CN109591019B - Space accurate positioning method for nondeterministic positioning characteristic object - Google Patents

Space accurate positioning method for nondeterministic positioning characteristic object Download PDF

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CN109591019B
CN109591019B CN201910044445.2A CN201910044445A CN109591019B CN 109591019 B CN109591019 B CN 109591019B CN 201910044445 A CN201910044445 A CN 201910044445A CN 109591019 B CN109591019 B CN 109591019B
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coordinate system
industrial robot
positioning
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measuring
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CN109591019A (en
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李泷杲
黄翔
陈允全
秦龙刚
陈楷
江一帆
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Nanjing University of Aeronautics and Astronautics
Chengdu Aircraft Industrial Group Co Ltd
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Nanjing University of Aeronautics and Astronautics
Chengdu Aircraft Industrial Group 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates

Abstract

A space accurate positioning method of an object with nondeterministic positioning characteristics is characterized by comprising the following steps: firstly, constructing a pose control point of an object with nondeterministic positioning characteristics through appearance point cloud scanning; secondly, grabbing and positioning the objects with the nondeterministic positioning characteristics; thirdly, measuring pose control points on the captured nondeterministic positioning feature object by using a multi-view vision measuring system, and calculating the relative pose relation between the nondeterministic positioning feature object and the robot end effector by using the measured value of the pose control points of the nondeterministic positioning feature object determined by the external point cloud scanning and the theoretical value of a local coordinate system; fourthly, a T-Mac 6D measuring system is used for realizing real-time tracking and measuring of the spatial pose of the robot end effector; and fifthly, tracking the real-time space attitude of the robot based on the T-Mac 6D measuring system, calculating the attitude error, and driving the robot to perform compensation motion positioning. The method is simple, high in precision and strong in universality, and can improve the assembly speed and quality.

Description

Space accurate positioning method for nondeterministic positioning characteristic object
Technical Field
The invention relates to a robot technology, in particular to an industrial robot space accurate positioning technology, and specifically relates to a space accurate positioning method for nondeterministic positioning of a characteristic object.
Background
At present, the accurate positioning of industrial robot space is to reach the required precision range with the absolute positioning precision of industrial robot through error compensation, and it will directly influence the assembly precision of object. Furthermore, for practical situations, the object to be located may not have deterministic locating features, so that the study of a spatially accurate locating system is required according to such situations. The accurate positioning technology of the industrial robot space has been studied more maturely at home and abroad, but certain related research is needed to position objects with uncertain positioning characteristics.
Disclosure of Invention
The invention aims to provide a space accurate positioning method of an object with nondeterministic positioning characteristics, aiming at the problems that the object without determinacy positioning characteristics is inconvenient to position and influences the assembly precision and the assembly speed of a robot.
The technical scheme of the invention is as follows:
a space accurate positioning method for nondeterministic positioning characteristic objects is characterized by comprising the following steps:
firstly, constructing a pose control point of an object with nondeterministic positioning characteristics through appearance point cloud scanning;
secondly, the industrial robot and the end effector thereof are used for realizing the grabbing and the positioning of the nondeterministic positioning characteristic object by the industrial robot;
thirdly, measuring pose control points on the captured nondeterministic positioning feature object by using a multi-objective vision measuring system arranged on an end effector of the industrial robot, and calculating the relative pose relation between the nondeterministic positioning feature object and the end effector of the robot through the measured value of the pose control points of the nondeterministic positioning feature object determined by the external point cloud scanning and the theoretical value of a local coordinate system;
fourthly, a T-Mac 6D measuring system is used for realizing real-time tracking and measuring of the spatial pose of the robot end effector;
and fifthly, tracking the real-time space attitude of the robot based on a T-Mac 6D measuring system, calculating the attitude error, driving the robot to perform compensation motion, and realizing the assembly positioning of the nondeterministic positioning characteristic object.
The pose control points are arranged on the surface of the object with the nondeterministic positioning characteristic and used as the measurement characteristic in space positioning.
The industrial robot system comprises an industrial robot body 3, an end effector 4 assembled facing an object with an uncertain positioning characteristic and a linear guide rail 5; the industrial robot body 3 is arranged on a linear guide rail 5 and moves linearly along the guide rail, so that the robot obtains larger operation space.
The multi-view vision measuring system comprises four industrial cameras 6, wherein the industrial cameras are arranged on the end effector 4 and are fixedly connected with the end effector; the multi-view vision measurement system calculates the spatial relative pose of the nondeterministic positioning feature object and the end effector by measuring the pose control points on the nondeterministic positioning feature object grasped by the end effector 4.
The T-Mac 6D measuring system comprises a T-Mac7 and a laser tracker measuring system 8; the T-Mac7 is mounted on the end effector 4 and fixedly connected therewith; the laser tracker measurement system 8 tracks the spatial pose of the robot end effector by dynamically acquiring the 6D pose of the T-Mac7 in real time under the measurement coordinate system.
The T-Mac 6D measuring system tracks the real-time space attitude of the robot, calculates the attitude error and drives the robot to perform compensation motion.
The measurement and control software system and the T-Mac 6D measurement system are integrated on a main control software on the PC, and are used for controlling the T-Mac 6D measurement system to track the real-time space attitude of the robot, calculate the attitude error and drive the robot to perform compensation motion.
The industrial robot system is mainly used for realizing the grabbing and positioning of the part by the robot; a T-Mac 6D measuring system is mainly used for realizing real-time tracking and measuring the spatial pose of the robot end effector; a measurement and control software system and a T-Mac 6D measurement system are integrated on a main control software on a PC, so that the movement and positioning of the industrial robot can be controlled on line by a computer.
The invention has the beneficial effects that:
(1) the invention realizes the accurate spatial positioning of the nondeterministic positioning characteristic object. The method overcomes the uncertainty of the method, firstly, the general outline of an object is obtained mainly through laser scanning, and coordinate values of pose control points under a part coordinate system of the pose control points are solved through shape scanning data and theoretical digital-analog fitting. Secondly, accurate assembly precision between adjacent objects is guaranteed through the online positioning precision of the robot.
(2) And a multi-view vision system is adopted for determining the relative spatial pose of the nondeterministic positioning characteristic object and the end effector.
(3) And a T-Mac 6D measuring system is adopted for realizing real-time tracking and measuring the spatial pose of the robot end effector.
(4) The T-Mac 6D measuring system and the measuring and controlling software system are integrated on a main control software on a PC, so that the movement and the positioning of the industrial robot are controlled on line by the computer.
Drawings
Fig. 1 is a schematic structural diagram of the measuring positioning and assembling system of the invention.
FIG. 2 is a schematic view of an end effector of the present invention.
FIG. 3 is a schematic diagram of a coordinate system of the measurement assembly system of the present invention.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 1-3.
A method for accurately positioning a space of an object with nondeterministic positioning characteristics comprises the following steps:
firstly, constructing a pose control point of an object with nondeterministic positioning characteristics through appearance point cloud scanning;
secondly, the industrial robot and the end effector thereof are used for realizing the grabbing and the positioning of the nondeterministic positioning characteristic object by the industrial robot;
thirdly, measuring pose control points on the captured nondeterministic positioning feature object by using a multi-objective vision measuring system arranged on an end effector of the industrial robot, and calculating the relative pose relation between the nondeterministic positioning feature object and the end effector of the robot through the measured value of the pose control points of the nondeterministic positioning feature object determined by the external point cloud scanning and the theoretical value of a local coordinate system;
fourthly, a T-Mac 6D measuring system is used for realizing real-time tracking and measuring of the spatial pose of the robot end effector;
and fifthly, tracking the real-time space attitude of the robot based on a T-Mac 6D measuring system, calculating the attitude error, driving the robot to perform compensation motion, and realizing the assembly positioning of the nondeterministic positioning characteristic object.
As can be seen from fig. 1, the positioning method of the present invention is implemented by a system including:
before carrying out space accurate positioning of an uncertain positioning characteristic object, the industrial robot, an end effector, a multi-view vision measuring system, a T-Mac 6D measuring system and a measuring and controlling software system need to carry out the following preparation work: and (3) defining the space motion relation among the robot system, the measuring system and the positioning object. The assembly system mainly relates to seven coordinate systems, wherein a robot root coordinate system 9 and a flange coordinate system 10 are determined by the structure of the robot system, and the other five coordinate systems are determined according to the actual layout position of the assembly system. The specific coordinate system is as follows:
robot root coordinate system 9: the inherent coordinate system of the robot is fixed in the center of the robot base and represents the position of the robot body; during the assembly process, the coordinate system is fixed with the ground;
flange coordinate system 10: a coordinate system defined in the center of the flange plate, and the spatial relationship between the coordinate system and the robot root coordinate system is determined by the angles of six axes of the robot;
tool coordinate system 11: reflecting the spatial position and attitude of the end effector or component relative to the flange coordinate system.
