CN108297100B - Mechanical arm parameter calibration method, device and system and mechanical arm - Google Patents
Mechanical arm parameter calibration method, device and system and mechanical arm Download PDFInfo
- Publication number
- CN108297100B CN108297100B CN201810142553.9A CN201810142553A CN108297100B CN 108297100 B CN108297100 B CN 108297100B CN 201810142553 A CN201810142553 A CN 201810142553A CN 108297100 B CN108297100 B CN 108297100B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- joint angle
- joint
- angle set
- parameter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The application relates to a method, a device and a system for calibrating parameters of a mechanical arm, and the mechanical arm, belonging to the technical field of automation, wherein the method comprises the following steps: after the mechanical arm is controlled to run to a target position in a left-hand gesture, acquiring a first position actually reached by the mechanical arm and a first joint angle set corresponding to the first position; after the mechanical arm is controlled to run to the target position in a right-hand gesture, acquiring a second position actually reached by the mechanical arm and a second joint angle set corresponding to the second position; and calibrating parameters of the mechanical arm according to the distance between the first position and the second position, the first joint angle set and the second joint angle set. The application reduces the cost of calibrating the parameters of the mechanical arm.
Description
Technical Field
The application relates to the technical field of automation, in particular to a method, a device and a system for calibrating parameters of a mechanical arm and the mechanical arm.
Background
The mechanical arm is a high-precision high-speed dispensing robot arm, and is a complex system with multiple inputs, multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety explosion protection, etc.
Before use, the mechanical arm must be calibrated for parameters. However, the inventors have found that at present, parameter calibration systems for robotic arms include ball markers, theodolites, three-coordinate measuring machines, laser trackers, etc., which, although highly accurate, are expensive and require specialized personnel to operate.
In summary, the conventional mechanical arm parameter calibration method has high cost.
Disclosure of Invention
Based on the above, it is necessary to provide a method, a device and a system for calibrating parameters of a mechanical arm, and the mechanical arm, aiming at the problem that the cost of the traditional method for calibrating parameters of the mechanical arm is high.
A mechanical arm parameter calibration method comprises the following steps:
after the mechanical arm is controlled to run to a target position in a left-hand gesture, acquiring a first position actually reached by the mechanical arm and a first joint angle set corresponding to the first position;
after the mechanical arm is controlled to run towards the target position in a right-hand gesture, acquiring a second position actually reached by the mechanical arm and a second joint angle set corresponding to the second position;
and calibrating parameters of the mechanical arm according to the distance between the first position and the second position, the first joint angle set and the second joint angle set.
A robot arm parameter calibration device, comprising:
the first acquisition module is used for acquiring a first position actually reached by the mechanical arm and a first joint angle set corresponding to the first position after the mechanical arm is controlled to run to a target position in a left-hand gesture;
the second acquisition module is used for acquiring a second position actually reached by the mechanical arm and a second joint angle set corresponding to the second position after the mechanical arm is controlled to run to the target position in a right-hand gesture;
and the calibration module is used for calibrating parameters of the mechanical arm according to the distance between the first position and the second position, the first joint angle set and the second joint angle set.
A robot arm parameter calibration system, comprising:
a controller and an image acquisition device;
the image acquisition device is used for acquiring a first position and a corresponding first joint angle set which the mechanical arm actually arrives at after the mechanical arm is controlled to run to a target position in a left-hand posture, and acquiring a second position and a corresponding second joint angle set which the mechanical arm actually arrives at after the mechanical arm is controlled to run to the target position in a right-hand posture;
the controller is used for calibrating parameters of the mechanical arm according to the distance between the first position and the second position, the first joint angle set and the second joint angle set.
A mechanical arm comprises the mechanical arm parameter calibration system.
A robot arm parameter calibration system, comprising:
a camera, a controller, and an end tool;
the end tool is arranged at the end of the mechanical arm, the camera is arranged above the end tool and is used for shooting the end tool, the output end of the camera is connected with the input end of the controller, and the output end of the controller is connected with the mechanical arm;
the controller is used for controlling the mechanical arm to move towards the target position in a left-hand gesture and controlling the mechanical arm to move towards the target position in a right-hand gesture;
the camera is used for acquiring a first position and a corresponding first joint angle set which are actually reached by the end tool when the mechanical arm runs in a left hand gesture, and acquiring a second position and a corresponding second joint angle set which are actually reached by the end tool when the mechanical arm runs in a right hand gesture;
the controller is also used for calibrating parameters of the mechanical arm according to the distance between the first position and the second position, the first joint angle set and the second joint angle set.
A computer readable storage medium having stored thereon a computer program which when executed by a processor implements the method of calibrating a parameter of a robotic arm.
A computer device comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the mechanical arm parameter calibration method when executing the program.
According to the mechanical arm parameter calibration method, device and system, the mechanical arm, the computer readable storage medium and the computer equipment, the mechanical arm is calibrated by acquiring the actual running position of the mechanical arm corresponding to the target position and the corresponding joint angle under the left hand posture and the right hand posture, so that the mechanical arm can run fully automatically, manual recording is not needed, and special calibration tools such as a ball marker instrument and an automatic theodolite are not needed, so that the cost of mechanical arm parameter calibration is reduced.
