calibration measurement data to obtain a calibration result, where the calibration result at least includes: corrected DH parameters, corrected joint angles, corrected residual values.
The embodiment of the invention provides an optimized robot calibration device, which can automatically determine a calibration track and a calibration track according to configuration information of a robot to be calibrated, further calibrate a coordinate system based on the calibration track to obtain a mapping relation between a laser tracker coordinate system and the robot coordinate system to be calibrated, perform calibration measurement according to the calibration track to obtain calibration measurement data, and finally calculate a calibration result according to the mapping relation and the calibration measurement data. The device can provide a calibration track and a calibration track for a user, does not need user-defined setting, can automatically calculate a calibration result, and can simultaneously control the robot to be calibrated and the laser tracker through the software of the test system, thereby reducing repeated switching operation between the robot system and the laser tracker system, being simple in operation, reducing the technical requirements on the user, improving the calibration efficiency, and relieving the technical problems of complicated operation, high requirements on testers and low efficiency of the existing robot calibration device.
Optionally, the apparatus further comprises:
the establishing module is used for respectively establishing the connection relation with the robot system to be calibrated and the laser tracker,
wherein, the mode of having passed through manual light guide in advance will laser tracker point to fix at the terminal target ball of waiting to mark the robot, wait to mark the robot system and include: a robot to be calibrated and a robot controller.
Optionally, the determining module includes:
the calibration method includes a first obtaining unit, configured to obtain configuration information of a robot to be calibrated, where the configuration information includes: the method comprises the steps of obtaining size information of a robot to be calibrated and motion space information of the robot to be calibrated;
and the determining unit is used for determining the target track according to the configuration information.
Optionally, the coordinate system calibration module comprises:
the first receiving unit is used for receiving a calibration track selected by a user;
the first sending unit is used for sending the calibration track to the robot controller so that the robot controller controls the robot to be calibrated to move according to the calibration track;
the second receiving unit is used for receiving first calibration data returned by the robot controller in the calibration track and second calibration data measured by the laser tracker, wherein the first calibration data is the terminal coordinates of the robot to be calibrated, and the second calibration data is the target ball coordinates measured by the laser tracker;
a calculation unit configured to calculate a conversion matrix between the first calibration data and the second calibration data, wherein the conversion matrix is capable of converting the second calibration data into the first calibration data;
and the setting unit is used for taking the conversion matrix as the mapping relation between the coordinate system of the laser tracker and the coordinate system of the robot to be calibrated.
Optionally, the calibration measurement module includes:
the second acquisition unit is used for acquiring the calibration track selected by the user;
the second sending unit is used for sending the calibration track to the robot controller so that the robot controller controls the robot to be calibrated to move according to the calibration track;
the real-time detection unit is used for detecting whether the laser tracker tracks the target ball at the tail end of the robot to be calibrated in real time;
the third receiving unit is used for receiving the terminal coordinates of the robot to be calibrated and the attitude angle of the robot to be calibrated, which are returned by the robot controller in the calibration track, and the target ball coordinates measured by the laser tracker if the laser tracker is detected to track the target ball at the terminal of the robot to be calibrated;
and the control unit is used for controlling the laser tracker to point to a target position if the laser tracker does not track the target ball at the tail end of the robot to be calibrated through detection, and receiving the tail end coordinate of the robot to be calibrated, the attitude angle of the robot to be calibrated and the target position coordinate measured by the laser tracker, wherein the target position is the position where the target ball is supposed to be located, and the position is calculated according to the mapping relation and the calibration track.
For details in the second embodiment, reference may be made to the description in the first embodiment, and details are not repeated herein.
The computer program product of the optimized robot calibration method and apparatus provided in the embodiments of the present invention includes a computer-readable storage medium storing program codes, where instructions included in the program codes may be used to execute the method described in the foregoing method embodiments, and specific implementation may refer to the method embodiments, and will not be described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. An optimized robot calibration method is applied to test system software, the test system software is arranged on terminal equipment, and the method comprises the following steps:
determining a target track according to configuration information of a robot to be calibrated, wherein the target track comprises: calibrating the track and calibrating the track;
calibrating a coordinate system based on the calibration track to obtain a mapping relation between a coordinate system of the laser tracker and a coordinate system of the robot to be calibrated;
performing calibration measurement according to the calibration trajectory to obtain calibration measurement data, wherein the calibration measurement data includes: the terminal coordinates of the robot to be calibrated, the attitude angle of the robot to be calibrated and the coordinates of the target ball measured by the laser tracker;
and performing calibration calculation according to the mapping relation and the calibration measurement data to obtain a calibration result, wherein the calibration result at least comprises: corrected DH parameters, corrected joint angles and corrected residual error values;
the step of determining the target track according to the configuration information of the robot to be calibrated comprises the following steps:
acquiring configuration information of the robot to be calibrated, which is selected by a user, wherein the configuration information comprises: the dimension information of the robot to be calibrated and the motion space information of the robot to be calibrated;
and determining a target track according to the configuration information.
