CN109311163A - Correct the method and its relevant device of the motion control commands of robot - Google Patents

Correct the method and its relevant device of the motion control commands of robot Download PDF

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Publication number
CN109311163A
CN109311163A CN201780037097.5A CN201780037097A CN109311163A CN 109311163 A CN109311163 A CN 109311163A CN 201780037097 A CN201780037097 A CN 201780037097A CN 109311163 A CN109311163 A CN 109311163A
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position data
robot
coordinate system
workpiece
points
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CN109311163B (en
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刘子雨
叶根
张志明
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Shenzhen A&E Intelligent Technology Institute Co Ltd
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Shenzhen A&E Intelligent Technology Institute Co Ltd
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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

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

The invention discloses a kind of methods of motion control commands for correcting robot comprising: obtain the first position data (S11) of preset three points on workpiece；Obtain the second position data (S12) of three points prestored；First position conversion parameter (S13) is determined according to the first position data and the second position data；The motion control commands of the robot are corrected according to the first position conversion parameter, the motion control commands (S14) of the robot after being corrected.This method can also be able to achieve the accurate motion control to robot in the case where not demarcating workpiece coordinate system in advance after workpiece changes position.

Description

Method for correcting motion control command of robot and related equipment thereof [ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of numerical control, in particular to a method for correcting a motion control command of a robot and related equipment thereof.
[ background of the invention ]
When the teaching mode is adopted in the motion control of the robot, but a workpiece and a tool coordinate system are not established, the robot shifts relative to the workpiece (the position of the robot or the workpiece changes), and the original motion control command is still used; or the same motion control command needs to be used by a plurality of robots, and when the teaching programming used by the original motion control command does not establish a workpiece coordinate system, the robot still adopts the original motion control command to control the motion of the robot, so that the problem of inaccurate motion control exists.
The robot generally performs operations such as conveyance and machining by using a teaching method, and a general user performs a machining operation of a workpiece by directly using a tool of the user, while rarely using a dedicated tool for calibration at the time of programming. Therefore, there are few object coordinate systems in the program, and when the robot carries, moves, or moves a workpiece, it is often necessary to teach all the points again.
In order to solve the problem, each large manufacturer can establish a workpiece coordinate system in a software program, namely, the workpiece coordinate system needs to be calibrated before teaching, and then if the workpiece coordinate system changes, the workpiece coordinate system only needs to be changed, so that the workpiece coordinate system can be directly used without changing the original program. But not in a way that was addressed for a program that did not have a calibrated coordinate system before.
The current stage of the workpiece coordinate system function needs to be prepared in advance, that is, the method cannot be used if the coordinate system is not established in the original program.
Furthermore, the measurement of the object coordinate system is tool dependent. The workpiece coordinate system must be calibrated with knowledge of the Tool coordinate system and the Tool coordinate system origin (TCP). The general user has few special calibration tools, and if other arbitrary tools are used, the measurement of the tool is easy to generate errors, and moreover, the repeated assembly and disassembly of the tool reduces the efficiency.
Therefore, it is desirable to provide a method for correcting a motion control command of a robot and a related apparatus thereof to solve the above technical problems.
[ summary of the invention ]
The invention mainly solves the technical problem of providing a robot teaching calibration method which can accurately control the robot to move according to a corrected motion control command after a workpiece changes the position under the condition that a workpiece coordinate system is not calibrated in advance.
In order to solve the technical problems, the invention provides a technical scheme that: there is provided a method of correcting a motion control command of a robot, the method comprising: acquiring first position data of three preset points on a workpiece; acquiring second position data of three prestored points; determining a first position conversion parameter according to the first position data and the second position data; and correcting the motion control command of the robot according to the first position conversion parameter to obtain the corrected motion control command of the robot.
In order to solve the above technical problems, another technical solution provided by the present invention is: a robot controller is provided, the robot controller comprising a memory having stored therein executable programs and data and a processor calling the executable programs and data in the memory to perform the steps of: acquiring first position data of three preset points on a workpiece; acquiring second position data of three prestored points; determining a first position conversion parameter according to the first position data and the second position data; and correcting the motion control command of the robot according to the first position conversion parameter to obtain the corrected motion control command of the robot.