Drawings
FIG. 1 is a flow chart of a method for calibrating parameters of a mechanical arm according to an embodiment;
FIG. 2 is a schematic illustration of an articulating robotic arm of an embodiment;
FIG. 3 is a schematic diagram of a left-right hand gesture of one embodiment;
FIG. 4 is a block diagram of a robot arm parameter calibration device according to one embodiment;
FIG. 5 is a schematic diagram of a mechanical arm parameter calibration system according to an embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
It should be noted that, the term "first\second" related to the embodiment of the present application is merely to distinguish similar objects, and does not represent a specific order for the objects, it is understood that "first\second" may interchange a specific order or precedence where allowed. It is to be understood that the "first\second" distinguishing aspects may be interchanged where appropriate to enable embodiments of the application described herein to be implemented in sequences other than those illustrated or described.
The terms "comprising" and "having" and any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or (module) elements is not limited to only those steps or elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
References herein to "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
As shown in fig. 1, the application provides a method for calibrating parameters of a mechanical arm, which comprises the following steps:
s1, after a mechanical arm is controlled to run to a target position in a left-hand gesture, acquiring a first position actually reached by the mechanical arm and a first joint angle set corresponding to the first position;
s2, after the mechanical arm is controlled to run towards the target position in a right-hand gesture, acquiring a second position actually reached by the mechanical arm and a second joint angle set corresponding to the second position;
s3, parameter calibration is carried out on the mechanical arm according to the distance between the first position and the second position, the first joint angle set and the second joint angle set.
The mechanical arm disclosed by the application can be a high-precision and high-speed dispensing robot arm, and is a complex system with multiple inputs, multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety explosion protection, etc. The mechanical arm generally comprises a plurality of joints, can realize a plurality of degrees of freedom, has flexible action and is suitable for working in a narrow space. Common robotic arms may include two-joint and three-joint robotic arms, such as SCARA (Selective Compliance Assembly Robot Arm, selective compliance assembly robotic arm) robotic arms. For convenience of description, the following description will take two-joint mechanical arms as examples.
As shown in fig. 2, the two-joint mechanical arm of an embodiment includes a joint 1, a joint 2, a connecting rod 1 and a connecting rod 2, wherein the end of the connecting rod 2 is the end of the mechanical arm. When the link 1 and the link 2 are in a collinear state, the line connecting the link 1 and the link 2 may be defined as a zero point of the mechanical arm, as shown by a broken line in fig. 2.
It can be demonstrated that the forward kinematics of the robotic arm satisfy:
wherein X represents the X-axis coordinate of the end point of the mechanical arm under the Cartesian space coordinate system, Y represents the Y-axis coordinate of the end point of the mechanical arm under the Cartesian space coordinate system, and l 1 Representing the length of the connecting rod 1, l 2 Representing the length of the connecting rod 2, θ 1 An angle θ representing the joint angle 1 (i.e., the first joint angle) 2 Representing the angle of joint angle 2 (i.e., the second joint angle). The coordinate system in this embodiment may be a coordinate system of the robot arm itself, and an origin of the coordinate system is generally located on the base of the robot arm.
Corresponding to the left hand gesture and the right hand gesture of the mechanical arm, when the mechanical arm is at the same end point, two groups of different inverse kinematics solutions exist, namely two groups of different theta 1 ，θ 2 . The left hand posture of the mechanical arm is the posture of the mechanical arm when the joint 2 is positioned on the left side of the zero point, and the right hand posture of the mechanical arm is the posture of the mechanical arm when the joint 2 is positioned on the right side of the zero point. The key characteristics of the left and right hand gestures are that joints 1 and 2 respectively take the left and right hand gestures corresponding theta 1 ，θ 2 The ends of the mechanical arms are all at the same point. As shown in fig. 3, θ in fig. 3 L1 And theta L2 The joint angle of the first joint and the joint angle of the second joint in the left-hand posture (i.e., θ in the left-hand posture) when the arm tip is in the position shown in fig. 3, respectively 1 ，θ 2 ) The method comprises the steps of carrying out a first treatment on the surface of the θ in FIG. 3 R1 And theta R2 The joint angle of the first joint and the joint angle of the second joint in the right-hand posture (i.e., θ in the right-hand posture) when the arm tip is in the position shown in fig. 3, respectively 1 ，θ 2 ). As can be seen from fig. 3, θ L1 And theta R1 The included angles theta between the connecting line between the tail end point of the mechanical arm and the joint 1 and the connecting rod 1 in the left hand posture and the right hand posture are respectively L2 And theta R2 The included angles between the extension line of the connecting rod 1 and the connecting rod 2 in the left hand posture and the right hand posture are respectively. In step S1, the first joint angle set is the left hand poseThe angles of each joint in the state are set, in FIG. 3, the first joint angle set is { θ } L1 ，θ L2 -a }; in step S2, the second joint angle set is the set of angles of the joints in the right hand posture, and in fig. 3, the second joint angle set is { θ } R1 ，θ R2 }。
In one embodiment, in order to calibrate the parameters of the mechanical arm, the end of the mechanical arm may be controlled to operate towards a certain preset target position P in a left-right hand posture according to the known mechanical arm parameters, but the known mechanical arm parameters are inaccurate due to inaccurate machining and assembling and zero setting, so that the end of the mechanical arm cannot reach the target position P and only can reach the first position P respectively L And a second position P R According to P L And P R And the corresponding joint angle set carries out parameter calibration on the mechanical arm.