2. The method of claim 1, wherein prior to determining the target trajectory from the configuration information of the robot to be calibrated, the method further comprises:
respectively establishing connection relations with a robot system to be calibrated and a laser tracker,
wherein the laser tracker is pointed to a target ball fixed at the end of the robot to be calibrated in advance by means of manual light guiding, and the robot system to be calibrated comprises: the robot to be calibrated and the robot controller.
3. The method according to claim 2, wherein the coordinate system calibration is performed based on the calibration trajectory, and obtaining the mapping relationship between the laser tracker coordinate system and the robot coordinate system to be calibrated comprises:
receiving a calibration track selected by a user;
sending the calibration track to the robot controller so that the robot controller controls the robot to be calibrated to move according to the calibration track;
receiving first calibration data returned by the robot controller in the calibration track and second calibration data measured by the laser tracker, wherein the first calibration data is terminal coordinates of the robot to be calibrated, and the second calibration data is target ball coordinates measured by the laser tracker;
calculating a conversion matrix between the first calibration data and the second calibration data, wherein the conversion matrix is capable of converting the second calibration data into first calibration data;
and taking the conversion matrix as the mapping relation between the laser tracker coordinate system and the robot coordinate system to be calibrated.
4. The method of claim 2, wherein performing calibration measurements based on the calibration trajectory, obtaining calibration measurement data comprises:
acquiring a calibration track selected by a user;
sending the calibration track to a robot controller so that the robot controller controls the robot to be calibrated to move according to the calibration track;
detecting whether the laser tracker tracks the target ball at the tail end of the robot to be calibrated in real time;
if the laser tracker tracks the target ball at the tail end of the robot to be calibrated, receiving the tail end coordinate of the robot to be calibrated and the attitude angle of the robot to be calibrated returned by the robot controller in the calibration track, and the target ball coordinate measured by the laser tracker;
and if the target ball at the tail end of the robot to be calibrated is not tracked by the laser tracker, controlling the laser tracker to point to a target position, and receiving a tail end coordinate of the robot to be calibrated, a posture angle of the robot to be calibrated and a target position coordinate measured by the laser tracker, wherein the target position is a position where the target ball is supposed to be located, and the tail end coordinate of the robot to be calibrated and the posture angle are returned by the robot controller, and the target position coordinate is calculated according to the mapping relation and the calibration track.
5. An optimized robot calibration device, which is arranged on a terminal device, the device comprising:
the determining module is used for determining a target track according to configuration information of the robot to be calibrated, wherein the target track comprises: calibrating the track and calibrating the track;
the coordinate system calibration module is used for calibrating a coordinate system based on the calibration track to obtain a mapping relation between a coordinate system of the laser tracker and a coordinate system of the robot to be calibrated;
a calibration measurement module, configured to perform calibration measurement according to the calibration trajectory to obtain calibration measurement data, where the calibration measurement data includes: the terminal coordinates of the robot to be calibrated, the attitude angle of the robot to be calibrated and the coordinates of the target ball measured by the laser tracker;
a calibration calculation module, configured to perform calibration calculation according to the mapping relationship and the calibration measurement data to obtain a calibration result, where the calibration result at least includes: corrected DH parameters, corrected joint angles and corrected residual error values;
wherein the determining module comprises:
the first obtaining unit is used for obtaining configuration information of the robot to be calibrated, wherein the configuration information comprises: the dimension information of the robot to be calibrated and the motion space information of the robot to be calibrated;
and the determining unit is used for determining the target track according to the configuration information.
6. The apparatus of claim 5, further comprising:
the establishing module is used for respectively establishing the connection relation with the robot system to be calibrated and the laser tracker,
wherein the laser tracker is pointed to a target ball fixed at the end of the robot to be calibrated in advance by means of manual light guiding, and the robot system to be calibrated comprises: the robot to be calibrated and the robot controller.
7. The apparatus of claim 6, wherein the coordinate system calibration module comprises:
the first receiving unit is used for receiving a calibration track selected by a user;
the first sending unit is used for sending the calibration track to the robot controller so that the robot controller controls the robot to be calibrated to move according to the calibration track;
a second receiving unit, configured to receive first calibration data returned by the robot controller in the calibration trajectory and second calibration data measured by the laser tracker, where the first calibration data is coordinates of an end of the robot to be calibrated, and the second calibration data is coordinates of a target ball measured by the laser tracker;
a calculation unit configured to calculate a conversion matrix between the first calibration data and the second calibration data, wherein the conversion matrix is capable of converting the second calibration data into the first calibration data;
and the setting unit is used for taking the conversion matrix as the mapping relation between the coordinate system of the laser tracker and the coordinate system of the robot to be calibrated.
