CN109311163B - Method for correcting motion control command of robot and related equipment - Google Patents

Method for correcting motion control command of robot and related equipment Download PDF

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CN109311163B
CN109311163B CN201780037097.5A CN201780037097A CN109311163B CN 109311163 B CN109311163 B CN 109311163B CN 201780037097 A CN201780037097 A CN 201780037097A CN 109311163 B CN109311163 B CN 109311163B
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robot
position data
coordinate system
workpiece
points
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CN109311163A (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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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract

本发明公开了一种校正机器人的运动控制命令的方法，其包括：获取工件上预设的三个点的第一位置数据(S11)；获取预存的所述三个点的第二位置数据(S12)；根据所述第一位置数据和所述第二位置数据确定第一位置转换参数(S13)；根据所述第一位置转换参数对所述机器人的运动控制命令进行校正，得到校正后的所述机器人的运动控制命令(S14)。该方法能够在预先未标定工件坐标系的情况下在工件改变位置后也能实现对机器人的精确的运动控制。

Figure 201780037097

The present invention discloses a method for correcting a motion control command of a robot, which includes: acquiring first position data of three preset points on a workpiece (S11); acquiring pre-stored second position data of the three points (S11). S12); determine a first position conversion parameter according to the first position data and the second position data (S13); correct the motion control command of the robot according to the first position conversion parameter, and obtain a corrected motion control commands of the robot (S14). The method can realize precise motion control of the robot even after the workpiece changes its position without pre-calibrating the workpiece coordinate system.

Figure 201780037097

Description

Method for correcting motion control command of robot and related equipment thereof
Technical Field
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
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.
Disclosure of 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.
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
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.
Preference is given toThe first position data comprise the coordinates of each of the three points in the flange coordinate system after the workpiece has been displaced, the first point of said three points, for example, having x' coordinates in each of the three coordinate axes of the flange coordinate systemf1，y＇f1，z＇f1The first position data further includes attitude angles a ', b ', c ' of the first point in the base coordinate system with respect to three coordinate axes after the workpiece is repositioned.
Preferably, the third position data obtained from the first teaching data includes coordinates of each of the three points in the base coordinate system after the workpiece is changed in position, the coordinates of the first point in the base coordinate system being 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 base coordinate system with respect to three coordinate axes after the workpiece is changed in position.
The third position data is converted into the first position data using the second position conversion parameter. For example, using a known transformation relationship f1The coordinates x ', y', z 'of the first point in the base coordinate system after the workpiece has been repositioned are converted into the coordinates x' in the flange coordinate systemf1，y＇f1，z＇f1。
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 respectivelyf1，yf1，zf1The 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 fourth position data is converted into the second position data using a second position conversion parameter between the known base coordinate system and the flange coordinate system. 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 systemf1，yf1，zf1. 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:
Figure BDA0001905437400000071
εX＝a＇-a；εY＝b＇-b；εz＝c＇-c
wherein x isf1，yf1，zf1For the coordinates, x', of the first point in the flange coordinate system in the three coordinate axes before the workpiece change positionf1，y＇f1，z＇f1The coordinate of the first point on three coordinate axes of the flange coordinate system after the workpiece is changed, a, b and c are respectively the attitude angle of the first point on the basic coordinate system before the workpiece is changed, a ', b ' and c ' are respectively the attitude angle of the first point on the basic coordinate system after the workpiece is changed, epsilonX，εY，εZThe 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.
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:
Figure BDA0001905437400000072
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.
Figure BDA0001905437400000073
Figure BDA0001905437400000081
Figure BDA0001905437400000082
The transformation matrix can thus be obtained as:
Figure BDA0001905437400000083
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 changing the position without inputting the teaching data again, and the robot can be realized according to the original teaching data and the first position conversion parameterPrecise control of the person. 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:
Figure BDA0001905437400000101
εX＝a＇-a；εY＝b＇-b；εz＝c＇-c
wherein x isf1，yf1，zf1For changing position of workCoordinates, x' of the first point in front on three coordinate axes of the flange coordinate systemf1，y＇f1，z＇f1The coordinate of the first point on three coordinate axes of the flange coordinate system after the workpiece is changed, a, b and c are respectively the attitude angle of the first point on the basic coordinate system before the workpiece is changed, a ', b ' and c ' are respectively the attitude angle of the first point on the basic coordinate system after the workpiece is changed, epsilonX，εY，εZThe 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.
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 (25)