Base coordinate system 12: the aircraft design coordinate system is taken as a base coordinate system and is considered as a global coordinate system of the assembly system. The coordinate system is offset from the robot root coordinate system, and the position of the robot TCP displayed by the robot system is the position of the tool coordinate system relative to the base coordinate system.
Visual measurement coordinate system 13: a coordinate system of a vision system;
laser tracker measurement coordinate system 14: a default coordinate system of the laser tracker;
T-Mac coordinate System 15: and a coordinate system fixedly connected to the T-Mac and representing the relative position and the posture of the T-Mac relative to the measurement coordinate system.
The flange coordinate system 10, the tool coordinate system 11, the T-Mac coordinate system 15 and the vision measurement coordinate system 13 are fixedly connected in the same rigid body, and when any one of the three coordinate systems is known, the spatial positions and the postures of the other three coordinate systems can be determined.
The kinematic model of the fitting system is established by the following steps:
first, a conversion relation between the laser tracker measurement coordinate system 14 and the base coordinate system 12 is established
Figure GDA0003095042710000042
Converting the measurement coordinates to the base coordinate system:
Figure GDA0003095042710000043
Figure GDA0003095042710000044
Pi Measurementindicating the coordinate value, P, of the point to be measured in the measuring coordinate systemi BaseCoordinate values representing the measured points under the base coordinate system,
Figure GDA0003095042710000045
a transformation matrix between the T-Mac coordinate system and the measurement coordinate system,
Figure GDA0003095042710000046
a transformation matrix between the T-Mac coordinate system and the base coordinate system.
To find out
Figure GDA0003095042710000047
Measuring the datum point (more than or equal to 3) on the airplane by adopting a laser tracker, and recording Pm＝[x y z]TMeasuring coordinates, P, in a coordinate system for a laser trackerg＝[x y z]TTheoretical coordinates under the base coordinate system (read directly from the CAD model). By iterative methods
Figure GDA0003095042710000048
Method for calculating transformation matrix of base coordinate system and tool coordinate system by using same iteration method
Figure GDA0003095042710000049
The transformation relationship between the base coordinate system and the robot root coordinate system is as follows:
Figure GDA00030950427100000410
wherein the content of the first and second substances,
Figure GDA00030950427100000411
representing a transformation matrix between the flange coordinate system and the tool coordinate system,
Figure GDA00030950427100000412
representing a transformation matrix between the robot root coordinate system and the flange coordinate system
Figure GDA00030950427100000413
And
Figure GDA00030950427100000414
corresponding position and attitude parameters are input into the robot controller, a TCP point is moved from the center of the flange to the origin of a tool coordinate system, and the current pose reading of the robot controller is obtained
Figure GDA00030950427100000415
Representing the theoretical position and attitude of the tool coordinate system relative to the base coordinate system.
Laser tracker for measuring T-Mac position and attitude data
Figure GDA00030950427100000416
The transformation matrix of the T-Mac coordinate system with respect to the base coordinate system is as follows:
Figure GDA0003095042710000041
wherein crx cos (rx), srx sin (rx), cry, crz, sry, srz have the same principle.
The three steps construct the space mapping from the robot controller to the TCP and the space mapping from the T-Mac to the TCP: the former reflects the theoretical motion position of the robot, the latter reflects the actual arrival position of the robot, and the difference between the two is the key of the following error compensation.
The definite assembly system is integrated with a T-Mac 6D measurement system through an industrial robot to form a closed-loop feedback system. In the assembly process, an industrial robot grabs a part through an end effector provided with a vacuum chuck and moves to a target position to be positioned, and the process is operated according to a track planned by a CAD digital model. And in the vicinity of the target position, the industrial robot repeatedly and iteratively compensates according to the error information fed back by the T-Mac measuring system until the error is smaller than a set threshold value, and the compensation motion is stopped. The threshold is set according to the positioning tolerance requirements of the nondeterministic positioning feature object. In aircraft component assembly, tolerances are typically in the range of 0.1-0.5 mm.
The typical assembly process of an object without a deterministic positioning feature consists of the following 7 steps:
(1) planning system layout in CAD software, planning the running track of a robot tool in an assembly coordinate system, and generating an off-line program;
(2) the robot moves to a proper position in the system layout approximately on the guide rail, and the method of the seven determined coordinate systems is adopted to calibrate the assembly system;
(3) the robot moves to the part tooling and picks the part. And measuring pose control points by using multi-view vision, and fitting and acquiring the measured values of the pose control points and coordinate values of the pose control points in a part coordinate system to obtain the spatial pose relation between the measured values and the robot end effector.
(4) The robot moves to a target point along a planned motion track, the T-Mac measures the position and the posture of the robot on line in real time in the motion process, and a measured value and a theoretical value of any point on the motion track can be extracted in real time according to requirements. The error of the target point is calculated by software (which can be self-programmed by adopting the prior art);
(5) if the error amount is smaller than the set threshold value, jumping to (6), otherwise, based on the error amount, the robot makes compensation motion; the system calculates the error at the current point based on the T-Mac measurement data. And (5) is executed again.
(6) And (4) taking the measured value and the theoretical value of the point in the motion trail obtained in the step (4) as samples, and carrying out relative linear motion.
(7) The parts are secured by bolting, riveting or gluing according to the assembly process and the robot returns to HOME. Since the T-Mac is measured on-line in real time, steps (4) to (6) are performed automatically.
The parts not involved in the present invention are the same as or can be implemented using the prior art.

Claims (5)

1. A space accurate positioning method for nondeterministic positioning characteristic objects is characterized by comprising the following steps:
firstly, establishing coordinates of a pose control point of an uncertain positioning feature object in a local coordinate system of a part through appearance point cloud scanning;
secondly, the industrial robot and the end effector thereof are used for realizing the grabbing and the positioning of the nondeterministic positioning characteristic object by the industrial robot;
thirdly, measuring pose control points on the captured nondeterministic positioning feature object by using a multi-objective vision measuring system arranged on an end effector of the industrial robot, and calculating the relative pose relation between the nondeterministic positioning feature object and the end effector of the robot through the measured value of the pose control points of the nondeterministic positioning feature object determined by the external point cloud scanning and the theoretical value of a local coordinate system;
fourthly, a T-Mac 6D measuring system used by matching the 6D mechanical tracking detector with the laser tracker is used for realizing real-time tracking and measuring of the spatial pose of the robot end effector;
fifthly, tracking the real-time space pose of the robot based on a T-Mac 6D measuring system, calculating pose errors, driving the robot to perform compensation motion, and realizing the assembly positioning of the objects with the nondeterministic positioning characteristics;
the positioning method is realized by relying on the following assembly system, which comprises the following steps:
before carrying out space accurate positioning of an uncertain positioning characteristic object, the industrial robot, an end effector, a multi-view vision measuring system, a T-Mac 6D measuring system and a measuring and controlling software system need to carry out the following preparation work: defining the space motion relation among an industrial robot system, a multi-view vision measuring system, a T-Mac 6D measuring system and an uncertain positioning characteristic object; the assembly system mainly relates to seven coordinate systems, wherein an industrial robot root coordinate system and a flange coordinate system are determined by the structure of the industrial robot system, and the other five coordinate systems are determined according to the actual layout position of the assembly system; the specific coordinate system is as follows:
industrial robot root coordinate system: the inherent coordinate system of the industrial robot is fixed in the center of the base of the industrial robot and represents the position of the body of the industrial robot; in the assembly process, the root coordinate system of the industrial robot is fixed with the ground;
flange coordinate system: a coordinate system defined in the center of the flange plate, and the spatial relation of the coordinate system and the root coordinate system of the industrial robot is determined by the angles of six axes of the industrial robot;
tool coordinate system: reflecting the spatial position and attitude of the end effector or the nondeterministic positioning feature object relative to the flange coordinate system;
a base coordinate system: taking an airplane design coordinate system as a base coordinate system, and considering the airplane design coordinate system as a global coordinate system of an assembly system; the base coordinate system is offset from the industrial robot root coordinate system, and the industrial robot TCP position displayed by the industrial robot system is the position of the tool coordinate system relative to the base coordinate system;
visual measurement coordinate system: a coordinate system of a multi-view vision measurement system;
laser tracker measurement coordinate system: a default coordinate system of the laser tracker;
T-Mac coordinate system: a coordinate system fixedly connected on the T-Mac and representing the relative position and posture of the T-Mac relative to the laser tracker measurement coordinate system;
the flange coordinate system, the tool coordinate system, the T-Mac coordinate system and the vision measurement coordinate system are fixedly connected in the same rigid body, and when any one of the three coordinate systems is known, the spatial positions and the postures of the other three coordinate systems can be determined;
the kinematic model of the fitting system is established by the following steps:
(1) establishing the conversion relation between the measuring coordinate system and the base coordinate system of the laser tracker
Figure FDA0003095042700000021
Converting the measurement coordinates to the base coordinate system:
Figure FDA0003095042700000022
Figure FDA0003095042700000023
Pi Measurementindicating the coordinate value, P, of the point to be measured in the measurement coordinate system of the laser trackeri BaseCoordinate values, M, representing the measured point under the base coordinate systemi Measurement＝[Mij]4×4Conversion matrix between T-Mac coordinate system and laser tracker measurement coordinate system, Mi Base＝[Mij]4×4A transformation matrix between the T-Mac coordinate system and the base coordinate system;
(2) to find out
Figure FDA0003095042700000024
Measuring at least three reference points on the aircraft by using a laser tracker, and recording Pm＝[x y z]TMeasuring coordinates, P, in a coordinate system for a laser trackerg＝[x y z]TFor directly reading theoretical coordinates under a base coordinate system from a CAD model, the theoretical coordinates are obtained by an iterative method
Figure FDA0003095042700000025
(3) Method for calculating transformation matrix of base coordinate system and tool coordinate system by using same iteration method
Figure FDA0003095042700000026
The transformation relation between the base coordinate system and the root coordinate system of the industrial robot is as follows:
Figure FDA0003095042700000027
wherein the content of the first and second substances,
Figure FDA0003095042700000028
representing a transformation matrix between the flange coordinate system and the tool coordinate system,
Figure FDA0003095042700000029
representing a transformation matrix between the root coordinate system and the flange coordinate system of the industrial robot
Figure FDA00030950427000000210
And
Figure FDA00030950427000000211
inputting the corresponding position and attitude parameters into the industrial robot controller, moving the TCP point from the flange center to the origin of the tool coordinate system, and reading the current pose of the industrial robot controller
Figure FDA00030950427000000212
Representing the theoretical position and attitude of the tool coordinate system relative to the base coordinate system;
laser tracker for measuring T-Mac position and attitude data
Figure FDA00030950427000000213
The transformation matrix of the T-Mac coordinate system with respect to the base coordinate system is as follows:
Figure FDA0003095042700000031
wherein crx cos (rx), srx sin (rx), cry, crz, sry, srz have the same principle;
the above constructs a spatial mapping from the industrial robot controller to TCP and a spatial mapping from T-Mac to TCP: the former reflects the theoretical motion position of the industrial robot, the latter reflects the actual arrival position of the industrial robot, and the difference between the two is the key of the following error compensation; the assembly system is integrated with the T-Mac 6D measurement system through an industrial robot to form a closed-loop feedback system; in the assembly process, an industrial robot grabs an uncertain positioning feature object through an end effector provided with a vacuum chuck and moves to a target position to be positioned, wherein the process runs according to a track planned by a CAD digital-analog model; in the vicinity of the target position, the industrial robot repeatedly performs iterative compensation according to error information fed back by the T-Mac 6D measuring system until the error is smaller than a set threshold value, and then the compensation motion is stopped; the threshold is set according to the positioning tolerance requirement of the nondeterministic positioning feature object; in the assembly of the airplane nondeterministic positioning feature object, the tolerance is in the range of 0.1-0.5 mm.
2. The method according to claim 1, wherein the pose control points are set on the surface of the nondeterministic positioning feature object as measurement features in space positioning.
3. The positioning method according to claim 1, characterized in that the industrial robot system comprises an industrial robot body (3), an end effector (4) assembled facing the nondeterministic positioning feature object and a linear guide (5); the industrial robot body (3) is arranged on the linear guide rail (5) and moves linearly along the linear guide rail, so that the industrial robot obtains larger operating space.
4. The positioning method according to claim 1, wherein the multi-view vision measuring system comprises four industrial cameras (6) mounted on the end effector (4) and fixedly connected thereto; the multi-view vision measurement system calculates the space relative pose of the nondeterministic positioning feature object and the end effector by measuring pose control points on the nondeterministic positioning feature object grabbed by the end effector (4).
5. A positioning method according to claim 1, characterized in that the T-Mac 6D measurement system comprises a T-Mac (7) and a laser tracker measurement system (8); the T-Mac (7) is arranged on the end effector (4) and fixedly connected with the end effector; the laser tracker measuring system (8) tracks the space pose of the industrial robot end effector by dynamically acquiring the 6D pose of the T-Mac (7) under the laser tracker measuring coordinate system in real time.
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