8. The apparatus of claim 6, wherein the calibration measurement module comprises:
the second acquisition unit is used for acquiring the calibration track selected by the user;
the second sending unit is used for sending the calibration track to a robot controller so that the robot controller controls the robot to be calibrated to move according to the calibration track;
the real-time detection unit is used for detecting whether the laser tracker tracks the target ball at the tail end of the robot to be calibrated in real time;
a third receiving unit, configured to receive, if the laser tracker is detected to track the target ball at the end of the robot to be calibrated, the end coordinate of the robot to be calibrated and the attitude angle of the robot to be calibrated, which are returned by the robot controller in the calibration trajectory, and the target ball coordinate measured by the laser tracker;
and the control unit is used for controlling the laser tracker to point to a target position if the laser tracker does not track the target ball at the tail end of the robot to be calibrated through detection, and receiving the tail end coordinate of the robot to be calibrated and the attitude angle of the robot to be calibrated, which are returned by the robot controller, and the target position coordinate measured by the laser tracker, wherein the target position is the position where the target ball should be located, which is calculated according to the mapping relation and the calibration track.
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| CN110940267B (en) * | 2018-09-25 | 2023-04-25 | 深圳中科飞测科技股份有限公司 | Measuring method and measuring system thereof |
| CN109531577B (en) * | 2018-12-30 | 2022-04-19 | 北京猎户星空科技有限公司 | Mechanical arm calibration method, device, system, medium, controller and mechanical arm |
| CN110370314B (en) * | 2019-06-11 | 2020-11-13 | 杭州亿恒科技有限公司 | Double-arm robot performance measuring method based on multi-laser tracker |
| CN110549333B (en) * | 2019-08-06 | 2022-03-29 | 天津大学 | Gravity compensation method for TriMule horizontal series-parallel robot |
| CN110514460A (en) * | 2019-08-23 | 2019-11-29 | 苏州浪潮智能科技有限公司 | A kind of operation method for detecting accuracy and device for machine |
| CN110722554B (en) * | 2019-09-02 | 2023-05-02 | 群滨智造科技(苏州)有限公司 | Manipulator track editing and correcting method based on laser point cloud data |
| CN111203861B (en) * | 2020-01-06 | 2021-10-19 | 珠海格力电器股份有限公司 | Calibration method and calibration system for robot tool coordinate system |
| CN111612847B (en) * | 2020-04-30 | 2023-10-20 | 湖北煌朝智能自动化装备有限公司 | Point cloud data matching method and system for robot grabbing operation |
| CN111791229B (en) * | 2020-05-20 | 2022-10-25 | 深圳市卓翼科技股份有限公司 | Robot kinematic parameter calibration method, device, equipment and storage medium |
| CN113858265B (en) * | 2020-06-30 | 2023-07-18 | 上海微创数微医疗科技有限公司 | Method and system for detecting pose errors of mechanical arm |
| CN114074321A (en) * | 2020-08-10 | 2022-02-22 | 库卡机器人(广东)有限公司 | Robot calibration method and device |
| CN112549086A (en) * | 2020-10-23 | 2021-03-26 | 广州瑞松智能科技股份有限公司 | Method and device for acquiring data set for robot error calibration and storage medium thereof |
| CN112747675A (en) * | 2020-12-28 | 2021-05-04 | 许海波 | Calibration method capable of correcting offline track of robot based on software |
| CN114510679B (en) * | 2021-12-15 | 2024-04-12 | 成都飞机工业（集团）有限责任公司 | Device position information obtaining method and device, terminal device and storage medium |
| CN114235010A (en) * | 2021-12-31 | 2022-03-25 | 杭州堃博生物科技有限公司 | Verification method and device of positioning tracking assembly, electronic equipment and storage medium |
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| CN104406585B (en) * | 2014-11-19 | 2017-04-05 | 中国计量学院 | Based on the laser tracker target ball alignment system that inertia is detected |
| KR101782317B1 (en) * | 2016-06-10 | 2017-09-27 | (주)엠아이테크 | Robot calibration apparatus using three-dimensional scanner and robot calibration method using the same |
| CN106338990B (en) * | 2016-08-12 | 2018-12-14 | 杭州亿恒科技有限公司 | Industrial robot DH parameter calibration and Zero positioning method based on laser tracker |
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