For example, according to the forward kinematics equation of the mechanical arm, the following equation may be constructed:
F＝d-dist；
wherein X is L And Y L X is respectively the abscissa and the ordinate of the first position of the tail end point of the mechanical arm in the Cartesian space coordinate system R And Y R Respectively the abscissa and the ordinate of the second position of the end point of the mechanical arm in the Cartesian space coordinate system under the right hand gesture, and theta L1 And theta L2 The joint angle of the first joint and the joint angle of the second joint corresponding to the first position are respectively theta R1 And theta R2 The joint angle of the first joint and the joint angle of the second joint corresponding to the second position are respectively l 1 And l 2 The lengths of the first joint and the second joint, x 1 、x 2 And x 3 Respectively is l 1 、l 2 And theta 2 Parameter compensation value of dist is P L And P R Distance between dist= |p L -P R |，distThe value of (2) can be obtained by measurement.
The following optimization model may be constructed:
solving the model to obtain x 1 、x 2 And x 3 Then, according to x 1 、x 2 And x 3 And calibrating parameters of the mechanical arm.
Further, a plurality of target positions can be selected, distances, a first joint angle set and a second joint angle set of the mechanical arm corresponding to the plurality of target positions are respectively obtained, and parameter calibration is carried out on the mechanical arm according to the distances, the first joint angle set and the second joint angle set corresponding to the plurality of target positions. By adopting a plurality of groups of data to carry out parameter calibration, the accuracy of parameter calibration is improved.
For example, in step S1, the robot arm may be controlled to move to each target position { P in the left-hand posture 1 ,P 2 ,L,P n After the operation, each first position { P { that the mechanical arm actually arrives at is respectively obtained L1 ,P L2 ,L,P Ln First joint angle sets { θ }, respectively corresponding to the first positions L1 ,θ L2 ,L,θ Ln First joint angle set corresponding to the ith first position And->The joint angle of the first joint and the joint angle of the second joint corresponding to the ith first position are respectively. In step S2, the robot arm may be controlled to move to each target position { P in the right-hand posture 1 ,P 2 ,L,P n After the operation, each second position actually reached by the mechanical arm is respectively obtained{P R1 ,P R2 ,L,P Rn Second joint angle sets { θ }, respectively corresponding to the second positions R1 ,θ R2 ,L,θ Rn A second joint angle set corresponding to the ith second position And->The joint angle of the first joint and the joint angle of the second joint corresponding to the ith second position are respectively. In step S3, the method can be performed according to { { dist 1 ,θ L1 ,θ R1 },{dist 2 ,θ L2 ,θ R2 },L,{dist n ,θ Ln ,θ Rn Parameter calibration of the mechanical arm, wherein dist i For the ith first position P Li And the ith second position P Ri The distance between the two, n is a positive integer, representing the total number of selected target positions, i.e. the number of measured groups.
In a specific embodiment, when parameter calibration is performed on the mechanical arm, an optimization model can be built according to distances corresponding to a plurality of target positions; solving the optimization model according to a first joint angle set and a second joint angle set corresponding to a plurality of target positions to obtain a parameter compensation value of the mechanical arm; and calibrating parameters of the mechanical arm according to the parameter compensation value.
For example, according to the forward kinematics equation of the mechanical arm, the following equation may be constructed:
F i ＝d i -dist i ；
wherein X is Li And Y Li The ith first position of the tail end point of the mechanical arm under the left hand posture is in the Cartesian spaceAbscissa and ordinate in the molar system, X Ri And Y Ri Respectively the abscissa and the ordinate of the ith second position of the tail end point of the mechanical arm in the Cartesian space coordinate system under the right hand gesture,and->The joint angle of the first joint and the joint angle of the second joint corresponding to the ith first position are respectively +.>And->The joint angle of the first joint and the joint angle of the second joint corresponding to the ith second position are respectively l 1 And l 2 The lengths of the first joint and the second joint, x 1 、x 2 And x 3 Respectively is l 1 、l 2 And theta 2 Parameter compensation value of dist i Is P Li And P Ri Distance between them.
Thus, a vector can be obtained: f= [ F ] 1 ,L,F i ,L,F n ]I=1, l, n, from which the following optimization model is constructed:
t denotes a matrix transpose operation. And solving the model to obtain each parameter compensation value, and calibrating the parameters of the mechanical arm according to the parameter compensation values. The solving mode comprises any one of a gradient descent method, a Newton-Euler method or a Levenberg-Marquard algorithm, but is not limited to the gradient descent method.
In one embodiment, a camera may be used to obtain the position of the robotic arm and parameter calibration of the robotic arm is performed according to the following operating scheme:
(1) The control arm is operated to a point P in a left hand posture. The angles (θ) of the joints 1 and 2 at this time were recorded L1 ,θ L2 ) And the position (X L ,Y L )。
(2) And calculating the angles of the joint 1 and the joint 2 corresponding to the right hand gesture corresponding to the point P, and running to the point in the right hand gesture. The angles (θ) of the joints 1 and 2 at this time were recorded R1 ,θ R2 ) And the position (X R ,Y R )。
(3) From (X) L ,Y L ) And (X) R ,Y R ) Calculating the value of dist:
wherein dist1 is the position of the camera in the camera coordinate system (X L ,Y L ) And (X) R ,Y R ) The distance between the two points is the same as the value in the mechanical arm coordinate system.
(4) Construction F:
F＝d-dist。
(5) Repeating (1) - (4), recording multiple groups of data, and constructing vector f= [ F ] 1 ,L,F i ,L,F n ],i＝1,L,n。
(6) Solving the optimization model to obtain l 1 、l 2 And theta 2 Parameter compensation value x of (2) 1 、x 2 And x 3 ：
(7) Will x 1 、x 2 And x 3 And writing back to the controller of the mechanical arm to finish parameter calibration.
The mechanical arm parameter calibration method has the following advantages:
(1) And a ball marker, an automatic theodolite, a three-coordinate measuring machine, a laser tracker and other special calibration instruments are not needed, so that the cost is saved.
