CN109605372B - Method and system for measuring pose of engineering mechanical arm - Google Patents
Method and system for measuring pose of engineering mechanical arm Download PDFInfo
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- CN109605372B CN109605372B CN201811566919.1A CN201811566919A CN109605372B CN 109605372 B CN109605372 B CN 109605372B CN 201811566919 A CN201811566919 A CN 201811566919A CN 109605372 B CN109605372 B CN 109605372B
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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Abstract
The invention discloses a method and a system for measuring the pose of an engineering mechanical arm, wherein the method comprises the following steps: a target mounting step, namely mounting at least three targets at the tail end of the engineering mechanical arm to enable the at least three targets and a set point of a central axis of the mechanical arm frame to form a preset position relation; a parameter obtaining step, namely obtaining position information of the at least three targets under a mechanical arm carrier coordinate system, and structural size parameters and installation size parameters of the targets; and calculating the pose of the tail end of the mechanical arm, namely calculating the pose information of the tail end of the mechanical arm under a carrier coordinate system of the mechanical arm at present by using the preset position relation, the acquired position information, the acquired structure size parameters and the acquired installation size parameters. The method can accurately measure the position and the posture of the mechanical arm in real time, and assists the operator to control the movement of the mechanical arm so as to better complete the operation task.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a method and a system for measuring the pose of an engineering mechanical arm.
Background
In the construction process of tunnel engineering, in order to prevent surrounding rocks from deforming and breaking, the surrounding rocks are usually reinforced by methods of erecting an arch center, installing anchor rods, hanging reinforcing mesh, spraying concrete and the like. Taking a tunnel arch multifunctional operation trolley as an example, the trolley is automatic tunnel construction equipment integrating arch positioning, installation and welding, an operation arm support as a core of the trolley is a serial mechanism with 10 degrees of freedom, and the realization of the preset position and posture of a terminal operation device by adjusting the position and posture of a joint is a basic requirement of the multifunctional operation trolley and is also a key technology in the development of the multifunctional operation trolley.
The multifunctional operation trolley has long arm support, many joints, large self weight and easy flexible deformation, and each processed and assembled part has a size error, so that the accurate positioning of the tail end operation device has great technical difficulty, and therefore a method capable of acquiring the tail end pose of the mechanical arm quickly and accurately is needed.
Disclosure of Invention
One of the technical problems to be solved by the present invention is to provide a method and a system for measuring the pose of an engineering mechanical arm.
In order to solve the technical problem, an embodiment of the present application first provides a method for measuring a pose of an engineering robot arm, where the method includes: a target mounting step, namely mounting at least three targets at the tail end of the engineering mechanical arm to enable the at least three targets and a set point of a central axis of the mechanical arm frame to form a preset position relation; a parameter obtaining step, namely obtaining position information of the at least three targets under a mechanical arm carrier coordinate system, and structural size parameters and installation size parameters of the targets; and calculating the pose of the tail end of the mechanical arm, namely calculating the pose information of the tail end of the mechanical arm under a carrier coordinate system of the mechanical arm at present by using the preset position relation, the acquired position information, the acquired structure size parameters and the acquired installation size parameters.
According to an embodiment of the present invention, in the robot arm end pose calculation step, the following steps are included: and a gesture calculation step, namely determining a first gesture matrix of a target coordinate system relative to a terminal arm support joint coordinate system and a second gesture matrix of the target coordinate system relative to a mechanical arm carrier coordinate system, and determining a gesture matrix of the terminal arm support joint coordinate system relative to the mechanical arm carrier coordinate system according to the first gesture matrix and the second gesture matrix so as to obtain gesture information of the terminal of the mechanical arm.
According to an embodiment of the present invention, in the robot arm end pose calculation step, the method further includes the steps of: and a position calculation step, namely respectively acquiring the distance between a set point on the central axis of the mechanical arm and the joint center point of the tail end arm frame and the coordinates of the set point under a carrier coordinate system of the mechanical arm according to the structural size parameter and the installation size parameter of the target, and further acquiring the coordinates of the joint center point of the tail end arm frame under the carrier coordinate system of the mechanical arm.