1.一种校正机器人的运动控制命令的方法，其特征在于，所述方法包括：1. A method for correcting the motion control command of a robot, wherein the method comprises: 接收用户输入的示教数据，以控制所述机器人使工具接触工件上预设的三个点；receiving teaching data input by the user to control the robot to make the tool contact three preset points on the workpiece; 根据所述示教数据获取所述三个点在基础坐标系的第三位置数据；Acquiring third position data of the three points in the basic coordinate system according to the teaching data; 利用已知的基础坐标系和法兰坐标系之间的第二位置转换参数将所述第三位置数据转换为第一位置数据；Converting the third position data to the first position data using the second position conversion parameters between the known base coordinate system and the flange coordinate system; 获取预存的所述三个点的第二位置数据；acquiring pre-stored second position data of the three points; 根据所述第一位置数据和所述第二位置数据确定第一位置转换参数；determining a first position conversion parameter according to the first position data and the second position data; 根据所述第一位置转换参数对所述机器人的运动控制命令进行校正，得到校正后的所述机器人的运动控制命令。The motion control command of the robot is corrected according to the first position conversion parameter to obtain the corrected motion control command of the robot. 2.根据权利要求1所述的方法，其特征在于，所述根据所述第一位置转换参数对所述机器人的运动控制命令进行校正，包括：2. The method according to claim 1, wherein the calibrating the motion control command of the robot according to the first position conversion parameter comprises: 根据第一位置转换参数对所述机器人的运动控制命令中的三维坐标进行校正；及correcting the three-dimensional coordinates in the motion control command of the robot according to the first position conversion parameter; and 根据第一位置转换参数对所述机器人的运动控制命令中的旋转角度进行校正。The rotation angle in the motion control command of the robot is corrected according to the first position conversion parameter. 3.根据权利要求1所述的方法，其特征在于，所述工件上预设的三个点不共线。3 . The method according to claim 1 , wherein the three preset points on the workpiece are not collinear. 4 . 4.根据权利要求1所述的方法，其特征在于，所述根据所述第一位置数据和所述第二位置数据确定第一位置转换参数包括：4. The method according to claim 1, wherein the determining a first position conversion parameter according to the first position data and the second position data comprises: 根据所述第一位置数据和第二位置数据计算转换矩阵。A transformation matrix is calculated from the first position data and the second position data. 5.根据权利要求4所述的方法，其特征在于，所述第一位置数据为所述工件变换位置后所述三个点的位置数据，所述第二位置数据为所述工件变换位置前所述三个点的位置数据，所述根据所述第一位置数据和第二位置数据计算转换矩阵包括：5 . The method according to claim 4 , wherein the first position data is the position data of the three points after the position of the workpiece is changed, and the second position data is before the position of the workpiece is changed. 6 . The position data of the three points, the calculation of the transformation matrix according to the first position data and the second position data includes: 将所述工件变换位置前所述三个点中的第一点设置为与第一三维直角坐标系原点重合，将所述工件变换位置后所述第一点设置为与第二三维直角坐标系的原点重合，其中所述第一三维直角坐标系的坐标轴与所述三个点的位置关系与所述第二三维直角坐标系的坐标轴与所述三个点的相对位置关系一致；Set the first point of the three points before the workpiece transformation position to coincide with the origin of the first three-dimensional rectangular coordinate system, and set the first point after the workpiece transformation position to the second three-dimensional rectangular coordinate system. The origin of , where the coordinate axis of the first three-dimensional Cartesian coordinate system and the positional relationship of the three points are consistent with the relative positional relationship between the coordinate axis of the second three-dimensional Cartesian coordinate system and the three points; 通过以下公式计算转换矩阵：The transformation matrix is calculated by the following formula:
Figure FDA0003273200440000021
Figure FDA0003273200440000021
 εX＝a＇-a；εY＝b＇-b；εz＝c＇-cε X = a'-a; ε Y = b'-b; ε z = c'-c 其中，xf1，yf1，zf1为所述工件变换位置前所述第一点在所述法兰坐标系的三个坐标轴上的坐标，x＇f1，y＇f1，z＇f1为所述工件变换位置后所述第一点在所述法兰坐标系三个坐标轴上的坐标，a，b，c分别为所述工件变换位置前所述第一点在基础坐标系的姿态角度，a＇，b＇，c＇分别为所述工件变换位置后所述第一点在所述基础坐标系的姿态角度，εX，εY，εZ分别为所述第一三维直角坐标系的三个坐标轴与对应的所述第二三维直角坐标系的三个坐标轴的夹角。Wherein, x f1 , y f1 , z f1 are the coordinates of the first point on the three coordinate axes of the flange coordinate system before the workpiece is transformed, and x' f1 , y' f1 , and z' f1 are The coordinates of the first point on the three coordinate axes of the flange coordinate system after the workpiece is changed, a, b, and c are the attitudes of the first point in the basic coordinate system before the workpiece is changed. Angle, a', b', c' are the attitude angles of the first point in the basic coordinate system after the workpiece is transformed, respectively, ε X , ε Y , ε Z are the first three-dimensional Cartesian coordinates, respectively The included angle between the three coordinate axes of the system and the corresponding three coordinate axes of the second three-dimensional rectangular coordinate system. 6.根据权利要求1所述的方法，其特征在于，所述工具为点接触式工具。6. The method of claim 1, wherein the tool is a point-contact tool. 7.根据权利要求6所述的方法，其特征在于，所述工具为焊枪。7. The method of claim 6, wherein the tool is a welding gun. 8.根据权利要求6所述的方法，其特征在于，所述工具与所述机器人的法兰刚性连接。8. The method of claim 6, wherein the tool is rigidly connected to a flange of the robot. 9.一种机器人控制器，其特征在于，所述机器人控制器包括存储器和处理器，所述存储器中存储有可执行程序和数据，所述处理器调用所述存储器中的可执行程序和数据以执行以下步骤：9. A robot controller, characterized in that the robot controller comprises a memory and a processor, wherein executable programs and data are stored in the memory, and the processor calls the executable programs and data in the memory to perform the following steps: 接收用户输入的示教数据，以控制所述机器人使工具接触工件上预设的三个点；receiving teaching data input by the user to control the robot to make the tool contact three preset points on the workpiece; 根据所述示教数据获取所述三个点在基础坐标系的第三位置数据；Acquiring third position data of the three points in the basic coordinate system according to the teaching data; 利用已知的基础坐标系和法兰坐标系之间的第二位置转换参数将所述第三位置数据转换为第一位置数据；Converting the third position data to the first position data using the second position conversion parameters between the known base coordinate system and the flange coordinate system; 获取预存的所述三个点的第二位置数据；acquiring pre-stored second position data of the three points; 根据所述第一位置数据和所述第二位置数据确定第一位置转换参数；determining a first position conversion parameter according to the first position data and the second position data; 根据所述第一位置转换参数对所述机器人的运动控制命令进行校正，得到校正后的所述机器人的运动控制命令。The motion control command of the robot is corrected according to the first position conversion parameter to obtain the corrected motion control command of the robot. 10.根据权利要求9所述的机器人控制器，其特征在于，所述根据所述第一位置转换参数对所述机器人的运动控制命令进行校正，包括：10. The robot controller according to claim 9, wherein the calibrating the motion control command of the robot according to the first position conversion parameter comprises: 根据第一位置转换参数对所述机器人的运动控制命令中的三维坐标进行校正；及correcting the three-dimensional coordinates in the motion control command of the robot according to the first position conversion parameter; and 根据第一位置转换参数对所述机器人的运动控制命令中的旋转角度进行校正。The rotation angle in the motion control command of the robot is corrected according to the first position conversion parameter. 11.根据权利要求9所述的机器人控制器，其特征在于，所述工件上预设的三个点不共线。11. The robot controller according to claim 9, wherein the three preset points on the workpiece are not collinear. 12.根据权利要求9所述的机器人控制器，其特征在于，所述根据所述第一位置数据和所述第二位置数据确定第一位置转换参数包括：12. The robot controller according to claim 9, wherein the determining the first position conversion parameter according to the first position data and the second position data comprises: 根据所述第一位置数据和第二位置数据计算转换矩阵。A transformation matrix is calculated from the first position data and the second position data. 13.根据权利要求12所述的机器人控制器，其特征在于，所述第一位置数据为所述工件变换位置后所述三个点的位置数据，所述第二位置数据为所述工件变换位置前所述三个点的位置数据，所述根据所述第一位置数据和第二位置数据计算转换矩阵包括：13 . The robot controller according to claim 12 , wherein the first position data is the position data of the three points after the position of the workpiece is changed, and the second position data is the workpiece change. 14 . The position data of the three points before the position, and the calculation of the transformation matrix according to the first position data and the second position data includes: 将所述工件变换位置前所述三个点中的第一点设置为与第一三维直角坐标系原点重合，将所述工件变换位置后所述第一点设置为与第二三维直角坐标系的原点重合，其中所述第一三维直角坐标系的坐标轴与所述三个点的位置关系与所述第二三维直角坐标系的坐标轴与所述三个点的相对位置关系一致；Set the first point of the three points before the workpiece transformation position to coincide with the origin of the first three-dimensional rectangular coordinate system, and set the first point after the workpiece transformation position to the second three-dimensional rectangular coordinate system. The origins of , where the coordinate axes of the first three-dimensional rectangular coordinate system and the positional relationship of the three points are consistent with the relative positional relationship between the coordinate axes of the second three-dimensional rectangular coordinate system and the three points; 通过以下公式计算转换矩阵：The transformation matrix is calculated by the following formula:
Figure FDA0003273200440000041
Figure FDA0003273200440000041
 εX＝a＇-a；εY＝b＇-b；εz＝c＇-cε X = a'-a; ε Y = b'-b; ε z = c'-c 其中，xf1，yf1，zf1为所述工件变换位置前所述第一点在所述法兰坐标系的三个坐标轴上的坐标，x＇f1，y＇f1，z＇f1为所述工件变换位置后所述第一点在所述法兰坐标系三个坐标轴上的坐标，a，b，c分别为所述工件变换位置前所述第一点在基础坐标系的姿态角度，a＇，b＇，c＇分别为所述工件变换位置后所述第一点在所述基础坐标系的姿态角度，εX，εY，εZ分别为所述第一三维直角坐标系的三个坐标轴与对应的所述第二三维直角坐标系的三个坐标轴的夹角。Wherein, x f1 , y f1 , z f1 are the coordinates of the first point on the three coordinate axes of the flange coordinate system before the workpiece is transformed, and x' f1 , y' f1 , and z' f1 are The coordinates of the first point on the three coordinate axes of the flange coordinate system after the workpiece is changed, a, b, and c are the attitudes of the first point in the basic coordinate system before the workpiece is changed. Angle, a', b', c' are the attitude angles of the first point in the basic coordinate system after the workpiece is transformed, respectively, ε X , ε Y , ε Z are the first three-dimensional Cartesian coordinates, respectively The included angle between the three coordinate axes of the system and the corresponding three coordinate axes of the second three-dimensional rectangular coordinate system. 14.根据权利要求9所述的机器人控制器，其特征在于，所述工具为点接触式工具。14. The robot controller of claim 9, wherein the tool is a point-contact tool. 15.根据权利要求14所述的机器人控制器，其特征在于，所述工具为焊枪。15. The robot controller of claim 14, wherein the tool is a welding gun. 16.根据权利要求14所述的机器人控制器，其特征在于，所述工具与所述机器人的法兰刚性连接。16. The robot controller of claim 14, wherein the tool is rigidly connected to a flange of the robot. 17.一种机器人，其特征在于，所述机器人包括机器人主体和控制器，所述控制器用于：17. A robot, characterized in that the robot comprises a robot body and a controller, and the controller is used for: 接收用户输入的示教数据，以控制所述机器人使工具接触工件上预设的三个点；receiving teaching data input by the user to control the robot to make the tool contact three preset points on the workpiece; 根据所述示教数据获取所述三个点在基础坐标系的第三位置数据；Acquiring third position data of the three points in the basic coordinate system according to the teaching data; 利用已知的基础坐标系和法兰坐标系之间的第二位置转换参数将所述第三位置数据转换为第一位置数据；Converting the third position data to the first position data using the second position conversion parameters between the known base coordinate system and the flange coordinate system; 获取预存的所述三个点的第二位置数据；acquiring pre-stored second position data of the three points; 根据所述第一位置数据和所述第二位置数据确定第一位置转换参数；determining a first position conversion parameter according to the first position data and the second position data; 根据所述第一位置转换参数对所述机器人的运动控制命令进行校正，得到校正后的所述机器人的运动控制命令。The motion control command of the robot is corrected according to the first position conversion parameter to obtain the corrected motion control command of the robot. 