(2) The application has simple principle, does not need to solve the conversion relation between the camera coordinate system and the mechanical arm coordinate system, and the constructed optimization model is easy to solve.
(3) After the application is realized by programming, the application can run fully automatically without manual recording, processes data, has simple operation and is easy to popularize and apply.
As shown in fig. 4, the present application further provides a device for calibrating parameters of a mechanical arm, which may include:
a first obtaining module 110, configured to obtain a first position actually reached by the mechanical arm and a first joint angle set corresponding to the first position after the mechanical arm is controlled to move to the target position in a left-hand gesture;
a second obtaining module 120, configured to obtain a second position actually reached by the mechanical arm and a second joint angle set corresponding to the second position after the mechanical arm is controlled to move to the target position in a right-hand gesture;
and the calibration module 130 is configured to perform parameter calibration on the mechanical arm according to the distance between the first position and the second position, the first joint angle set and the second joint angle set.
The mechanical arm parameter calibration system and the mechanical arm parameter calibration method are in one-to-one correspondence, and the technical characteristics and the beneficial effects described in the embodiment of the mechanical arm parameter calibration method are applicable to the embodiment of the mechanical arm parameter calibration system.
The mechanical arm parameter calibration device has the following advantages:
(1) And a ball marker, an automatic theodolite, a three-coordinate measuring machine, a laser tracker and other special calibration instruments are not needed, so that the cost is saved.
(2) The application has simple principle, does not need to solve the conversion relation between the camera coordinate system and the mechanical arm coordinate system, and the constructed optimization model is easy to solve.
(3) After the application is realized by programming, the application can run fully automatically without manual recording, processes data, has simple operation and is easy to popularize and apply.
As shown in fig. 5, the present application further provides a system for calibrating parameters of a mechanical arm, which may include:
a controller 210 and an image acquisition device 220;
the image obtaining device 220 is configured to obtain a first position and a corresponding first joint angle set actually reached by the mechanical arm after the mechanical arm is controlled to move towards a target position in a left-hand posture, and obtain a second position and a corresponding second joint angle set actually reached by the mechanical arm after the mechanical arm is controlled to move towards the target position in a right-hand posture;
the controller 210 is configured to perform parameter calibration on the mechanical arm according to a distance between the first position and the second position, the first joint angle set, and the second joint angle set.
The process of controlling the mechanical arm to move towards the target position in the left hand posture and the process of controlling the mechanical arm to move towards the target position in the right hand posture can be performed in advance and stored, and the embodiment can directly adopt pre-stored data. The two steps performed in advance may be performed by the controller 210 or may be performed by another control device.
In one embodiment, the image capture device 220 may employ a camera. In another embodiment, to facilitate capturing the position and posture of the distal end of the manipulator, a distal end tool 230 may be disposed at the distal end of the manipulator, the position and posture of the distal end tool 230 may be captured by an image capturing device, and the position and posture of the distal end of the manipulator may be obtained according to the position and posture of the distal end tool 230. Further, a marker 240 may be provided on the end tool 230, dist may be calculated by photographing the position of the end marker 240, assuming that the arm end reaches the position P in a left-hand posture L The position of the mark on the end tool is P L ' the tail end of the mechanical arm reaches the position P in a right-hand gesture R The position of the mark on the end tool is P R ' dist1= |p L '-P R ' I. It can be understood that dist=dist1, whereby dist can be calculated. The distance of the tail end of the mechanical arm in different postures is calculated through the position of the shooting mark 240, so that the tail end of the mechanical arm can be prevented from being blocked by the mechanical arm. Alternatively, a color with the end tool 230 may be employedThe marks 240 having the larger difference may be used, or the marks 240 having the geometric characteristics of regular shapes (e.g., rectangular, circular, etc.) may be used, or the marks 240 satisfying both of the above conditions may be used. A large difference in color from the end tool 230 may facilitate capture of the indicia 240 by the image acquisition device; the use of a marker 240 whose geometric features are regular shapes facilitates the solution of the geometric center.
In one embodiment, the controller 210 may first control the robot arm ends to reach a predetermined target position P in a left-right hand posture according to known robot arm parameters, and in one embodiment, this step may be performed by the controller. However, due to the inaccuracy of the machining assembly and zero point setting, the known parameters of the mechanical arm are inaccurate, so that the end of the mechanical arm cannot reach the target position P and can only reach the first position P L And a second position P R According to P L And P R And the corresponding joint angle set carries out parameter calibration on the mechanical arm.
For example, according to the forward kinematics equation of the mechanical arm, the following equation may be constructed:
F＝d-dist；
wherein X is L And Y L X is respectively the abscissa and the ordinate of the first position of the tail end point of the mechanical arm in the Cartesian space coordinate system R And Y R Respectively the abscissa and the ordinate of the second position of the end point of the mechanical arm in the Cartesian space coordinate system under the right hand gesture, and theta L1 And theta L2 The joint angle of the first joint and the joint angle of the second joint corresponding to the first position are respectively theta R1 And theta R2 The joint angle of the first joint and the joint angle of the second joint corresponding to the second position are respectively l 1 And l 2 The lengths of the first joint and the second joint, x 1 、x 2 And x 3 Respectively is l 1 、l 2 And theta 2 Parameter compensation value of dist is P L And P R Distance between dist= |p L -P R The value of dist can be measured.
The following optimization model may be constructed:
solving the model to obtain x 1 、x 2 And x 3 Then, according to x 1 、x 2 And x 3 And calibrating parameters of the mechanical arm.
