CN108733082A - The calibration method of robot tooling center points - Google Patents
The calibration method of robot tooling center points Download PDFInfo
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- CN108733082A CN108733082A CN201710279791.XA CN201710279791A CN108733082A CN 108733082 A CN108733082 A CN 108733082A CN 201710279791 A CN201710279791 A CN 201710279791A CN 108733082 A CN108733082 A CN 108733082A
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- coordinate system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
A kind of calibration method of robot tooling center points includes the following steps:A base coordinate system is established on the base；A flange coordinate system is established on the flange；It is (X to measure coordinate position of the characteristic point of this feature device in the base coordinate system1, Y1, Z1)；It rotates multiple mechanical axis and the tool center point of the executing agency is made to be contacted with this feature point；The controller of the robot is according to the position relationship between multiple mechanical axis and kinematic calculation is used to go out coordinate position of the coordinate origin of the flange coordinate system in the base coordinate system for (X0, Y0, Z0), it is R to calculate the flange coordinate system relative to the spin matrix of the base coordinate system；Coordinate position (X of the tool center point in the flange coordinate systemt, Yt, Zt) according to equationIt is calculated.
Description
Technical field
The present invention relates to a kind of calibration method of robot more particularly to a kind of tool central point of industrial robot (Tool
Center Point, hereinafter referred to as TCP) calibration method.
Background technology
Robot technology is used widely in industrial circle, such as automatic assembling, welding etc..By in robot end
Different executing agency (such as pneumatic pawl or welding gun) is installed to complete various job tasks, and the position accuracy of executing agency
Directly affect the performance accuracy of robot.The accuracy of TCP becomes robot and realizes precisely i.e. in robot tool coordinate system
The important indicator of operation.
However, due to the tolerance of executing agency, the error of manual assembly executing agency, the theoretical position of TCP is caused to exist
Certain error.Therefore, in order to ensure the precision of robot operation, after executing agency is installed, it usually needs calibration TCP is opposite
In the position of robot end's flange (tool installation point).Traditional mode is by manually being calibrated, being somebody's turn to do using special tool(s)
Mode is relatively time-consuming, laborious, and operation difficulty is big.
Invention content
In view of the above, it is necessary to provide the calibration of robot tooling center points a kind of easy to operate and shorter the used time
Method.
A kind of calibration method of robot tooling center points, the reality of the tool center point for calibration machine people executing agency
Border position, the characteristic point which processes or install on robot body with unification, which includes pedestal, method
Blue, executing agency and multiple mechanical axis, multiple mechanical axis are end to end, and one end is rotatably connected at the pedestal, another
End is fixedly connected with the flange, which is installed on the flange, includes the following steps:A, a basis is established on the base
Coordinate system；B, a flange coordinate system is established on the flange；C, the characteristic point of this feature device is measured in the base coordinate system
Coordinate position be (X1, Y1, Z1)；D, multiple mechanical axis are rotated and the tool center point of the executing agency is made to be contacted with the spy
Sign point；E, the controller of the robot goes out the flange according to the position relationship between multiple mechanical axis and using kinematic calculation
Coordinate position of the coordinate origin of coordinate system in the base coordinate system is (X0, Y0, Z0), it is opposite to calculate the flange coordinate system
In the base coordinate system spin matrix be R；F, coordinate position (X of the tool center point in the flange coordinate systemt, Yt, Zt)
According to equationIt is calculated.
A kind of calibration method of robot tooling center points, the reality of the tool center point for calibration machine people executing agency
Border position, the characteristic point which processes or install on robot body with unification, which includes pedestal, method
Blue, executing agency and multiple mechanical axis, multiple mechanical axis are end to end, and one end is rotatably connected at the pedestal, another
End is fixedly connected with the flange, which is installed on the flange, includes the following steps:A, a basis is established on the base
Coordinate system；B, it is (X to measure coordinate position of the characteristic point of this feature device in the base coordinate system1, Y1, Z1)；C, in the method
A flange coordinate system is established on orchid；D, multiple mechanical axis are rotated and the tool center point of the executing agency is made to be contacted with this feature
Point；E, the controller of the robot goes out the flange according to the position relationship between multiple mechanical axis and using kinematic calculation and sits
It is (X to mark coordinate position of the coordinate origin of system in the base coordinate system0, Y0, Z0), calculate the flange coordinate system relative to
The spin matrix of the base coordinate system is R；F, coordinate position (X of the tool center point in the flange coordinate systemt, Yt, Zt) root
According to equationIt is calculated.