According to an embodiment of the invention, in the attitude calculation step, the first attitude matrix is obtained according to the coordinates of the three targets in the robot arm carrier coordinate system and the position relation between the target coordinate system and the three targets; and determining the second attitude matrix according to the preset position relation formed by the acquired position information of the at least three targets and the set points of the at least three targets and the central axis of the mechanical arm frame.
According to one embodiment of the invention, when the three targets are installed, the predetermined position relationship is that the three targets are centered on the central axis of the arm support, and connecting lines between two adjacent targets and a set point on the central axis are different from each other by a set angle.
According to another aspect of the present invention, there is also provided a system for measuring the pose of an engineering robot arm, the system comprising: the at least three targets are arranged at the tail end of the engineering mechanical arm, so that the at least three targets and the set point of the central axis of the mechanical arm frame form a preset position relation; the parameter acquisition device is used for acquiring the position information of the at least three targets under a mechanical arm carrier coordinate system and the structural size parameters and the installation size parameters of the targets; and the mechanical arm tail end pose calculation device is used for calculating and obtaining pose information including position coordinates and postures of the mechanical arm tail end under a mechanical arm carrier coordinate system by utilizing the preset position relation and the acquired position information, the acquired structure size parameters and the acquired installation size parameters.
According to an embodiment of the present invention, the robot arm end pose calculation apparatus further includes: the gesture calculation module is used for determining a first gesture matrix of a target coordinate system relative to a tail-end arm frame joint coordinate system and a second gesture matrix of the target coordinate system relative to a mechanical arm carrier coordinate system, and determining a gesture matrix of the tail-end arm frame joint coordinate system relative to the mechanical arm carrier coordinate system according to the first gesture matrix and the second gesture matrix so as to obtain gesture information of the tail end of the mechanical arm.
According to an embodiment of the present invention, the robot arm end pose calculation apparatus further includes: and the position calculation module is used for respectively acquiring the distance between a set point on the central axis of the mechanical arm and the joint center point of the tail end arm frame and the coordinates of the set point under a carrier coordinate system of the mechanical arm according to the structural size parameter and the mounting size parameter of the target, and further acquiring the coordinates of the joint center point of the tail end arm frame under the carrier coordinate system of the mechanical arm.
According to an embodiment of the invention, the gesture calculation module further performs the following operations: obtaining the first attitude matrix according to the coordinates of the three targets under a carrier coordinate system of the mechanical arm and the position relation between the target coordinate system and the three targets; and determining the second attitude matrix according to the preset position relation formed by the acquired position information of the at least three targets and the set points of the at least three targets and the central axis of the mechanical arm frame.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects:
the method of the invention utilizes at least three target balls arranged on the tail end arm support to construct a spatial reference object, and when the structural size and the installation position of the target balls are determined, the spatial reference object and the tail end arm support have a determined relative pose relationship. The pose of the space reference object formed by the target balls in the carrier coordinate system of the mechanical arm can be calculated by measuring the position coordinates of each target ball. Therefore, the pose of the tail end arm frame under the manipulator arm carrier coordinate system can be obtained according to the pose relation between the spatial reference object and the tail end arm frame. The method is more accurate and rapid in calculation of the pose of the arm support at the tail end of the mechanical arm.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure and/or process particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the technology or prior art of the present application and are incorporated in and constitute a part of this specification. The drawings expressing the embodiments of the present application are used for explaining the technical solutions of the present application, and should not be construed as limiting the technical solutions of the present application.
Fig. 1 is a schematic flowchart of a method for measuring a pose of an engineering robot arm according to a first embodiment of the present application.
Fig. 2 is a schematic view of the installation of a target ball relative to a set point (center point for short) a' on the central axis of a robotic arm in one example of the present application.
Fig. 3 is a schematic diagram of a robot arm carrier coordinate system pose relationship among a target, a target coordinate system, and a terminal boom joint coordinate system established in an example of the present application.
Fig. 4 is a schematic view of a target ball mechanism in an example of the present application.
Fig. 5 is a schematic diagram of the motion of the target ball mechanism shown in fig. 4 during deployment.
Fig. 6 is a simplified diagram of calculating an end boom position according to an example of the present application.
Fig. 7 is a structural block diagram of a system for measuring the pose of an engineering robot arm according to a second embodiment of the present application.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the accompanying drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the corresponding technical effects can be fully understood and implemented. The embodiments and the features of the embodiments can be combined without conflict, and the technical solutions formed are all within the scope of the present invention.
The technical principle of pose measurement of the engineering mechanical arm provided by the embodiment of the invention is briefly summarized as follows: and constructing a spatial reference object by utilizing at least three target balls arranged on the tail end arm support, wherein the spatial reference object and the tail end arm support have a determined relative pose relationship when the structural size and the installation position of the target balls are determined. The pose of the space reference object formed by the target balls in the carrier coordinate system of the mechanical arm can be calculated by measuring the position coordinates of each target ball. Therefore, the pose of the tail end arm frame under the manipulator arm carrier coordinate system can be obtained according to the pose relation between the spatial reference object and the tail end arm frame. In order that the invention may be further understood, specific examples are set forth below.
Example one
First, the measuring tool used in the following example is described: a laser tracker (an example of a coordinate information collector), and a foldable target ball mechanism (an example of a target, the specific structure can be shown in fig. 4). This collapsible target ball mechanism can expand and close through the drive of motor to guarantee in measurement process, prevent the condition that the target ball that leads to because the motion of arm is sheltered from, guarantee the normal clear of measurement. The structure of the target ball mechanism is not limited to this, and any target ball may be used as long as it can have the above-described functions.
As shown in fig. 4, the reference numerals in the drawings have the following meanings: the meaning of the reference symbols in the drawings is as follows: 1. the base, 2, folded cascade target ball, 3, protection shield, 10, target ball support cassette, 11, protection shield support cassette, 12, middle driving frame, 13, rack, 14, first spout, 15, second spout, 16, first sliding pin, 17, second sliding pin, 18, motor, 19, lead screw, 21, upset arm, 22, support arm, 23, target ball body, 31, revolving axle, 32, gear.
The structure of the target ball mechanism will be described below.
As shown in fig. 4, the present embodiment provides a target ball mechanism including: the target ball seat comprises a base 1 and a foldable target ball 2 arranged on the base 1, wherein the foldable target ball 2 is constructed to be capable of being folded or stretched on the base 1.
Preferably, the base 1 is provided with a foldable protection plate 3, and when the foldable target balls 2 are in a folded state, the protection plate 3 is in a folded state and covers the foldable target balls 2. Preferably, the base 1 comprises a target ball supporting clamping seat 10 connected with the foldable target ball 2 and a protection plate supporting clamping seat 11 connected with the protection plate 3; a movable intermediate transmission frame 12 is arranged between the target ball supporting clamping seat 10 and the protective plate supporting clamping seat 11; wherein, the middle driving frame 12 can drive the foldable target balls 2 and the protection plate 3 to fold or extend simultaneously when moving.
In one example, a first sliding groove 14 is formed on the target ball support clamping seat 10, and a first sliding pin 16 matched with the first sliding groove 14 is arranged at one end of the intermediate transmission frame 12; a second sliding groove 15 is arranged on the protection plate support clamping seat 11, and a second sliding pin 17 matched with the second sliding groove 15 is arranged at the other end of the middle transmission frame 12.
Further, the foldable target ball 2 comprises a turning arm 21 hinged on the target ball support clamping seat 10 and a support arm 22 hinged on the middle transmission frame 12, and the upper end of the support arm 22 is provided with a target ball body 23; wherein, the upper end of the turnover arm 21 is hinged with the middle part of the supporting arm 22.
In one example, an angle is formed between the target ball body 23 and the supporting arm 22, and the angle ensures that the target ball body 2 and the turning arm 21 are parallel when the foldable target ball 2 is in a folded state.
Preferably, the bottom of the protection plate 3 is hinged to the protection plate support clamping seat 11 through a rotating shaft 31, and a gear 32 rotating together with the rotating shaft 31 is arranged on the rotating shaft 31; the intermediate transmission frame 12 is provided with a rack 13 matched with the gear 32.
In one example, a torsion spring is provided on the rotation shaft 31 to keep the protection plate 3 in an extended state without being forced, and the rack 13 moves to a position separated from the gear 32 with the intermediate transmission frame 12 when the protection plate 3 is in the extended state.
Preferably, a power device is arranged between the protection board support clamping seat 11 and the intermediate transmission frame 12, and the power device is configured to drive the intermediate transmission frame 12 to move so as to fold or extend the foldable target balls 2 and the protection board 3.
Further, the power device comprises a screw rod 19, one end of the screw rod 19 is rotatably connected to the protection plate supporting clamping seat (11), and the other end of the screw rod 19 is connected with a motor 18 for driving the screw rod 19 to rotate; wherein, the middle transmission frame 12 is provided with a screw hole, the screw rod 19 passes through the screw hole, and the thread of the screw rod 19 is matched with the thread of the screw hole.
Next, how to measure the pose of the engineering robot is described with reference to fig. 1, where fig. 1 is a flowchart illustrating a method for measuring the pose of the engineering robot according to a first embodiment of the present application.
In step S110 (target mounting step), at least three targets are mounted at the end of the engineering robot arm, so that the at least three targets form a predetermined position relationship with a set point on the central axis of the robot arm.
In step S120 (parameter acquisition step), position information of the at least three targets in a robot arm carrier coordinate system, and structural size parameters and mounting size parameters of the targets are acquired.
In step S130 (robot arm end pose calculation step), pose information including position coordinates and poses of the robot arm end currently in the robot arm carrier coordinate system is calculated and obtained using the predetermined positional relationship and the acquired position information, the structural dimension parameters, and the mounting dimension parameters.
The following describes the above steps in detail by taking the example of mounting three foldable target ball mechanisms at the end of the robot arm.
In step S110, the three target ball mechanisms are centered on the central axis of the arm support, so that the axial planes (the planes are planes formed by the two adjacent target balls and the set points on the central axis, the set points in this example are central points a ', such as planes P1, P2, and P3 in fig. 2) of the two adjacent target ball mechanisms are symmetrically installed at a set angle, such as 120 °, as shown in fig. 2, in which B, C, D are the three target ball mechanisms respectively, and a' is the central point on the central axis of the arm support.
Acquisition of parameters is started in step S120: firstly, an industrial personal computer sends out a calibration instruction, a motor is controlled to enable three target balls to be unfolded, and a laser tracker is started. Then, the coordinate information of the three target balls at the tail end is acquired by using a laser tracker and is fed back to the industrial personal computer through a can bus. On the other hand, structural dimension parameters and mounting dimension parameters of the target are acquired.
Next, in step S130, the industrial personal computer determines the end position and the attitude of the robot arm using the position information of the at least three target balls fed back. The following exemplifies how to measure the position and attitude of the robot arm by three target balls, and specifically includes two parts of attitude measurement and position measurement.
(1) Attitude measurement
Determining a first attitude matrix of a target coordinate system relative to a terminal arm support coordinate system and a second attitude matrix of the target coordinate system relative to a mechanical arm carrier coordinate system, and determining an attitude matrix of the terminal arm support coordinate system relative to the mechanical arm carrier coordinate system according to the first attitude matrix and the second attitude matrix, thereby obtaining attitude information of the terminal of the mechanical arm. The specific mode is as follows.
First, the target ball is mounted with respect to the robot arm center point A' as shown in FIG. 2. Since three points at target ball center B, C, D form a triangle, when B, C, D position is determined, only one point A is necessarily present on the axis of the robot arm, so that
The two are mutually vertical.
In order to facilitate the calculation of the pose of the spatial reference object constructed by the three target balls, the A is taken as the origin,
the directions are respectively the x, y and z axis directions to establish a target coordinate system A-xAyAzAWhile on the arm support EA' establishes a boom joint coordinate system E-xEyEzEE is the joint center point of the tail end arm support, xEThe shaft is along the central axis of the arm support, and
in the same direction, zEThe axis is vertical to the arm support and upward
The directions are the same; a robot arm carrier coordinate system O-xyz is established as shown in fig. 3. According to the structural characteristics of the target ball, the distance of the target ball center B, C, D relative to the arm support center point A' is changed and the direction is unchanged in the target ball unfolding and folding process. The coordinate system A-x is thus independent of the position to which the target ball is movedAyAzAAnd the end arm frame coordinate system E-xEyEzEThere is a determined attitude matrix
(first attitude matrix).
Will be provided with
Projection onto xAAyAPlane obtaining
And xAthe angle between the axes is α -45 DEG, and
the angle β is 35.26 °, and the target coordinate system a-x that can be determined is defined according to the euler angleAyAzAAnd the end arm frame coordinate system E-xEyEzEThere is a determined attitude matrix
Thus, only the target coordinate system A-x needs to be obtainedAyAzAAttitude matrix relative to mechanical arm carrier coordinate system
Namely, the attitude matrix of the tail end arm support relative to the mechanical arm carrier coordinate system can be obtained
And determining the second attitude matrix according to the preset position relation formed by the acquired position information of the at least three targets and the set points of the at least three targets and the central axis of the mechanical arm frame. Specifically, the coordinates of the target ball B, C, D at a certain position measurable by the laser tracker in the arm carrier coordinate system of the arm carrier coordinate system are respectively (OxB,OyB,OzB)、(OxC,OyC,OzC)、(OxD,OyD,OzD) Then A' is the coordinate under the mechanical arm carrier coordinate system
Since A-BCD constitutes exactly one special triangular pyramid with an A apex: the three edges are of equal length and perpendicular to each other, so that the coordinates of point a can be found by geometric mathematical calculations, as is known from B, C, D. Point a is in the arm carrier coordinate system under the arm carrier coordinate system (coordinate)OxA,OyA,OzA) The following relationship should be satisfied:
according to the definition of the attitude matrix, the attitude matrix
As a target coordinate system xA、yA、zAAnd (3) projecting the unit vectors on the axes under x, y and z axes of a robot arm carrier coordinate system. From the A, B, C, D point coordinates, x can be obtainedA、yA、zAUnit vector on axis:
the target coordinate system A-xAyAzAAttitude matrix relative to mechanical arm carrier coordinate system
(second attitude matrix) is:
the attitude matrix of the coordinate system of the tail end arm support relative to the coordinate system of the carrier of the mechanical arm
Comprises the following steps:
(2) position measurement
Respectively obtaining the distance between a set point on the central axis of the mechanical arm and the central point of the joint of the tail end arm frame according to the structural size parameter and the installation size parameter of the target
And the coordinates of the set point under the coordinate system of the mechanical arm carrier
And then obtaining the coordinates of the joint central point of the tail end arm support under a mechanical arm carrier coordinate system.
Fig. 5 is a schematic diagram of the deployed motion of the target ball mechanism, wherein the central axis a is the central axis of the tail end arm support, and the revolute pair G is a revolving shaft between the turnover arm 21 and the target ball bearing clamping seat 10; the revolute pair F is a revolving shaft between the supporting arm 22 and the overturning arm 21; b is a target ball measuring central point; the sliding pair H corresponds to the first sliding pin 16.
As shown in fig. 6, the target ball structure size and mounting size parameters that can be determined are: length d of the connecting rod GFGF(ii) a Distance d between BHsBH(ii) a And the horizontal distance d between G and H in the initial stateGHx(ii) a A displacement sensor is installed at the mobile joint H, and the displacement amount Δ d of the first slide pin 16 is measured (detected by the displacement sensor); the distance between EG' is d1(ii) a The distance between the movable joint H and the axis of the arm support is dA′I(ii) a The distance between the revolute pair G and the axis of the arm support is dGG′. From the above parameters, the following dimensions can be further obtained:
actual horizontal distance of G and H:
d2＝dGHx+Δd
the distance between the target ball and the arm support central axis can be obtained according to the coordinates of the point B and the point A
Thus the horizontal distance of H from J:
the distance between the two points can be obtained according to the coordinates of the point A and the point A
While
Comprises the following steps:
due to the fact that
Co-linear, thus:
then can obtain
Namely, the coordinate of the point E under the coordinate system of the mechanical arm carrier:
the method provided by the embodiment of the invention can be used for accurately measuring the position and the posture of the mechanical arm in real time, assisting the operator to control the movement of the mechanical arm and better completing the operation task.
Example two
Fig. 7 is a system for measuring the pose of an engineering robot arm according to the second embodiment of the present application, and the composition and function of the system will be described with reference to fig. 7.
As shown in fig. 7, the system includes: at least three targets (B, C, D shown) mounted at the end of the engineering robot arm in a predetermined positional relationship to set points of the central axis of the arm rest; a parameter acquiring device 81 for acquiring position information of the at least three targets in a robot arm carrier coordinate system (the position coordinates are mainly measured by a laser tracker), and structural dimension parameters and mounting dimension parameters of the targets; and the mechanical arm tail end pose calculation device 82 is used for calculating and obtaining pose information including position coordinates and postures of the mechanical arm tail end under a mechanical arm carrier coordinate system by utilizing the preset position relation and the acquired position information, the acquired structure size parameters and the acquired installation size parameters.
The robot arm end pose calculation device 82 further includes the following modules: and the gesture calculation module 822 is used for determining a first gesture matrix of the target coordinate system relative to the tail end arm frame coordinate system and a second gesture matrix of the target coordinate system relative to the mechanical arm carrier coordinate system, and determining a gesture matrix of the tail end arm frame coordinate system relative to the mechanical arm carrier coordinate system according to the first gesture matrix and the second gesture matrix so as to obtain gesture information of the tail end of the mechanical arm. And the position calculation module 824 is configured to obtain, according to the structural size parameter and the installation size information of the target, a distance between a set point on a central axis of the mechanical arm and a joint center point of the end boom and a coordinate of the set point in a carrier coordinate system of the mechanical arm, and further obtain a coordinate of the joint center point of the end boom in the carrier coordinate system of the mechanical arm.
A pose calculation module 822 that further performs the following operations: obtaining the first attitude matrix according to the coordinates of the three targets under a carrier coordinate system of the mechanical arm and the position relation between the target coordinate system and the three targets; and determining the second attitude matrix according to the preset position relation formed by the acquired position information of the at least three targets and the set points of the at least three targets and the central axis of the mechanical arm frame.
When three target ball mechanisms are installed, the robot arm end pose calculation means 82 may perform step S130 of the first embodiment, which is not described in detail here.
Although the embodiments of the present invention have been described above, the above descriptions are only for the convenience of understanding the present invention, and are not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A method for measuring the pose of an engineering mechanical arm, the method comprising:
a target mounting step, namely mounting at least three targets at the tail end of the engineering mechanical arm to enable the at least three targets and a set point of a central axis of the mechanical arm frame to form a preset position relation;
a parameter obtaining step, namely obtaining position information of the at least three targets under a mechanical arm carrier coordinate system, and structural size parameters and installation size parameters of the targets;
and calculating the pose of the tail end of the mechanical arm, namely calculating the pose information of the tail end of the mechanical arm under a carrier coordinate system of the mechanical arm at present by using the preset position relation, the acquired position information, the acquired structure size parameters and the acquired installation size parameters.
2. The method according to claim 1, characterized by comprising, in the robot arm end pose calculation step, the steps of:
and a gesture calculation step, namely determining a first gesture matrix of a target coordinate system relative to a terminal arm support joint coordinate system and a second gesture matrix of the target coordinate system relative to a mechanical arm carrier coordinate system, and determining a gesture matrix of the terminal arm support joint coordinate system relative to the mechanical arm carrier coordinate system according to the first gesture matrix and the second gesture matrix so as to obtain gesture information of the terminal of the mechanical arm.
3. The method according to claim 1 or 2, characterized by further comprising, in the robot arm end pose calculation step, the steps of:
and a position calculation step, namely respectively acquiring the distance between a set point on the central axis of the mechanical arm and the joint center point of the tail end arm frame and the coordinates of the set point under a carrier coordinate system of the mechanical arm according to the structural size parameter and the installation size parameter of the target, and further acquiring the coordinates of the joint center point of the tail end arm frame under the carrier coordinate system of the mechanical arm.
4. The method according to claim 2, wherein, in the attitude calculation step,
the first attitude matrix can be obtained according to the coordinates of the three targets under the carrier coordinate system of the mechanical arm and the position relation between the target coordinate system and the three targets;
and determining the second attitude matrix according to the preset position relation formed by the acquired position information of the at least three targets and the set points of the at least three targets and the central axis of the mechanical arm frame.
5. The method of any one of claims 1, 2 and 4, wherein when three targets are installed, the predetermined positional relationship is that the three targets are centered on a central axis of the arm support, and connecting lines between two adjacent targets and a set point on the central axis are different from each other by a set angle.
6. A system for measuring the pose of an engineering robot arm, the system comprising:
the at least three targets are arranged at the tail end of the engineering mechanical arm, so that the at least three targets and the set point of the central axis of the mechanical arm frame form a preset position relation;
the parameter acquisition device is used for acquiring the position information of the at least three targets under a mechanical arm carrier coordinate system and the structural size parameters and the installation size parameters of the targets;
and the mechanical arm tail end pose calculation device is used for calculating and obtaining pose information including position coordinates and postures of the mechanical arm tail end under a mechanical arm carrier coordinate system by utilizing the preset position relation and the acquired position information, the acquired structure size parameters and the acquired installation size parameters.
7. The system according to claim 6, characterized in that the robot arm end pose calculation means further comprises:
the gesture calculation module is used for determining a first gesture matrix of a target coordinate system relative to a tail-end arm frame joint coordinate system and a second gesture matrix of the target coordinate system relative to a mechanical arm carrier coordinate system, and determining a gesture matrix of the tail-end arm frame joint coordinate system relative to the mechanical arm carrier coordinate system according to the first gesture matrix and the second gesture matrix so as to obtain gesture information of the tail end of the mechanical arm.
8. The system according to claim 6 or 7, characterized in that the robot arm end pose calculation means further includes:
and the position calculation module is used for respectively acquiring the distance between a set point on the central axis of the mechanical arm and the joint center point of the tail end arm frame and the coordinates of the set point under a carrier coordinate system of the mechanical arm according to the structural size parameter and the mounting size parameter of the target, and further acquiring the coordinates of the joint center point of the tail end arm frame under the carrier coordinate system of the mechanical arm.
9. The system of claim 7, wherein the pose computation module further performs the following operations:
obtaining the first attitude matrix according to the coordinates of the three targets under a carrier coordinate system of the mechanical arm and the position relation between the target coordinate system and the three targets;
and determining the second attitude matrix according to the preset position relation formed by the acquired position information of the at least three targets and the set points of the at least three targets and the central axis of the mechanical arm frame.
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| CN110195592B (en) * | 2019-04-30 | 2021-02-05 | 华中科技大学 | Intelligent shield tunneling pose prediction method and system based on hybrid deep learning |
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