Further, a plurality of target positions may be selected, and distances, a first joint angle set and a second joint angle set corresponding to the plurality of target positions of the mechanical arm are respectively acquired through the image acquisition device 220, and parameter calibration is performed on the mechanical arm according to the distances, the first joint angle set and the second joint angle set corresponding to the plurality of target positions. By adopting a plurality of groups of data to carry out parameter calibration, the accuracy of parameter calibration is improved.
For example, the image capture device 220 may be configured to orient the robotic arm in a left-hand pose to each target position { P } 1 ,P 2 ,L,P n After the operation, each first position { P { that the mechanical arm actually arrives at is respectively obtained L1 ,P L2 ,L,P Ln First joint angle sets { θ }, respectively corresponding to the first positions L1 ,θ L2 ,L,θ Ln First joint angle set corresponding to the ith first position And->The joint angle of the first joint and the joint angle of the second joint corresponding to the ith first position are respectively. Can also be arranged in the right hand gesture on the mechanical armAttitude toward each target position { P 1 ,P 2 ,L,P n After the operation, each second position { P } actually reached by the mechanical arm is obtained R1 ,P R2 ,L,P Rn Second joint angle sets { θ }, respectively corresponding to the second positions R1 ,θ R2 ,L,θ Rn A second joint angle set corresponding to the ith second position And->The joint angle of the first joint and the joint angle of the second joint corresponding to the ith second position are respectively. In step S3, the method can be performed according to { { dist 1 ,θ L1 ,θ R1 },{dist 2 ,θ L2 ,θ R2 },L,{dist n ,θ Ln ,θ Rn Parameter calibration of the mechanical arm, wherein dist i For the ith first position P Li And the ith second position P Ri The distance between the two, n is a positive integer, representing the total number of selected target positions, i.e. the number of measured groups.
In one embodiment, when the controller 210 performs parameter calibration on the mechanical arm, an optimization model may be built according to distances corresponding to a plurality of target positions; solving the optimization model according to a first joint angle set and a second joint angle set corresponding to a plurality of target positions to obtain a parameter compensation value of the mechanical arm; and calibrating parameters of the mechanical arm according to the parameter compensation value.
For example, according to the forward kinematics equation of the mechanical arm, the following equation may be constructed:
F i ＝d i -dist i ；
wherein X is Li And Y Li X is respectively the abscissa and the ordinate of the ith first position of the tail end point of the mechanical arm in the left hand gesture in a Cartesian space coordinate system Ri And Y Ri Respectively the abscissa and the ordinate of the ith second position of the tail end point of the mechanical arm in the Cartesian space coordinate system under the right hand gesture,and->The joint angle of the first joint and the joint angle of the second joint corresponding to the ith first position are respectively +.>And->The joint angle of the first joint and the joint angle of the second joint corresponding to the ith second position are respectively l 1 And l 2 The lengths of the first joint and the second joint, x 1 、x 2 And x 3 Respectively is l 1 、l 2 And theta 2 Parameter compensation value of dist i Is P Li And P Ri Distance between them.
Thus, a vector can be obtained: f= [ F ] 1 ,L,F i ,L,F n ]I=1, l, n, from which the following optimization model is constructed:
t denotes a matrix transpose operation. The controller 210 solves the model to obtain each parameter compensation value, and then performs parameter calibration on the mechanical arm according to the parameter compensation value. The solving mode comprises any one of a gradient descent method, a Newton-Euler method or a Levenberg-Marquard algorithm, but is not limited to the gradient descent method.
The above-described embodiment measures the difference in distance of the mark point at the left-hand posture and the right-hand posture of the robot arm, and the angles of the joints 1 and 2 at the left-hand posture and the right-hand posture of the robot arm, using the image acquisition device. Through multiple measurements, the calibration problem is converted into the least square optimization problem, and the calculation complexity is reduced.
The mechanical arm parameter calibration system has the following advantages:
(1) Compared with the calibration schemes such as a ball marker, an automatic theodolite, a three-coordinate measuring machine, a laser tracker and the like, the hardware structure of the scheme is simple, the price is low, and the cost is saved.
(2) The method is simple in principle, the conversion relation between the camera coordinate system and the mechanical arm coordinate system is not needed to be solved, and the constructed least square optimization problem is easy to solve.
(3) After the scheme is realized through programming, the system can run fully automatically, does not need manual recording, processes data, is simple to operate and is easy to popularize and apply.
Further, the embodiment of the application also provides a mechanical arm, which comprises the mechanical arm parameter calibration system in any embodiment.
In one embodiment, the present application further provides a system for calibrating parameters of a mechanical arm, which may include:
a camera, a controller, and an end tool;
the end tool is arranged at the end of the mechanical arm, the camera is arranged above the end tool and is used for shooting the end tool, the output end of the camera is connected with the input end of the controller, and the output end of the controller is connected with the mechanical arm;
the controller is used for controlling the mechanical arm to move towards the target position in a left-hand gesture and controlling the mechanical arm to move towards the target position in a right-hand gesture;
the camera is used for acquiring a first position and a corresponding first joint angle set which are actually reached by the end tool when the mechanical arm runs in a left hand gesture, and acquiring a second position and a corresponding second joint angle set which are actually reached by the end tool when the mechanical arm runs in a right hand gesture;
the controller is also used for calibrating parameters of the mechanical arm according to the distance between the first position and the second position, the first joint angle set and the second joint angle set.