The calibration method of above-mentioned robot tooling center points, only by process or install additional a characteristic point (such as corner angle, cone,
Ball, mark point), and the tool center point of the executing agency is made to be contacted with this feature point, in conjunction with the included control of robot
Position relationship of the truing tool central point between end flange can be realized in device processed, easy to operate, and substantially reduces
Calibrate duration.
Description of the drawings
Fig. 1 is the robot of an embodiment of the present invention and the stereoscopic schematic diagram of characterizing arrangement.
Fig. 2 is stereoscopic schematic diagram when TCP calibrates in robot shown in FIG. 1.
Fig. 3 is the flow chart of the calibration method of the robot tooling center points of an embodiment of the present invention.
Main element symbol description
| Robot | 100 |
| Robot body | 10 |
| Pedestal | 11 |
| Flange | 13 |
| Executing agency | 14 |
| Tool center point | 141 |
| Mechanical axis | 15 |
| Characterizing arrangement | 200 |
| Characteristic point | 201 |
Following specific implementation mode will be further illustrated the present invention in conjunction with above-mentioned attached drawing.
Specific implementation mode
Below in conjunction with the attached drawing in embodiment of the present invention, the technical solution in embodiment of the present invention is carried out clear
Chu is fully described by, it is clear that described embodiment is only some embodiments of the invention, rather than whole implementation
Mode.Based on the embodiment in the present invention, those of ordinary skill in the art are obtained without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
It should be noted that when a component is considered as " connection " another component, it can be directly to separately
One component may be simultaneously present component placed in the middle.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant Listed Items.
Robot in practical applications, by installing executing agency's (such as machining tool or clamping fixture) at its end come complete
At various operations.In order to ensure that executing agency can accurately process or clamping workpiece, it is thus necessary to determine that in the tool of executing agency
The coordinate position of heart point (Tool Center Point, TCP).In the present embodiment, there are one methods for the flange definition of robot
Blue coordinate system, to set exact positions of the TCP of executing agency in flange coordinate system.It below will be to the machine using the present invention
The elaborate position of people's tool center point calibration method correction robot TCP is described in detail.
Please refer to Fig. 1 and Fig. 2, robot tooling center points calibration method is using robot 100 and is set to machine
The cooperation of characterizing arrangement 200 on people 100 is realized.Robot 100 includes robot body 10 and is connected with robot body 10
Controller (not shown).Robot body 10 includes pedestal 11, flange 13, executing agency 14 and multiple mechanical axis 15.Multiple machines
Tool axis 15 is end to end, and one end is rotatably connected on pedestal 11, and the other end is fixedly connected on flange 13.Executing agency 14
It is installed on flange 13.In the present embodiment, robot body 10 further includes driving mechanism (not shown), in the driving mechanism
It is placed in multiple mechanical axis, for driving multiple mechanical axis 15 rotating around corresponding joint rotation, and then drives executing agency
14 movements.
The controller is electrically connected at driving mechanism, and control software is provided in the controller, passes through the control of controller
Software-controllable driving mechanism drives corresponding mechanical axis 15 around corresponding joint rotation, and then drives executing agency 14 by predetermined
It moves track.Executing agency 14 includes a TCP141.In present embodiment, Fig. 2, will in order to highlight the position of TCP141
Executing agency 14 is expressed as protruding from the spicule of flange 13.It is appreciated that in other embodiments, executing agency 14 also may be used
Think the structures such as orbicule, cuboid.
Characterizing arrangement 200 is fixedly installed on the lateral wall of pedestal 11 comprising a characteristic point 201.In this embodiment party
In formula, characterizing arrangement 200 is in substantially rod-like structure, and in order to highlight the position of the characteristic point 201 on characterizing arrangement 200,
Characteristic point 201 is expressed as sphere.It is appreciated that in other embodiments, characteristic point 201 or bullet, Kong Wei
Deng.
It is appreciated that in other embodiments, characterizing arrangement 200 or the hole being set on 11 lateral wall of pedestal
Position, wedge angle, tip, ball etc. have the structure of identification.
Please refer to Fig. 3, in step S101, one is arranged on the pedestal 11 of robot 100 with characteristic point 201
Characterizing arrangement 200.
In step s 102, there are one base coordinate systems for the definition of pedestal 11 of robot 100, if the base coordinate system is
T0, the coordinate origin of the base coordinate system is O (0,0,0), and reference axis is respectively X, Y and Z axis.
In step s 103, there are one flange coordinate systems for the definition of flange 13, if the flange coordinate system is F0, the flange coordinate
It is F0Coordinate origin be O', reference axis is respectively X', Y' and Z' axis.
In step S104, characteristic point 201 is measured in base coordinate system T0In coordinate position be (X1, Y1, Z1), and
The coordinate position (X1, Y1, Z1) be recorded in the control software in controller.
In step S105, the driving mechanism of robot 100 is by driving multiple mechanical axis 15 to rotate to drive execution machine
Structure 14 moves, and the TCP141 of executing agency 14 is made to be contacted with the characteristic point 201 of characterizing arrangement 200；At this point, TCP141 and feature
Point 201 is in flange coordinate system F0Coordinate position it is identical, calculate characteristic point 201 in flange coordinate system F0In coordinate position be
TCP141 can be obtained in flange coordinate system F0In coordinate position.
In step s 106, the control software in controller is according to the position relationship between multiple mechanical axis 15, using D-H
Matrix method (Denavit-Hartenberg, DH) establishes the kinematical equation of robot, and then calculates flange coordinate at this time
Be F0 coordinate origin O' relative to the coordinate position in base coordinate system T0 be (X0, Y0, Z0), and the relative coordinate position
(X0, Y0, Z0) according to the position relationship in joint between each mechanical axis 15 and kinematics can be used by the control software in controller
(kinematics) it is calculated, and calculates flange coordinate system F at this time0Relative to base coordinate system T0Spin matrix be R
(spin matrix R is the matrix for the vectorial b that can be converted into the vector f in flange coordinate system in base coordinate system, with formula b
=R × f, R-1For the inverse matrix of R).
In step s 107, a TCP141 is defined in flange coordinate system F0In coordinate position be (Xt, Yt, Zt), and root
According to equationThe positions TCP are calculated in flange coordinate system F0In coordinate position be (Xt,
Yt, Zt), and then it is convenient for controller according to TCP141 in flange coordinate system F0In coordinate position (Xt, Yt, Zt) TCP141 is accurate
Ground runs the designated position to working space.
It is appreciated that the sequence of step S103 and S104 can be interchanged.
It is appreciated that in step S104, such as by 201 Precision Machining of characteristic point on 100 ontology of robot, or by feature
200 Precision Machining of device is on 100 ontology of robot, then characteristic point 201 is in base coordinate system T0In coordinate position also can be from
It is obtained in 100 design parameter of robot, is not required to measure.
It is appreciated that in step S105, the multiple mechanical axis of artificial lift 15 can also be used to be rotated, held with driving
Row mechanism 14 moves, and the TCP141 of executing agency 14 is made to be contacted with the characteristic point 201 of characterizing arrangement 200, this mode can be into
One step enhances controllability, and the TCP141 of executing agency 14 is effectively avoided excessively to press on the characteristic point of characterizing arrangement 200
201。
It is appreciated that characterizing arrangement 200 is not limited to be fixedly installed on pedestal 11, and in other embodiments, feature
Device 200 can also be arranged in workbench (not shown), but not limited to this, as long as it is convenient for the spy of measurement this feature device 200
Sign point 201 is in base coordinate system T0In coordinate position.
Above-mentioned robot tooling center points calibration method, since the pedestal 11 and flange 13 of the robot 100 define respectively
There is base coordinate system T0And flange coordinate system F0, by the way that a characterizing arrangement 200 with characteristic point 201 is arranged on the base 11,
And obtain characteristic point 201 in base coordinate system T according to measurement or design parameter0In coordinate position be (X1, Y1, Z1)；It will
TCP141 is contacted with the characteristic point 201 of characterizing arrangement 200；Controller goes out flange coordinate system F at this time according to kinematic calculation0Seat
It is (X that mark origin, which is O' relative to the coordinate position in base coordinate system T0,0, Y0, Z0), and calculate flange coordinate system F at this time0
Relative to base coordinate system T0Spin matrix be R, and according to equationIt can calculate
The positions TCP are in flange coordinate system F0In coordinate position be (Xt, Yt, Zt), and then sat in flange according to TCP141 convenient for controller
Mark system F0In coordinate position (Xt, Yt, Zt) TCP141 is accurately run to the designated position to working space, it improves and holds
Row mechanism 14 is to homework precisions such as clamping, the processing of workpiece；Simultaneously as the robot tooling center points calibration method only passes through
Installing one additional has the characterizing arrangement 200 of characteristic point 201 or processes a characteristic point 201 on 100 ontology of robot, and makes
TCP141 is contacted with characteristic point 201, in conjunction with robot 100 controller can be realized calibration TCP141 relative to flange 13 it
Between position relationship, it is easy to operate, and substantially reduce calibration duration.
Those skilled in the art it should be appreciated that more than embodiment be intended merely to illustrate the present invention,
And it is not used as making embodiment of above as long as within the spirit of the present invention for limitation of the invention
Appropriate change and variation all fall within the scope of protection of present invention.
Claims (8)
1. a kind of calibration method of robot tooling center points, the reality of the tool center point for calibration machine people executing agency
Position, the robot realize calibration with characterizing arrangement of the unification with characteristic point, which includes pedestal, flange, execution
Mechanism and multiple mechanical axis, multiple mechanical axis are end to end, and one end is rotatably connected at the pedestal, and the other end, which is fixed, to be connected
The flange is connect, which is installed on the flange, which is characterized in that includes the following steps:
A, a base coordinate system is established on the base；
B, a flange coordinate system is established on the flange；
C, show that coordinate position of this feature point in the base coordinate system is (X according to measurement or according to design parameter1, Y1,
Z1)；
D, multiple mechanical axis are rotated and the tool center point of the executing agency is made to be contacted with this feature point；
E, the controller of the robot goes out the flange according to the position relationship between multiple mechanical axis and using kinematic calculation
The coordinate origin of coordinate system is (X relative to the coordinate position in the base coordinate system0, Y0, Z0), and calculate the flange coordinate
System is R relative to the spin matrix of the base coordinate system；
F, coordinate position (X of the tool center point in the flange coordinate systemt, Yt, Zt) according to equationIt is calculated.
2. the calibration method of robot tooling center points as described in claim 1, it is characterised in that：The fixation of this feature device is set
It is placed on the pedestal.
3. the calibration method of robot tooling center points as described in claim 1, it is characterised in that：This feature device is hole
Position, wedge angle, tip, ball any type have identification structure.
4. the calibration method of robot tooling center points as described in claim 1, it is characterised in that：Robot further includes driving
Mechanism, the driving mechanism are built in multiple mechanical axis to drive multiple mechanical axis to rotate.
5. a kind of calibration method of robot tooling center points, the reality of the tool center point for calibration machine people executing agency
Position, the robot realize calibration with characterizing arrangement of the unification with characteristic point, which includes pedestal, flange, execution
Mechanism and multiple mechanical axis, multiple mechanical axis are end to end, and one end is rotatably connected at the pedestal, and the other end, which is fixed, to be connected
The flange is connect, which is installed on the flange, which is characterized in that includes the following steps:
A, a base coordinate system is established on the base；
B, show that coordinate position of this feature point in the base coordinate system is (X according to measurement or according to design parameter1, Y1,
Z1)；
C, a flange coordinate system is established on the flange；
D, multiple mechanical axis are rotated and the tool center point of the executing agency is made to be contacted with this feature point；
E, the controller of the robot goes out the flange according to the position relationship between multiple mechanical axis and using kinematic calculation
The coordinate origin of coordinate system is (X relative to the coordinate position in the base coordinate system0, Y0, Z0), and calculate the flange coordinate
System is R relative to the spin matrix of the base coordinate system；
F, coordinate position (X of the tool center point in the flange coordinate systemt, Yt, Zt) according to equationIt is calculated.
6. the calibration method of robot tooling center points as claimed in claim 5, it is characterised in that：The fixation of this feature device is set
It is placed on the pedestal.
7. the calibration method of robot tooling center points as claimed in claim 5, it is characterised in that：This feature device is hole
Position, wedge angle, tip, ball any type have identification structure.
8. the calibration method of robot tooling center points as claimed in claim 5, it is characterised in that：Robot further includes driving
Mechanism, the driving mechanism are built in multiple mechanical axis to drive multiple mechanical axis to rotate.
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| WO2021056461A1 (en) * | 2019-09-27 | 2021-04-01 | Abb Schweiz Ag | Apparatus and method for calibrating laser displacement sensor for use with robot |
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Application publication date: 20181102 |