18.根据权利要求17所述的机器人，其特征在于，所述控制器用于：18. The robot of claim 17, wherein the controller is configured to: 根据第一位置转换参数对所述机器人的运动控制命令中的三维坐标进行校正；及correcting the three-dimensional coordinates in the motion control command of the robot according to the first position conversion parameter; and 根据第一位置转换参数对所述机器人的运动控制命令中的旋转角度进行校正。The rotation angle in the motion control command of the robot is corrected according to the first position conversion parameter. 19.根据权利要求17所述的机器人，其特征在于，所述工件上预设的三个点不共线。19. The robot according to claim 17, wherein the three preset points on the workpiece are not collinear. 20.根据权利要求17所述的机器人，其特征在于，所述控制器用于：20. The robot of claim 17, wherein the controller is configured to: 根据所述第一位置数据和第二位置数据计算转换矩阵。A transformation matrix is calculated from the first position data and the second position data. 21.根据权利要求20所述的机器人，其特征在于，所述第一位置数据为所述工件变换位置后所述三个点的位置数据，所述第二位置数据为所述工件变换位置前所述三个点的位置数据，所述控制器用于：21. The robot according to claim 20, wherein the first position data is the position data of the three points after the position of the workpiece is changed, and the second position data is before the position of the workpiece is changed The position data of the three points, the controller is used to: 将所述工件变换位置前所述三个点中的第一点设置为与第一三维直角坐标系原点重合，将所述工件变换位置后所述第一点设置为与第二三维直角坐标系的原点重合，其中所述第一三维直角坐标系的坐标轴与所述三个点的位置关系与所述第二三维直角坐标系的坐标轴与所述三个点的相对位置关系一致；Set the first point of the three points before the workpiece transformation position to coincide with the origin of the first three-dimensional rectangular coordinate system, and set the first point after the workpiece transformation position to the second three-dimensional rectangular coordinate system. The origin of , where the coordinate axis of the first three-dimensional Cartesian coordinate system and the positional relationship of the three points are consistent with the relative positional relationship between the coordinate axis of the second three-dimensional Cartesian coordinate system and the three points; 通过以下公式计算转换矩阵：The transformation matrix is calculated by the following formula:
Figure FDA0003273200440000051
Figure FDA0003273200440000051
 εX＝a＇-a；εY＝b＇-b；εz＝c＇-cε X = a'-a; ε Y = b'-b; ε z = c'-c 其中，xf1，yf1，zf1为所述工件变换位置前所述第一点在所述法兰坐标系的三个坐标轴上的坐标，x＇f1，y＇f1，z＇f1为所述工件变换位置后所述第一点在所述法兰坐标系三个坐标轴上的坐标，a，b，c分别为所述工件变换位置前所述第一点在基础坐标系的姿态角度，a＇，b＇，c＇分别为所述工件变换位置后所述第一点在所述基础坐标系的姿态角度，εX，εY，εZ分别为所述第一三维直角坐标系的三个坐标轴与对应的所述第二三维直角坐标系的三个坐标轴的夹角。Wherein, x f1 , y f1 , z f1 are the coordinates of the first point on the three coordinate axes of the flange coordinate system before the workpiece is transformed, and x' f1 , y' f1 , and z' f1 are The coordinates of the first point on the three coordinate axes of the flange coordinate system after the workpiece is changed, a, b, and c are the attitudes of the first point in the basic coordinate system before the workpiece is changed. Angle, a', b', c' are the attitude angles of the first point in the basic coordinate system after the workpiece is transformed, respectively, ε X , ε Y , ε Z are the first three-dimensional Cartesian coordinates, respectively The included angle between the three coordinate axes of the system and the corresponding three coordinate axes of the second three-dimensional rectangular coordinate system. 22.根据权利要求17所述的机器人，其特征在于，所述工具为点接触式工具。22. The robot of claim 17, wherein the tool is a point-contact tool. 23.根据权利要求22所述的机器人，其特征在于，所述工具为焊枪。23. The robot of claim 22, wherein the tool is a welding gun. 24.根据权利要求22所述的机器人，其特征在于，所述工具与所述机器人的法兰刚性连接。24. The robot of claim 22, wherein the tool is rigidly connected to a flange of the robot. 25.一种存储装置，其特征在于，所述存储装置存储有可执行程序，所述可执行程序被执行以实现权利要求1-8中任一项所述的方法。25. A storage device, wherein the storage device stores an executable program, and the executable program is executed to implement the method of any one of claims 1-8.
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