Wherein a marker may be provided on the end tool. The distances of the tail end of the mechanical arm under different postures are calculated by shooting the positions of the marks, so that the tail end of the mechanical arm can be prevented from being blocked by the mechanical arm. Further, a mark having a large difference in color from the end tool may be used, or a mark having a geometric feature of a regular shape (for example, a rectangle, a circle, or the like) may be used, or a mark satisfying both of the above conditions may be used. The color difference with the end tool is large, so that the mark can be conveniently captured by the image acquisition device; the geometric characteristics are marks in regular shapes, so that the geometric center can be solved conveniently.
The parameter calibration mode of the controller is the same as the parameter calibration mode in the embodiment of the mechanical arm parameter calibration method, and is not described herein.
Further, an embodiment of the present application further provides a computer readable storage medium, on which a computer program is stored, where the program when executed by a processor implements the method for calibrating parameters of a mechanical arm in any of the foregoing embodiments.
Further, an embodiment of the present application further provides a computer device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the method for calibrating the parameters of the mechanical arm in any one of the above embodiments when executing the program.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (14)
1. The mechanical arm parameter calibration method is characterized in that the mechanical arm comprises a two-joint mechanical arm and a three-joint mechanical arm, and comprises the following steps:
after the mechanical arm is controlled to run to a target position in a left-hand gesture, acquiring a first position actually reached by the mechanical arm and a first joint angle set corresponding to the first position; the first joint angle set is a set of angles of all joints in the left hand posture;
after the mechanical arm is controlled to run towards the target position in a right-hand gesture, acquiring a second position actually reached by the mechanical arm and a second joint angle set corresponding to the second position; the second joint angle set is a set of angles of all joints in the right hand posture; the first position, the first joint angle set, the second position and the second joint angle set are obtained through a camera arranged above an end tool of the mechanical arm, and the end tool of the mechanical arm adopts a mark with a geometric characteristic of a regular shape; corresponding to the left hand gesture and the right hand gesture of the mechanical arm, when the mechanical arm is at the same end point, two groups of different inverse kinematics solutions exist;
parameter calibration is carried out on the mechanical arm according to the distance between the first position and the second position, the first joint angle set and the second joint angle set; the method comprises the following steps:
according to a forward kinematics equation, an optimization model is built through an abscissa and an ordinate of the first position, an abscissa and an ordinate of the second position, the first joint angle set, the second joint angle set, the length of the first joint, the length of the second joint, a parameter compensation value and a distance between the first position and the second position; the optimization model is a model for solving the least square optimization problem; the parameter compensation value is a value for compensating the length of the first joint, the length of the second joint and the second joint angle set;
solving the optimization model to obtain the parameter compensation value;
and calibrating parameters of the mechanical arm according to the parameter compensation value.
2. The method for calibrating parameters of a mechanical arm according to claim 1, wherein the step of calibrating parameters of the mechanical arm according to the distance between the first position and the second position, the first joint angle set and the second joint angle set comprises:
respectively acquiring distances, a first joint angle set and a second joint angle set of the mechanical arm corresponding to a plurality of target positions;
and calibrating parameters of the mechanical arm according to the distances corresponding to the target positions, the first joint angle set and the second joint angle set.
3. The method according to claim 2, wherein the step of parameter calibrating the robot arm according to the distances corresponding to the plurality of target positions, the first joint angle set, and the second joint angle set comprises:
establishing an optimization model according to the distances corresponding to the target positions;
solving the optimization model according to a first joint angle set and a second joint angle set corresponding to a plurality of target positions to obtain a parameter compensation value of the mechanical arm;
and calibrating parameters of the mechanical arm according to the parameter compensation value.
4. The method for calibrating parameters of a mechanical arm according to claim 3, wherein the optimization model is:
wherein F is i ＝d i -dist i ；
Wherein X is Li And Y Li X is respectively the abscissa and the ordinate of the ith first position of the tail end point of the mechanical arm in the left hand gesture in a Cartesian space coordinate system Ri And Y Ri Respectively the abscissa and the ordinate of the ith second position of the tail end point of the mechanical arm in the Cartesian space coordinate system under the right hand gesture,and->The joint angle of the first joint and the joint angle of the second joint corresponding to the ith first position are respectively +.>And->The joint angle of the first joint and the joint angle of the second joint corresponding to the ith second position respectivelyAngle of joint, l 1 And l 2 The lengths of the first joint and the second joint, x 1 、x 2 And x 3 Respectively is l 1 、l 2 And theta 2 Parameter compensation value of dist i Is the interval between the identification bits corresponding to the ith first position and the ith second position.
5. The utility model provides a mechanical arm parameter calibration device which characterized in that, the mechanical arm includes two joint mechanical arms and three joint mechanical arms, the device includes:
the first acquisition module is used for acquiring a first position actually reached by the mechanical arm and a first joint angle set corresponding to the first position after the mechanical arm is controlled to run to a target position in a left-hand gesture; the first joint angle set is a set of angles of all joints in the left hand posture;
the second acquisition module is used for acquiring a second position actually reached by the mechanical arm and a second joint angle set corresponding to the second position after the mechanical arm is controlled to run to the target position in a right-hand gesture; the second joint angle set is a set of angles of all joints in the right hand posture; the first position, the first joint angle set, the second position and the second joint angle set are obtained through a camera arranged above an end tool of the mechanical arm, and the end tool of the mechanical arm adopts a mark with a geometric characteristic of a regular shape; corresponding to the left hand gesture and the right hand gesture of the mechanical arm, when the mechanical arm is at the same end point, two groups of different inverse kinematics solutions exist;
the calibration module is used for calibrating parameters of the mechanical arm according to the distance between the first position and the second position, the first joint angle set and the second joint angle set;
the calibration module is further configured to establish an optimization model according to a forward kinematics equation through an abscissa and an ordinate of the first position, an abscissa and an ordinate of the second position, the first joint angle set, the second joint angle set, a length of the first joint, a length of the second joint, a parameter compensation value, and a distance between the first position and the second position; the optimization model is a model for solving the least square optimization problem; the parameter compensation value is a value for compensating the length of the first joint, the length of the second joint and the second joint angle set, the optimization model is solved, the parameter compensation value is obtained, and parameter calibration is carried out on the mechanical arm according to the parameter compensation value.