In order to solve the above technical problems, another technical solution provided by the present invention is: there is provided a robot comprising a robot main body and a controller for: acquiring first position data of three preset points on a workpiece; acquiring second position data of three prestored points; determining a first position conversion parameter according to the first position data and the second position data; and correcting the motion control command of the robot according to the first position conversion parameter to obtain the corrected motion control command of the robot.
In order to solve the above technical problems, another technical solution provided by the present invention is: there is provided a storage device storing an executable program that is executed to implement the above-described method of correcting a motion control command of a robot.
The invention has the beneficial effects that: the method is different from the prior art in that first position data of three preset points on a workpiece are acquired; acquiring second position data of three prestored points; determining a first position conversion parameter according to the first position data and the second position data; and correcting the motion control command of the robot according to the first position conversion parameter to obtain the corrected motion control command of the robot, and accurately controlling the robot to move according to the corrected motion control command after the position of the workpiece is changed under the condition that the workpiece coordinate system is not calibrated in advance.
[ description of the drawings ]
FIG. 1 is a flowchart of a method for correcting a motion control command of a robot according to a first embodiment of the present invention;
FIG. 2 is a flowchart of a method for correcting motion control commands of a robot according to a second embodiment of the present invention;
FIG. 3 is a schematic diagram of a robot controller module of an embodiment of the present invention;
FIG. 4 is a schematic view of a robot module of an embodiment of the present invention;
FIG. 5 is a block diagram of a memory device according to an embodiment of the invention.
[ detailed description ] embodiments
The present invention will be described in detail below with reference to the accompanying drawings and examples.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for calibrating a motion control command of a robot according to a first embodiment of the present invention. In this embodiment, the method of correcting a motion control command of a robot may include the steps of:
step S11: first position data of three preset points on a workpiece are acquired.
In this embodiment, the preset three points may be any three points that are not collinear and are set on the workpiece in advance. The first position data may be position data of the three points after the workpiece is changed from the position. The acquisition of the first position data of the three preset points on the workpiece can be realized by acquiring teaching data input by a user to control the robot to enable the tool to contact the three points after the workpiece is changed in position, and then the acquisition of the first position data is realized according to the teaching data. In other embodiments, the first position data of the three preset points on the workpiece may be obtained through other manners, such as measurement calibration, which is not limited in this embodiment, and refer to the following description specifically.
Step S12: and acquiring pre-stored second position data of the three points.
In this embodiment, the second position data may be position data of the three points before the workpiece is shifted. And acquiring pre-stored second position data of the three points, for example, the robot pre-stores the second position data of the three points before the workpiece is changed in position, and acquires the second position data from a memory of the robot. In this embodiment, the second position data may be obtained and stored by teaching the three points before the position of the workpiece is changed, specifically, refer to the following description. In other embodiments, the second position data may be obtained by other means, such as measurement calibration, and then stored in memory.
Step S13: a first position transition parameter is determined based on the first position data and the second position data.
In this embodiment, determining the first position conversion parameter according to the first position data and the second position data may be calculating a conversion matrix according to the first position data and the second position data, and in other embodiments, other position conversion parameters may be calculated according to the first position data and the second position data. The embodiment of the present invention is not limited thereto.
Step S14: and correcting the motion control command of the robot according to the first position conversion parameter to obtain the corrected motion control command of the robot.
In this embodiment, the correcting the motion control command of the robot according to the first position conversion parameter, and the obtaining the corrected motion control command of the robot may include: correcting the three-dimensional coordinates in the motion control command of the robot according to the first position conversion parameter; and correcting the rotation angle in the motion control command of the robot according to the first position conversion parameter, which is described in detail below.
Referring to fig. 2, fig. 2 is a flowchart illustrating a method for calibrating a motion control command of a robot according to a second embodiment of the present invention. In this embodiment, acquiring first position data of three predetermined points on the workpiece includes: receiving teaching data input by a user to control the robot to enable the tool to contact three preset points on the workpiece; first position data is acquired based on the teaching data. Correcting the motion control command of the robot according to the first position conversion parameter comprises the following steps: and correcting the three-dimensional coordinates in the motion control command of the robot according to the first position conversion parameter and correcting the rotation angle in the motion control command of the robot according to the first position conversion parameter.
In this embodiment, the method of correcting a motion control command of a robot may include the steps of:
step S21: first teaching data input by a user is received to control the robot to enable the tool to contact three preset points on the workpiece.
In this embodiment, the preset three points may be any three points that are not collinear and are set on the workpiece in advance. The tool may be a robot-mounted tool. The tool may be rigidly connected to a flange of the robot. The tool may be a point contact tool. For example, the tool may be a welding gun. In other embodiments, the tool may be other tools, and the connection with the robot may be in other manners. Preferably, the first teaching data input by the user is received to control the robot to drive a tool mounted on the robot to contact three preset points on the workpiece after the workpiece is changed to the position. Teaching of the robot by the user means that when the user controls the robot to execute a specific motion, the robot records teaching data corresponding to the specific motion and can execute the specific motion according to the teaching data in a subsequent process.
Step S22: first position data is acquired based on the teaching data.
In this embodiment, the first position data is obtained according to the first teaching data, and the first position data may be position data of the three points after the workpiece is shifted. Acquiring the first position data according to the first teaching data may include: acquiring third position data of the three points in a basic coordinate system according to the first teaching data; converting the third position data into first position data in a flange coordinate system. Converting the third position data into first position data in a flange coordinate system may include: converting the third position data to the first position data using a second position conversion parameter between the known base coordinate system and the flange coordinate system.
Preferably, the first position data includes coordinates of each of the three points in the flange coordinate system after the workpiece is changed in position, and taking the first point of the three points as an example, the coordinates of the first point in three coordinate axes of the flange coordinate system are x'fl，y′fl，z′flThe first position data further comprises attitude angles a ', b ', c ' of the first point in the base coordinate system with respect to the three coordinate axes after the workpiece has been displaced.
Preferably, the third position data acquired from the first teaching data includes coordinates of each of the three points in the basic coordinate system after the workpiece is changed in position, and the coordinates of the first point in the basic coordinate system are x ', y', z ', and the fourth position data further includes attitude angles a', b ', c' of the first point in the basic coordinate system with respect to the three coordinate axes after the workpiece is changed in position, taking the first point as an example.
The third position data is converted into the first position data using the second position conversion parameter. For example, using a known transformation relationship f1Converting the coordinates x ', y ', z ' of the first point in the base coordinate system after the workpiece is changed to the coordinates x ' in the flange coordinate system 'fl，y′fl，z′fl。
Step S23: and acquiring pre-stored second position data of the three points.
In this embodiment, the second position data may be position data of the three points before the workpiece is shifted. And acquiring pre-stored second position data of the three points, for example, the robot pre-stores the second position data of the three points before the workpiece is changed in position, and acquires the second position data from a memory of the robot. The pre-storing the second position data of the three points may specifically include: and receiving second teaching data input by a user in advance to control the robot to enable the tool to contact the three points before the position of the workpiece is changed, acquiring second position data according to the second teaching data, and storing the second position data in a memory. Acquiring the second position data according to the second teaching data may include: acquiring fourth position data of the three points in a basic coordinate system according to the second teaching data; and converting the fourth position data into second position data in a flange coordinate system. Converting the fourth position data into second position data in a flange coordinate system may include: and converting the fourth position data into the second position data by using a second position conversion parameter between the known basic coordinate system and the flange coordinate system.
Preferably, the second position data comprise the coordinates of each of the three points in the flange coordinate system before the workpiece is repositioned, taking as an example the first point whose coordinates in the three coordinate axes of the flange coordinate system are x respectivelyfl，yfl，zflThe second position data further includes attitude angles a, b, c of the first point with respect to three coordinate axes in the base coordinate system before the workpiece is repositioned.
Preferably, the fourth position data acquired from the second teaching data includes coordinates of each of the three points in the basic coordinate system before the workpiece is repositioned, the coordinates of the first point in the basic coordinate system are x, y, z, respectively, taking the first point as an example, and the fourth position data further includes attitude angles a, b, c of the first point in the basic coordinate system with respect to the three coordinate axes before the workpiece is repositioned.
Preferably, the parameter is transformed using a second position between the known base coordinate system and the flange coordinate systemThe number converts the fourth location data into the second location data. For example, using a known transformation relationship f1Converting the coordinates x, y, z of the first point in the basic coordinate system before the workpiece is repositioned to the coordinates x in the flange coordinate systemfl，yfl，zfl. It is understood that since the base coordinate system and the flange coordinate system are known, the conversion relationship therebetween, i.e., the second position conversion parameter, is known.
Step S24: determining a first position transition parameter based on the first position data and the second position data.
In this embodiment, determining a first position conversion parameter from the first position data and the second position data comprises: a transformation matrix is calculated from the first position data and the second position data.
Preferably, the calculating the conversion matrix from the first position data and the second position data comprises: setting a first point of the three points to coincide with an origin of a first three-dimensional rectangular coordinate system before the workpiece is shifted, and setting the first point to coincide with an origin of a second three-dimensional rectangular coordinate system after the workpiece is shifted, wherein the position relation between the coordinate axis of the first three-dimensional rectangular coordinate system and the three points is consistent with the relative position relation between the coordinate axis of the second three-dimensional rectangular coordinate system and the three points;
the transformation matrix is calculated by the following formula:
εX＝a′-a；εY＝b′-b；εz＝c′-c
wherein x isfl，yfl，zflIs the coordinate, x 'of the first point on the three coordinate axes of the flange coordinate system before the workpiece is transformed'fl，y′fl，z′flThe coordinate of a first point on three coordinate axes of a flange coordinate system after the workpiece is subjected to the transformation position, a, b and c are respectively the attitude angle of the first point on a basic coordinate system before the workpiece is subjected to the transformation position, a ', b ' and c ' are respectively the attitude angle of the first point on the basic coordinate system after the workpiece is subjected to the transformation position, epsilonX，εY，εZThree of the first three-dimensional rectangular coordinate system respectivelyAnd the included angles between the coordinate axes and the three coordinate axes of the corresponding second three-dimensional rectangular coordinate system.
The derivation process of the transformation matrix is as follows:
the calculation of the conversion matrix between the first three-dimensional rectangular coordinate system and the second three-dimensional rectangular coordinate system can be obtained by adopting a mode of adding three rotation matrixes and translation:
wherein R is1(εX)R2(εY)R3(εZ) The three-dimensional rectangular coordinate system is a rotation matrix around three coordinate axes of x, y and z of the first three-dimensional rectangular coordinate system.
The transformation matrix can thus be obtained as:
step S25: and correcting the three-dimensional coordinates in the motion control command of the robot according to the first position conversion parameter and correcting the rotation angle in the motion control command of the robot according to the first position conversion parameter.
In this embodiment, the motion control command may be third teaching data of a user input received in advance. The third teaching data is corrected to generate fourth teaching data. Specifically, the coordinates and rotation angles of the respective points on the first motion trajectory recorded in the third teaching data are converted into new coordinates by the first conversion parameter to generate the second motion trajectory, and the corresponding fourth teaching data is generated by passing the points on the first trajectory through the conversion matrix TmThe robot can drive the tool to move according to the second motion trail recorded in the fourth teaching data so as to accurately process the workpiece after the position is changed without inputting the teaching data again, and the robot can be accurately controlled according to the original teaching data and the first position conversion parameters. In other embodiments, the motion control command may be other commands for controlling the motion of the robot, which is not limited in the present invention.
Referring to fig. 3, fig. 3 is a schematic diagram of a robot controller module according to an embodiment of the invention. In this embodiment, the robot controller includes a memory 11 and a processor 12, the memory 11 stores executable programs and data, and the processor 12 calls the executable programs and data in the memory 11 to perform the following steps: acquiring first position data of three preset points on a workpiece; acquiring second position data of three prestored points; determining a first position conversion parameter according to the first position data and the second position data; and correcting the motion control command of the robot according to the first position conversion parameter to obtain the corrected motion control command of the robot.
For a detailed description of the steps of the processor 12 calling the executable program and executing the data in the memory 11, please refer to the foregoing description, which is not described herein again. The data stored in the memory 11 may include: any of the above embodiments may be implemented with the first position data, the second position data, the third position data, the fourth position data, the first position transition parameter, the second position transition parameter, the first teaching data, the second teaching data, the third teaching data, the fourth teaching data, and the other data mentioned in the above embodiments.
Referring to fig. 4, fig. 4 is a schematic diagram of a robot module according to an embodiment of the invention. In the present embodiment, the robot includes a robot main body 21 and a controller 22, and the controller 22 is configured to: acquiring first position data of three preset points on a workpiece; acquiring second position data of three prestored points; determining a first position conversion parameter according to the first position data and the second position data; and correcting the motion control command of the robot according to the first position conversion parameter to obtain the corrected motion control command of the robot.
Preferably, the controller 22 is configured to: correcting the three-dimensional coordinates in the motion control command of the robot according to the first position conversion parameter; and correcting the rotation angle in the motion control command of the robot according to the first position conversion parameter.
Preferably, the controller 22 is configured to: receiving teaching data input by a user to control the robot to enable the tool to contact three preset points on the workpiece; first position data is acquired based on the teaching data.
Preferably, the controller 22 is configured to: acquiring third position data of the three points in the basic coordinate system according to the teaching data;
preferably, the controller 22 is configured to: the third position data is converted into first position data in a flange coordinate system.
Preferably, the controller 22 is configured to: the third position data is converted to the first position data using a second position conversion parameter between the known base coordinate system and the flange coordinate system.
Preferably, the three predetermined points on the workpiece are not collinear.
Preferably, the controller is for: a transformation matrix is calculated from the first position data and the second position data.
Preferably, the first position data is position data of three points after the workpiece is changed in position, the second position data is position data of three points before the workpiece is changed in position,
the controller 22 is configured to:
setting a first point of three points before the workpiece is changed to coincide with the origin of a first three-dimensional rectangular coordinate system, and setting the first point after the workpiece is changed to coincide with the origin of a second three-dimensional rectangular coordinate system, wherein the position relation between the coordinate axis of the first three-dimensional rectangular coordinate system and the three points is consistent with the relative position relation between the coordinate axis of the second three-dimensional rectangular coordinate system and the three points;
the transformation matrix is calculated by the following formula:
εX＝a′-a；εY＝b′-b；εz＝c′-c
wherein x isfl，yfl，zflIs the coordinate, x 'of the first point on the three coordinate axes of the flange coordinate system before the workpiece is transformed'fl，y′fl，z′flThe coordinate of a first point on three coordinate axes of a flange coordinate system after the workpiece is subjected to the transformation position, a, b and c are respectively the attitude angle of the first point on a basic coordinate system before the workpiece is subjected to the transformation position, a ', b ' and c ' are respectively the attitude angle of the first point on the basic coordinate system after the workpiece is subjected to the transformation position, epsilonX，εY，εZThree coordinate axes of the first three-dimensional rectangular coordinate system and the corresponding second three-dimensional rectangular coordinate systemAnd the included angle of three coordinate axes of the rectangular coordinate system.
Preferably, the tool is a point contact tool.
Preferably, the tool is a welding gun.
Preferably, the tool is rigidly connected to the flange of the robot.
Referring to fig. 5, fig. 5 is a block diagram of a memory device according to an embodiment of the invention. In the present embodiment, the storage device 31 stores an executable program executed to implement the method for correcting the motion control command of the robot according to any one of the above-described embodiments. The storage device 31 may be a usb disk, an optical disk, a hard disk, a removable hard disk, a server, or the like, and of course, the storage device 31 may also be the memory 11 in the above embodiments.
The method is different from the prior art in that first position data of three preset points on a workpiece are acquired; acquiring second position data of three prestored points; determining a first position conversion parameter according to the first position data and the second position data; and correcting the motion control command of the robot according to the first position conversion parameter to obtain the corrected motion control command of the robot, and accurately controlling the robot to move according to the corrected motion control command after the position of the workpiece is changed under the condition that the workpiece coordinate system is not calibrated in advance.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (34)

  1. A method of correcting motion control commands of a robot, the method comprising:
    acquiring first position data of three preset points on a workpiece;
    acquiring second position data of the three prestored points;
    determining a first position conversion parameter according to the first position data and the second position data;
    and correcting the motion control command of the robot according to the first position conversion parameter to obtain the corrected motion control command of the robot.
  2. The method of claim 1, wherein the correcting motion control commands of the robot according to the first position translation parameter comprises:
    correcting the three-dimensional coordinates in the motion control command of the robot according to the first position conversion parameter; and
    and correcting the rotation angle in the motion control command of the robot according to the first position conversion parameter.
  3. The method of claim 1, wherein the obtaining first position data for three predetermined points on the workpiece comprises:
    receiving teaching data input by a user to control the robot to enable a tool to contact three preset points on the workpiece;
    and acquiring the first position data according to the teaching data.
  4. The method of claim 3, wherein said obtaining the first position data from the teach data comprises:
    acquiring third position data of the three points in a basic coordinate system according to the teaching data;
    converting the third position data into first position data in a flange coordinate system.
  5. The method of claim 4, wherein the converting the third position data to first position data in a flange coordinate system comprises:
    converting the third position data to the first position data using a second position conversion parameter between the known base coordinate system and the flange coordinate system.
  6. The method of claim 1, wherein the predetermined three points on the workpiece are not collinear.
  7. The method of claim 1, wherein determining a first location translation parameter from the first location data and the second location data comprises:
    a transformation matrix is calculated from the first position data and the second position data.
  8. The method of claim 7, wherein the first position data is position data of the three points after the workpiece is repositioned, the second position data is position data of the three points before the workpiece is repositioned, and the calculating the transformation matrix from the first position data and the second position data comprises:
    setting a first point of the three points to coincide with an origin of a first three-dimensional rectangular coordinate system before the workpiece is shifted, and setting the first point to coincide with an origin of a second three-dimensional rectangular coordinate system after the workpiece is shifted, wherein the position relation between the coordinate axis of the first three-dimensional rectangular coordinate system and the three points is consistent with the relative position relation between the coordinate axis of the second three-dimensional rectangular coordinate system and the three points;
    the transformation matrix is calculated by the following formula:
    εX＝a′-a；εY＝b′-b；εz＝c′-c
    wherein x isf1，yf1，zf1Is the coordinate, x 'of the first point on three coordinate axes of the flange coordinate system before the workpiece is transformed'f1，y′f1，z′f1After the workpiece is changed, coordinates of the first point on three coordinate axes of the flange coordinate system are obtained, a, b and c are attitude angles of the first point in a basic coordinate system before the workpiece is changed, and a ', b ' and c ' are attitude angles of the first point in the basic coordinate system after the workpiece is changedAttitude angle, ε, of the base coordinate systemX，εY，εZAnd the included angles of the three coordinate axes of the first three-dimensional rectangular coordinate system and the three coordinate axes of the corresponding second three-dimensional rectangular coordinate system are respectively included.
  9. The method of claim 3, wherein the tool is a point contact tool.
  10. The method of claim 9, wherein the tool is a welding gun.
  11. The method of claim 9, wherein the tool is rigidly connected to a flange of the robot.
  12. A robot controller comprising a memory having stored therein executable programs and data and a processor that invokes the executable programs and data in the memory to perform the steps of:
    acquiring first position data of three preset points on a workpiece;
    acquiring second position data of the three prestored points;
    determining a first position conversion parameter according to the first position data and the second position data;
    and correcting the motion control command of the robot according to the first position conversion parameter to obtain the corrected motion control command of the robot.
  13. The robot controller of claim 12, wherein the correcting the motion control commands of the robot according to the first position translation parameter comprises:
    correcting the three-dimensional coordinates in the motion control command of the robot according to the first position conversion parameter; and
    and correcting the rotation angle in the motion control command of the robot according to the first position conversion parameter.
  14. The robot controller according to claim 12, wherein the acquiring first position data of three predetermined points on the workpiece comprises:
    receiving teaching data input by a user to control the robot to enable a tool to contact three preset points on the workpiece;
    and acquiring the first position data according to the teaching data.
  15. The robot controller according to claim 14, wherein the acquiring the first position data according to the teaching data includes:
    acquiring third position data of the three points in a basic coordinate system according to the teaching data;
    converting the third position data into first position data in a flange coordinate system.
  16. A robot controller according to claim 15, characterized in that the converting the third position data into first position data in a flange coordinate system comprises:
    converting the third position data to the first position data using a second position conversion parameter between the known base coordinate system and the flange coordinate system.
  17. A robot controller according to claim 12, characterized in that the three points preset on the workpiece are not collinear.
  18. The robot controller of claim 12, wherein the determining a first position transition parameter from the first position data and the second position data comprises:
    a transformation matrix is calculated from the first position data and the second position data.
  19. The robot controller according to claim 18, wherein the first position data is position data of the three points after the workpiece is shifted, the second position data is position data of the three points before the workpiece is shifted, and the calculating the conversion matrix from the first position data and the second position data includes:
    setting a first point of the three points to coincide with an origin of a first three-dimensional rectangular coordinate system before the workpiece is shifted, and setting the first point to coincide with an origin of a second three-dimensional rectangular coordinate system after the workpiece is shifted, wherein the position relation between the coordinate axis of the first three-dimensional rectangular coordinate system and the three points is consistent with the relative position relation between the coordinate axis of the second three-dimensional rectangular coordinate system and the three points;
    the transformation matrix is calculated by the following formula:
    εX＝a′-a；εY＝b′-b；εz＝c′-c
    wherein x isf1，yf1，zf1Is the coordinate, x 'of the first point on three coordinate axes of the flange coordinate system before the workpiece is transformed'f1，y′f1，z′f1For the coordinates of the first point on three coordinate axes of the flange coordinate system after the workpiece transformation position, a, b and c are respectively attitude angles of the first point in a basic coordinate system before the workpiece transformation position, a ', b ' and c ' are respectively attitude angles of the first point in the basic coordinate system after the workpiece transformation position, epsilonX，εY，εZAnd the included angles of the three coordinate axes of the first three-dimensional rectangular coordinate system and the three coordinate axes of the corresponding second three-dimensional rectangular coordinate system are respectively included.
  20. A robot controller according to claim 14, characterized in that the tool is a point contact tool.
  21. A robot controller according to claim 20, characterized in that the tool is a welding gun.
  22. A robot controller according to claim 20, characterized in that the tool is rigidly connected to a flange of the robot.
  23. A robot, characterized in that the robot comprises a robot main body and a controller for:
    acquiring first position data of three preset points on a workpiece;
    acquiring second position data of the three prestored points;
    determining a first position conversion parameter according to the first position data and the second position data;
    and correcting the motion control command of the robot according to the first position conversion parameter to obtain the corrected motion control command of the robot.
  24. A robot as claimed in claim 23, wherein the controller is configured to:
    correcting the three-dimensional coordinates in the motion control command of the robot according to the first position conversion parameter; and
    and correcting the rotation angle in the motion control command of the robot according to the first position conversion parameter.
  25. A robot as claimed in claim 23, wherein the controller is configured to:
    receiving teaching data input by a user to control the robot to enable a tool to contact three preset points on the workpiece;
    and acquiring the first position data according to the teaching data.
  26. A robot as claimed in claim 25, wherein the controller is configured to:
    acquiring third position data of the three points in a basic coordinate system according to the teaching data;
    converting the third position data into first position data in a flange coordinate system.
  27. A robot as claimed in claim 26, wherein the controller is configured to:
    converting the third position data to the first position data using a second position conversion parameter between the known base coordinate system and the flange coordinate system.
  28. A robot as claimed in claim 23, wherein the three predetermined points on the workpiece are not collinear.
  29. A robot as claimed in claim 23, wherein the controller is configured to:
    a transformation matrix is calculated from the first position data and the second position data.
  30. A robot according to claim 29, wherein the first position data is position data of the three points after the workpiece is changed in position, the second position data is position data of the three points before the workpiece is changed in position, and the controller is configured to:
    setting a first point of the three points to coincide with an origin of a first three-dimensional rectangular coordinate system before the workpiece is shifted, and setting the first point to coincide with an origin of a second three-dimensional rectangular coordinate system after the workpiece is shifted, wherein the position relation between the coordinate axis of the first three-dimensional rectangular coordinate system and the three points is consistent with the relative position relation between the coordinate axis of the second three-dimensional rectangular coordinate system and the three points;
    the transformation matrix is calculated by the following formula:
    εX＝a′-a；εY＝b′-b；εz＝c′-c
    wherein x isf1，yf1，zf1Setting the first point on three coordinate axes of the flange coordinate system before changing the position of the workpieceMark, x'f1，y′f1，z′f1For the coordinates of the first point on three coordinate axes of the flange coordinate system after the workpiece transformation position, a, b and c are respectively attitude angles of the first point in a basic coordinate system before the workpiece transformation position, a ', b ' and c ' are respectively attitude angles of the first point in the basic coordinate system after the workpiece transformation position, epsilonX，εY，εZAnd the included angles of the three coordinate axes of the first three-dimensional rectangular coordinate system and the three coordinate axes of the corresponding second three-dimensional rectangular coordinate system are respectively included.
  31. A robot as claimed in claim 25, wherein the tool is a point contact tool.
  32. A robot as claimed in claim 31, characterized in that the tool is a welding gun.
  33. A robot as claimed in claim 31, characterized in that the tool is rigidly connected to a flange of the robot.
  34. A storage device storing an executable program that is executed to implement the method of any one of claims 1-11.
CN201780037097.5A 2017-05-26 2017-05-26 Method for correcting motion control command of robot and related equipment thereof Active CN109311163B (en)

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