6. A robot arm parameter calibration system, wherein the robot arm comprises a two-joint robot arm and a three-joint robot arm, the system comprising:
a controller and an image acquisition device;
the image acquisition device is used for acquiring a first position and a corresponding first joint angle set which the mechanical arm actually arrives at after the mechanical arm is controlled to run to a target position in a left-hand posture, and acquiring a second position and a corresponding second joint angle set which the mechanical arm actually arrives at after the mechanical arm is controlled to run to the target position in a right-hand posture; the first joint angle set is a set of angles of all joints in the left hand posture; the second joint angle set is a set of angles of all joints in the right hand posture; the first position, the first joint angle set, the second position and the second joint angle set are obtained through a camera arranged above an end tool of the mechanical arm, and the end tool of the mechanical arm adopts a mark with a geometric characteristic of a regular shape; corresponding to the left hand gesture and the right hand gesture of the mechanical arm, when the mechanical arm is at the same end point, two groups of different inverse kinematics solutions exist;
the controller is used for calibrating parameters of the mechanical arm according to the distance between the first position and the second position, the first joint angle set and the second joint angle set;
the controller is further configured to establish an optimization model according to a forward kinematics equation through an abscissa and an ordinate of the first position, an abscissa and an ordinate of the second position, the first joint angle set, the second joint angle set, a length of the first joint, a length of the second joint, a parameter compensation value, and a distance between the first position and the second position; the optimization model is a model for solving the least square optimization problem; the parameter compensation value is a value for compensating the length of the first joint, the length of the second joint and the second joint angle set, the optimization model is solved, the parameter compensation value is obtained, and parameter calibration is carried out on the mechanical arm according to the parameter compensation value.
7. The robotic arm parameter calibration system according to claim 6, further comprising:
an end tool disposed at an end of the mechanical arm;
the image acquisition device is used for shooting the position and the gesture of the end tool and acquiring the position and the gesture of the tail end of the mechanical arm according to the position and the gesture of the end tool.
8. The robot arm parameter calibration system of claim 7, wherein the end tool is provided with indicia.
9. The robot arm parameter calibration system of claim 8, wherein the color of the mark is substantially different from the color of the end tool.
10. The robot arm parameter calibration system of any of claims 6 to 9, wherein the controller is further configured to control the robot arm to reach the target position in a left-hand pose and a right-hand pose, respectively.
11. A robot arm comprising a robot arm parameter calibration system according to any one of claims 6 to 10.
12. A robot arm parameter calibration system, wherein the robot arm comprises a two-joint robot arm and a three-joint robot arm, the system comprising:
a camera, a controller, and an end tool;
the end tool is arranged at the end of the mechanical arm, the camera is arranged above the end tool and is used for shooting the end tool, the output end of the camera is connected with the input end of the controller, and the output end of the controller is connected with the mechanical arm;
the controller is used for controlling the mechanical arm to move towards the target position in a left-hand gesture and controlling the mechanical arm to move towards the target position in a right-hand gesture;
the camera is used for acquiring a first position and a corresponding first joint angle set which are actually reached by the end tool when the mechanical arm runs in a left hand gesture, and acquiring a second position and a corresponding second joint angle set which are actually reached by the end tool when the mechanical arm runs in a right hand gesture; the first joint angle set is a set of angles of all joints in the left hand posture; the second joint angle set is a set of angles of all joints in the right hand posture; the tail end tool of the mechanical arm adopts a mark with a geometric characteristic of a regular shape; corresponding to the left hand gesture and the right hand gesture of the mechanical arm, when the mechanical arm is at the same end point, two groups of different inverse kinematics solutions exist;
the controller is further used for calibrating parameters of the mechanical arm according to the distance between the first position and the second position, the first joint angle set and the second joint angle set;
the controller is further configured to establish an optimization model according to a forward kinematics equation through an abscissa and an ordinate of the first position, an abscissa and an ordinate of the second position, the first joint angle set, the second joint angle set, a length of the first joint, a length of the second joint, a parameter compensation value, and a distance between the first position and the second position; the optimization model is a model for solving the least square optimization problem; the parameter compensation value is a value for compensating the length of the first joint, the length of the second joint and the second joint angle set, the optimization model is solved, the parameter compensation value is obtained, and parameter calibration is carried out on the mechanical arm according to the parameter compensation value.
13. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the robot arm parameter calibration method according to any one of claims 1 to 4.
14. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method for calibrating the parameters of the mechanical arm according to any of claims 1 to 4 when executing the program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810142553.9A CN108297100B (en) | 2018-02-11 | 2018-02-11 | Mechanical arm parameter calibration method, device and system and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810142553.9A CN108297100B (en) | 2018-02-11 | 2018-02-11 | Mechanical arm parameter calibration method, device and system and mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108297100A CN108297100A (en) | 2018-07-20 |
| CN108297100B true CN108297100B (en) | 2023-08-15 |
Family
ID=62865128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810142553.9A Active CN108297100B (en) | 2018-02-11 | 2018-02-11 | Mechanical arm parameter calibration method, device and system and mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108297100B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818540B (en) * | 2018-08-28 | 2021-12-10 | 珠海格力智能装备有限公司 | Method and apparatus for compensating parameter, processor and storage medium |
| CN109341718B (en) * | 2018-09-27 | 2020-12-29 | 北京伟景智能科技有限公司 | Calibration method and device based on multi-view vision |
| CN109636783B (en) * | 2018-12-04 | 2020-11-27 | 广东拓斯达科技股份有限公司 | Method and device for determining arm length of robot, computer equipment and storage medium |
| CN110587611B (en) * | 2019-09-30 | 2021-06-22 | 中电九天智能科技有限公司 | Mechanical arm control method for television set assembly line |
| CN110682293A (en) * | 2019-10-24 | 2020-01-14 | 广东拓斯达科技股份有限公司 | Robot arm correction method, robot arm correction device, robot arm controller and storage medium |
| CN111037563B (en) * | 2019-12-27 | 2021-10-29 | 深圳市越疆科技有限公司 | Mechanical arm calibration method, device, equipment and computer readable storage medium |
| CN113345030B (en) * | 2021-06-17 | 2024-01-02 | 三一重机有限公司 | Calibration method and device for working machine sensor, working machine and electronic equipment |
| CN114589698B (en) * | 2022-04-07 | 2023-06-06 | 北京信息科技大学 | Model-free real-time calibration method and device for mechanical arm based on multi-target vision measurement and machine learning |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102922521A (en) * | 2012-08-07 | 2013-02-13 | 中国科学技术大学 | Mechanical arm system based on stereo visual serving and real-time calibrating method thereof |
| JP2013131149A (en) * | 2011-12-22 | 2013-07-04 | Kawasaki Heavy Ind Ltd | Parameter correction method and control system |
| CN107042528A (en) * | 2017-06-01 | 2017-08-15 | 中国科学院宁波材料技术与工程研究所 | A kind of Kinematic Calibration system and method for industrial robot |
| CN107443375A (en) * | 2017-07-20 | 2017-12-08 | 深圳市同川科技有限公司 | Robot origin calibration method, apparatus, storage medium and computer equipment |
-
2018
- 2018-02-11 CN CN201810142553.9A patent/CN108297100B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013131149A (en) * | 2011-12-22 | 2013-07-04 | Kawasaki Heavy Ind Ltd | Parameter correction method and control system |
| CN102922521A (en) * | 2012-08-07 | 2013-02-13 | 中国科学技术大学 | Mechanical arm system based on stereo visual serving and real-time calibrating method thereof |
| CN107042528A (en) * | 2017-06-01 | 2017-08-15 | 中国科学院宁波材料技术与工程研究所 | A kind of Kinematic Calibration system and method for industrial robot |
| CN107443375A (en) * | 2017-07-20 | 2017-12-08 | 深圳市同川科技有限公司 | Robot origin calibration method, apparatus, storage medium and computer equipment |
Non-Patent Citations (1)
| Title |
|---|
| 工业机器人标定技术研究;王东署;《中国优秀博硕士学位论文全文数据库（博士）信息科技辑》;20061215;45-47 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108297100A (en) | 2018-07-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108297100B (en) | Mechanical arm parameter calibration method, device and system and mechanical arm | |
| US9517560B2 (en) | Robot system and calibration method of the robot system | |
| JP7237483B2 (en) | Robot system control method, control program, recording medium, control device, robot system, article manufacturing method | |
| JP6657469B2 (en) | Automatic calibration method for robot system | |
| JP5371927B2 (en) | Coordinate system calibration method and robot system | |
| EP1584426B1 (en) | Tool center point calibration system | |
| JP5321532B2 (en) | Robot calibration apparatus and calibration method | |
| JP4021413B2 (en) | Measuring device | |
| CN106457562B (en) | Method and robot system for calibration machine people | |
| CN108789404B (en) | Vision-based serial robot kinematic parameter calibration method | |
| CN107175660B (en) | A kind of six-freedom degree robot kinematics scaling method based on monocular vision | |
| JP6429473B2 (en) | Robot system, robot system calibration method, program, and computer-readable recording medium | |
| JP3665353B2 (en) | 3D position correction amount acquisition method of robot teaching position data and robot system | |
| JP5670416B2 (en) | Robot system display device | |
| US20160279800A1 (en) | Robot, robot control device, and robotic system | |
| JP6489776B2 (en) | Coordinate system calibration method, robot system, program, and recording medium | |
| JP6235664B2 (en) | Measuring device used to calibrate mechanism parameters of robot | |
| CN113021358B (en) | Method and device for calibrating origin of coordinate system of mechanical arm tool and electronic equipment | |
| CN107953333B (en) | Control method and system for calibrating tool at tail end of manipulator | |
| JP7258516B2 (en) | Calibration method and gripping system | |
| CN113974835A (en) | Operation robot motion control method based on telecentric motionless point constraint | |
| CN106671081B (en) | A kind of lower-mobility robot kinematics calibration method based on monocular vision | |
| JP5574805B2 (en) | Sensor calibration method and robot control system for manipulator with visual sensor | |
| CN112589787B (en) | Visual positioning and hand-eye calibration method for loading and unloading samples of mechanical arm of feeding turntable | |
| CN111660289A (en) | Method and medium for calibrating base coordinate system of double-machine cooperative robot system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |