CN109760049B - Mechanical arm calibration method and device and mechanical arm - Google Patents
Mechanical arm calibration method and device and mechanical arm Download PDFInfo
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- CN109760049B CN109760049B CN201811643126.5A CN201811643126A CN109760049B CN 109760049 B CN109760049 B CN 109760049B CN 201811643126 A CN201811643126 A CN 201811643126A CN 109760049 B CN109760049 B CN 109760049B
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Abstract
The invention belongs to the technical field of automation, and provides a method and a device for calibrating a mechanical arm and the mechanical arm, wherein the method comprises the following steps: controlling the execution tail end of the mechanical arm to move; acquiring a first position of an execution end when the execution end moves to a calibration base plane and contacts the first test board; controlling the execution tail end to move from a first position on the plane of the calibration base according to a preset moving direction; when detecting that the execution tail end contacts the second test plate, acquiring the moving distance of the execution tail end moving from the first position to the second test plate; judging whether an error exists between the moving distance and the preset distance; the preset distance is a pre-stored actual distance between the first test board and the second test board; and if an error exists between the moving distance and the preset distance, calibrating the mechanical arm according to the error. The embodiment of the invention does not need expensive and large-sized error calibration equipment, and the calibration method has low calculation complexity and is easy to realize.
Description
Technical Field
The invention belongs to the technical field of automation, and particularly relates to a mechanical arm calibration method and device and a mechanical arm.
Background
The mechanical arm is a high-precision and high-speed dispensing robot hand, and is a complex system with multiple inputs, multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in various laboratories, industrial assembly, safety and explosion protection.
At present, a driving motor used by a small mechanical arm (such as a small desktop mechanical arm) is mainly a stepping motor, and after the small mechanical arm is produced in batches in a factory, due to assembly errors, factory errors of the mechanical arm need to be calibrated; so as to improve the running precision of the mechanical arm. However, at present, special factory error calibration equipment for the mechanical arm is mainly purchased for error calibration, but the error calibration equipment occupies a large space, requires high cost, and has a complex error calibration method, so that the equipment is not suitable for calibrating the small mechanical arm.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for calibrating a robot arm, and a robot arm, which aim to solve the problems of large occupied space, high required cost, and complicated error calibration method of the existing error calibration equipment.
The first aspect of the embodiment of the invention provides a calibration method of a mechanical arm, which is applied to a mechanical arm calibration system, wherein the mechanical arm calibration system comprises a mechanical arm and a calibration base, the calibration base comprises a first test board, a second test board, a calibration base plane and a fixing part, the first test board and the second test board are arranged at intervals and are vertically fixed with the calibration base plane, the first test board and the second test board are parallel, and the fixing part is used for fixing a mechanical arm base and is arranged on the calibration base plane;
the calibration method comprises the following steps:
controlling the execution tail end of the mechanical arm to move;
acquiring a first position of the execution end when the execution end moves to a calibration base plane and contacts the first test plate;
controlling the execution tail end to move from the first position in the plane of the calibration base according to a preset moving direction;
when the execution tail end is detected to contact the second test plate, acquiring the moving distance of the execution tail end moving from the first position to the second test plate;
judging whether an error exists between the moving distance and a preset distance; the preset distance is a pre-stored actual distance between the first test board and the second test board;
and if an error exists between the moving distance and the preset distance, calibrating the mechanical arm according to the error.
In one embodiment, the executing end of the mechanical arm is provided with a sensor;
before acquiring a first position of the execution end when the execution end moves to a calibration base plane and contacts the first test plate, comprising:
detecting, by the sensor, whether the execution end moves to a calibration base plane and contacts the first test plate.
In one embodiment, controlling the actuation end of the robotic arm to move comprises:
and controlling the execution tail end of the mechanical arm to move towards the direction of the position of the first test board stored in advance.
In one embodiment, acquiring a first position of the execution end while the execution end is moved to a calibration base plane and in contact with the first test plate comprises:
acquiring a first position of the execution end when the execution end moves to a calibration base plane and contacts a first surface of the first test plate;
the first test board comprises a first surface and a second surface which is positioned on the back surface of the first surface and is close to the mechanical arm base.
In one embodiment, if there is an error between the moving distance and the preset distance, performing calibration according to the error includes:
and if an error exists between the moving distance and the preset distance, calibrating the operation precision of the mechanical arm according to the error through an error compensation algorithm.
In one embodiment, after determining whether there is an error between the moving distance and the preset distance, the method further includes:
and if no error exists between the moving distance and the preset distance, judging that the mechanical arm is successfully calibrated.
A second aspect of the embodiments of the present invention provides a calibration apparatus for a robot arm, which is applied to a robot arm calibration system, the robot arm calibration system includes a robot arm and a calibration base, the calibration base includes a first test board, a second test board, a calibration base plane and a fixing member, the first test board and the second test board are arranged at an interval and vertically fixed to the calibration base plane, the first test board and the second test board are parallel to each other, and the fixing member is used for fixing a robot arm base and is arranged on the calibration base plane;
the calibration device includes:
the first moving module is used for controlling the execution tail end of the mechanical arm to move;
the first acquisition module is used for acquiring a first position of the execution tail end when the execution tail end moves to the plane of the calibration base and contacts the first test plate;
the second moving module is used for controlling the execution tail end to move from the first position on the plane of the calibration base according to a preset moving direction;
the second acquisition module is used for acquiring the moving distance of the execution tail end from the first position to the second test plate when the execution tail end is detected to be contacted with the second test plate;
the first judgment module is used for judging whether an error exists between the moving distance and a preset distance; the preset distance is a pre-stored actual distance between the first test board and the second test board;
and the calibration module is used for calibrating the mechanical arm according to the error if the moving distance has the error with the preset distance.
In one embodiment, the executing end of the mechanical arm is provided with a sensor;
the calibration device further comprises:
a detection module for detecting whether the execution end moves to a calibration base plane and contacts the first test board through the sensor.
A third aspect of the embodiments of the present invention provides a robot arm, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the above method when executing the computer program.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium, in which a computer program is stored, which, when executed by a processor, implements the steps of the above-described method.
In the embodiment of the invention, when the execution tail end of the mechanical arm moves to the calibration plane and contacts with the first test board of the calibration base, the first position of the execution tail end is obtained, then the execution tail end is controlled to move on the calibration plane of the calibration base, when the execution tail end is detected to contact with the second test board, the movement distance of the execution tail end calculated by the mechanical arm from the first test board to the second test board is obtained, whether an error exists between the movement distance calculated by the mechanical arm and a prestored actual distance is judged, if the error exists, the operation precision of the mechanical arm is inaccurate, and the mechanical arm is calibrated according to the error, so that expensive and large-size error calibration equipment is not needed, the calculation complexity of the calibration method is low, and the implementation is easy.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a diagram illustrating an exemplary configuration of a robotic arm calibration system according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating an exemplary structure of a calibration base according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a method for calibrating a robotic arm according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of a calibration method for a robot arm according to a second embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a calibration apparatus of a robot arm according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of a robot arm according to a fourth embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
It should be understood that the sequence numbers of the steps in the method embodiments described below do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation on the implementation process of each embodiment.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Example one
The calibration method of the robot arm provided by the embodiment of the present invention can be applied to a robot arm calibration system, as shown in fig. 1, the robot arm calibration system includes a robot arm 10 and a calibration base 20, the calibration base 20 includes a first test board 21, a second test board 22, a calibration base plane 23 and a fixing member 24, the first test board 21 and the second test board 22 are disposed at an interval and vertically fixed to the calibration base plane, the first test board and the second test board are parallel to each other, and the fixing member 24 is used for fixing a robot arm base 11 and is disposed on the calibration base plane 23;
in one application scenario, as shown in fig. 2, the calibration base 20 includes a fixing member 24, and the fixing member 24 may be a mounting groove that is embedded into the robot base and fixes the robot base 11.
It should be noted that fig. 1 or 2 only shows an example of the shapes of the robot arm, the calibration base, and the internal structures thereof, and the present invention is not limited thereto.
The calibration method comprises the following steps:
step S101, controlling the execution tail end of the mechanical arm to move;
in the embodiment of the invention, when the mechanical arm needs to be calibrated, the base of the mechanical arm is fixed to the fixing part of the calibration base in advance, and after the mechanical arm is fixed, a user can send an instruction for starting calibration to the mechanical arm, for example, the user can send the instruction for starting calibration to the mechanical arm through a terminal device or send the instruction for starting calibration through a key on the mechanical arm. Of course, the start calibration command may be automatically sent when the robot arm is first operated. And when receiving an instruction for starting calibration, controlling the execution tail end of the mechanical arm to move.
In one embodiment, controlling the actuation end of the robotic arm to move comprises: and controlling the execution tail end of the mechanical arm to move towards the direction of the position of the first test board stored in advance. The method comprises the steps of storing the position relationship of each part (such as a first test board, a second test board, a calibration base plane and a fixed part) on a calibration base in advance, and determining the initial position relationship of the first test board and the execution tail end of the mechanical arm according to the position relationship of the mechanical arm and the calibration base when the mechanical arm is fixed on the calibration base, so that the execution tail end of the mechanical arm can be controlled to move towards the direction in which the position of the first test board is stored in advance.
Step S102, when the execution tail end moves to the plane of the calibration base and contacts the first test plate, acquiring a first position of the execution tail end;
in the embodiment of the invention, when the execution tail end of the mechanical arm is detected to simultaneously touch the calibration base plane and the first test plate, the position of the execution tail end of the mechanical arm is acquired as a first position.
In one embodiment, the executing end of the mechanical arm is provided with a sensor; before acquiring a first position of the execution end when the execution end moves to a calibration base plane and contacts the first test plate, comprising: detecting, by the sensor, whether the execution end moves to a calibration base plane and contacts the first test plate. In a specific application, it can be detected by a visual sensor or a tactile sensor whether the actuation end of the robotic arm moves to the calibration base plane and contacts the first test plate.
In one embodiment, acquiring a first position of the execution end while the execution end is moved to a calibration base plane and in contact with the first test plate comprises: acquiring a first position of the execution end when the execution end moves to a calibration base plane and contacts a first surface of the first test plate; the first test board comprises a first surface and a second surface which is positioned on the back surface of the first surface and is close to the mechanical arm base. The first face of first survey test panel is the one side that the arm base was kept away from to the first test panel, and the second face of first survey test panel is the one side that the arm base is close to the first test panel.
In one embodiment, the execution end moves to the calibration base plane and contacts the first surface of the first test plate can be judged whether to move to the calibration base plane and contact the first surface of the first test plate by machine vision; alternatively, the moving direction is pre-stored, wherein the pre-stored moving direction is a direction perpendicular to the first or second surface of the first test plate and away from the robot arm. And judging the plane of a first test board which is currently contacted with the execution tail end to be in the direction of the execution tail end, and if the direction of the first test board at the execution tail end is opposite to the preset moving direction, judging that the execution tail end is contacted with the first surface of the first test board.
Step S103, controlling the execution terminal to move from the first position on the calibration base plane according to a preset moving direction.
In an embodiment of the present invention, the pre-stored moving direction is a direction perpendicular to the first or second side of the first test plate and away from the robot arm. And controlling the execution tail end to move from the first position in the plane of the calibration base according to a preset moving direction.
Step S104, when the execution tail end is detected to contact the second test board, acquiring the moving distance of the execution tail end moving from the first position to the second test board.
In an embodiment of the present invention, after controlling the executing terminal to move from the first position in the preset moving direction on the calibration base plane, if the executing terminal is detected to contact the second test board, the moving distance of the executing terminal from the first position to the second test board is calculated and obtained. Whether the actuating end of the robotic arm contacts the second test plate may be detected by a visual sensor or a tactile sensor.
In one embodiment, a distance of movement of the executive tip from the first position to the second test plate is obtained when the executive tip contacts a first face of the second test plate. The second test board comprises a first face close to the mechanical arm base and a second face located on the back face of the first face. Determining whether to perform end contact to a first side of the second test plate by machine vision; or, determining that a plane of a second test board currently contacted by an execution end is in the direction of the execution end, and if the direction of the second test board at the execution end is the same as the preset moving direction, determining that the execution end is contacted with a first surface of the second test board.
Step S105, judging whether an error exists between the moving distance and a preset distance; the preset distance is an actual distance between the first test board and the second test board which is stored in advance.
In the embodiment of the present invention, determining whether there is an error between the moving distance and the preset distance may be implemented by comparing whether there is a difference between the moving distance and the preset distance, and when the difference between the moving distance and the preset distance is not zero, it indicates that there is an error.
And S106, if an error exists between the moving distance and the preset distance, calibrating the mechanical arm according to the error.
In one embodiment, if there is an error between the moving distance and the preset distance, performing calibration according to the error includes: and if an error exists between the moving distance and the preset distance, calibrating the operation precision of the mechanical arm according to the error through an error compensation algorithm.
Therefore, in the embodiment of the invention, when the execution tail end of the mechanical arm moves to the calibration plane and contacts with the first test board of the calibration base, the first position of the execution tail end is obtained, the execution tail end is controlled to move on the calibration plane of the calibration base, when the execution tail end is detected to contact with the second test board, the movement distance of the execution tail end calculated by the mechanical arm from the first test board to the second test board is obtained, whether an error exists between the movement distance calculated by the mechanical arm and the prestored actual distance is judged, if the error exists, the operation precision of the mechanical arm is inaccurate, and the mechanical arm is calibrated according to the error, so that expensive and large error calibration equipment is not needed, the calculation complexity of the calibration method is low, and the calibration method is easy to implement.
Example two
The calibration method of the mechanical arm provided by the embodiment of the invention can be applied to a mechanical arm calibration system, the mechanical arm calibration system comprises a mechanical arm and a calibration base, the calibration base comprises a first test board, a second test board, a calibration base plane and a fixing part, the first test board and the second test board are arranged at intervals and are vertically fixed with the calibration base plane, the first test board and the second test board are parallel, and the fixing part is used for fixing a mechanical arm base and is arranged on the calibration base plane; as shown in fig. 4, the calibration method includes:
step S201, controlling the execution tail end of the mechanical arm to move;
step S202, when the executing terminal moves to the plane of the calibration base and contacts the first test board, acquiring a first position of the executing terminal;
step S203, controlling the execution tail end to move from the first position on the calibration base plane according to a preset moving direction;
step S204, when the execution tail end is detected to contact the second test board, acquiring the moving distance of the execution tail end moving from the first position to the second test board;
step S205, judging whether an error exists between the moving distance and a preset distance; the preset distance is a pre-stored actual distance between the first test board and the second test board;
and S206, if an error exists between the moving distance and the preset distance, calibrating the mechanical arm according to the error.
In the embodiment of the present invention, where the steps S201, S202, S203, S204, S205, and S206 are respectively the same as or similar to the steps S101, S102, S103, S104, S105, and S106, reference may be specifically made to the related description of the steps S101 to S106, and details thereof are not repeated.
Step S207, if there is no error between the moving distance and the preset distance, it is determined that the mechanical arm is successfully calibrated.
In the embodiment of the present invention, if it is determined after the step S205 that there is no error between the moving distance and the preset distance, it is determined that the mechanical arm is successfully calibrated.
In one embodiment, if it is determined that there is an error between the moving distance and the preset distance after step S205, calibrating the operation precision of the robot arm according to the error through an error compensation algorithm in step S206, and after the calibration, repeating the steps S201 to S205 to determine whether there is an error between the moving distance and the preset distance;
and if the moving distance has an error with the preset distance, calibrating again until the moving distance has no error with the preset distance, and judging that the mechanical arm is successfully calibrated.
It can be seen that, in the embodiment of the present invention, when the execution end of the robot arm moves to the calibration plane and contacts the first test board of the calibration base, the first position of the execution end is obtained, and then the execution end is controlled to move on the calibration plane of the calibration base, when it is detected that the execution end contacts the second test board, the movement distance of the execution end calculated by the robot arm from the first test board to the second test board is obtained, and whether an error exists between the movement distance calculated by the robot arm and the prestored actual distance is determined, if an error exists, it indicates that the operation precision of the robot arm is inaccurate, the robot arm is calibrated according to the error, so that expensive and large-sized error calibration equipment is not required, the calibration method has low calculation complexity, and the implementation is easy.
EXAMPLE III
The embodiment of the invention provides a calibration device of a mechanical arm, which can be applied to a mechanical arm calibration system and used for executing steps in a method embodiment.
As shown in fig. 5, the calibration apparatus 300 includes:
a first moving module 301, configured to control an execution end of the mechanical arm to move;
in one embodiment, the first moving module is specifically configured to control the execution end of the robot arm to move in a direction in which the position of the first test board is stored in advance.
A first acquiring module 302 for acquiring a first position of the executing end when the executing end moves to a calibration base plane and contacts the first test board;
in one embodiment, the executing end of the mechanical arm is provided with a sensor;
the calibration device 300 further comprises:
the detection module is used for detecting whether the execution tail end moves to the calibration base plane and contacts the first test plate or not through the sensor before the first position of the execution tail end is acquired when the execution tail end moves to the calibration base plane and contacts the first test plate.
In one embodiment, the first acquiring module 302 is specifically configured to acquire a first position of the execution end when the execution end moves to a calibration base plane and contacts a first face of the first test plate; the first test board comprises a first surface and a second surface which is positioned on the back surface of the first surface and is close to the mechanical arm base.
A second moving module 303, configured to control the execution terminal to start moving from the first position in the calibration base plane according to a preset moving direction;
a second obtaining module 304, configured to obtain a moving distance of the execution end moving from the first position to the second test board when the execution end is detected to contact the second test board;
a first determining module 305, configured to determine whether an error exists between the moving distance and a preset distance; the preset distance is a pre-stored actual distance between the first test board and the second test board;
the calibration module 306 is configured to calibrate the mechanical arm according to an error if the moving distance and the preset distance have the error.
In an embodiment, the calibration module 306 is specifically configured to calibrate the operation accuracy of the mechanical arm according to an error by using an error compensation algorithm if the moving distance has an error with the preset distance.
In one embodiment, the calibration apparatus 300 further comprises:
and the second judgment module is used for judging that the mechanical arm is successfully calibrated if no error exists between the moving distance and the preset distance.
Therefore, in the embodiment of the invention, when the execution tail end of the mechanical arm moves to the calibration plane and contacts with the first test board of the calibration base, the first position of the execution tail end is obtained, the execution tail end is controlled to move on the calibration plane of the calibration base, when the execution tail end is detected to contact with the second test board, the movement distance of the execution tail end calculated by the mechanical arm from the first test board to the second test board is obtained, whether an error exists between the movement distance calculated by the mechanical arm and the prestored actual distance is judged, if the error exists, the operation precision of the mechanical arm is inaccurate, and the mechanical arm is calibrated according to the error, so that expensive and large error calibration equipment is not needed, the calculation complexity of the calibration method is low, and the calibration method is easy to implement.
Example four
Fig. 6 is a schematic structural diagram of a robot arm according to an embodiment of the present invention. The robot arm 400 includes: a processor 401, a memory 402 and a computer program 403 stored in the memory 402 and executable on the processor 401. The processor 401, when executing the computer program 403, implements the steps of the method for calibrating the robot arm, such as the method steps of the first embodiment or the method steps of the second embodiment.
Illustratively, the computer program 403 may be divided into one or more units/modules, which are stored in the memory 402 and executed by the processor 401 to implement the present invention. The one or more units/modules may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 403 in the robot arm 400. For example, the computer program 403 may be divided into a first moving module, a first obtaining module, a second moving module, a second obtaining module, a first determining module, and a calibrating module, and specific functions of each module are described in the third embodiment, which is not described herein again.
The robotic arm 400 may be a desktop, small robotic arm, or an automated device integrated into a robotic arm. The robotic arm 400 may include, but is not limited to, a processor 401, a memory 402. Those skilled in the art will appreciate that figure 4 is merely an example of a robotic arm 400 and does not constitute a limitation of the robotic arm 400 and may include more or fewer components than shown, or some components in combination, or different components, for example, the robotic arm 400 may also include input output devices, network access devices, buses, etc.
The Processor 401 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 402 may be an internal storage unit of the robot 400, such as a hard disk or memory of the robot 400. The memory 402 may also be an external storage device of the robot arm 400, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the robot arm 400. Further, the memory 402 may include both an internal storage unit and an external storage device of the robot arm 400. The memory 402 is used to store the computer programs and other programs and data required by the robot arm 400. The memory 402 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned functions may be distributed as different functional units and modules according to needs, that is, the internal structure of the apparatus may be divided into different functional units or modules to implement all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the intelligent terminal may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the above-described modules or units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium and can implement the steps of the embodiments of the method when the computer program is executed by a processor. The computer program includes computer program code, and the computer program code may be in a source code form, an object code form, an executable file or some intermediate form. The computer readable medium may include: any entity or device capable of carrying the above-mentioned computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signal, telecommunication signal, software distribution medium, etc. It should be noted that the computer readable medium described above may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media excludes electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. The calibration method of the mechanical arm is characterized by being applied to a mechanical arm calibration system, wherein the mechanical arm calibration system comprises a mechanical arm and a calibration base, the calibration base comprises a first test board, a second test board, a calibration base plane and a fixing part, the first test board and the second test board are arranged at intervals and are vertically fixed on the calibration base plane, the first test board and the second test board are parallel, and the fixing part is used for fixing a mechanical arm base and is arranged on the calibration base plane;
the calibration method comprises the following steps:
controlling the execution tail end of the mechanical arm to move;
acquiring a first position of the execution end when the execution end moves to a calibration base plane and contacts the calibration base plane and the first test plate;
controlling the execution tail end to move from the first position in the plane of the calibration base according to a preset moving direction;
when the execution tail end is detected to contact the second test plate, acquiring the moving distance of the execution tail end moving from the first position to the second test plate;
judging whether an error exists between the moving distance and a preset distance; the preset distance is a pre-stored actual distance between the first test board and the second test board;
and if an error exists between the moving distance and the preset distance, calibrating the mechanical arm according to the error.
2. The calibration method according to claim 1, wherein the executing end of the robot arm is provided with a sensor;
before acquiring a first position of the execution end when the execution end moves to a calibration base plane and contacts the first test plate, comprising:
detecting, by the sensor, whether the execution end moves to a calibration base plane and contacts the first test plate.
3. The calibration method according to claim 1, wherein controlling the executing tip of the robot arm to move comprises:
and controlling the execution tail end of the mechanical arm to move towards the direction of the position of the first test board stored in advance.
4. The calibration method of claim 1, wherein acquiring a first position of the execution tip when the execution tip is moved to a calibration base plane and contacts the first test plate comprises:
acquiring a first position of the execution end when the execution end moves to a calibration base plane and contacts a first surface of the first test plate;
the first test board comprises a first surface and a second surface which is positioned on the back surface of the first surface and is close to the mechanical arm base.
5. The calibration method according to claim 1, wherein if there is an error between the moving distance and the preset distance, performing calibration according to the error comprises:
and if an error exists between the moving distance and the preset distance, calibrating the operation precision of the mechanical arm according to the error through an error compensation algorithm.
6. The calibration method according to any one of claims 1 to 5, further comprising, after determining whether there is an error between the moving distance and the preset distance:
and if no error exists between the moving distance and the preset distance, judging that the mechanical arm is successfully calibrated.
7. The calibration device of the mechanical arm is characterized by being applied to a mechanical arm calibration system, wherein the mechanical arm calibration system comprises a mechanical arm and a calibration base, the calibration base comprises a first test board, a second test board, a calibration base plane and a fixing part, the first test board and the second test board are arranged at intervals and are vertically fixed with the calibration base plane, the first test board and the second test board are parallel, and the fixing part is used for fixing a mechanical arm base and is arranged on the calibration base plane;
the calibration device includes:
the first moving module is used for controlling the execution tail end of the mechanical arm to move;
a first obtaining module for obtaining a first position of the execution terminal when the execution terminal moves to a calibration base plane and contacts the calibration base plane and the first test board;
the second moving module is used for controlling the execution tail end to move from the first position on the plane of the calibration base according to a preset moving direction;
the second acquisition module is used for acquiring the moving distance of the execution tail end from the first position to the second test plate when the execution tail end is detected to be contacted with the second test plate;
the first judgment module is used for judging whether an error exists between the moving distance and a preset distance; the preset distance is a pre-stored actual distance between the first test board and the second test board;
and the calibration module is used for calibrating the mechanical arm according to the error if the moving distance has the error with the preset distance.
8. The calibration device of claim 7, wherein the actuation end of the robotic arm is provided with a sensor;
the calibration device further comprises:
a detection module for detecting whether the execution end moves to a calibration base plane and contacts the first test board through the sensor.
9. A robot arm comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that said processor implements the steps of the method according to any of claims 1 to 6 when executing said computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
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| CN111037563B (en) * | 2019-12-27 | 2021-10-29 | 深圳市越疆科技有限公司 | Mechanical arm calibration method, device, equipment and computer readable storage medium |
| CN111015667B (en) * | 2019-12-27 | 2021-09-28 | 达闼机器人有限公司 | Robot arm control method, robot, and computer-readable storage medium |
| CN112830237A (en) * | 2021-01-13 | 2021-05-25 | 广东智源机器人科技有限公司 | Movement control method, device, equipment and cooking system |
| CN114983598A (en) * | 2022-06-01 | 2022-09-02 | 苏州微创畅行机器人有限公司 | End tool exchange device, surgical robot, exchange method, and control apparatus |
| CN114800621B (en) * | 2022-06-24 | 2022-09-16 | 张家口宣化华泰矿冶机械有限公司 | Zero calibration system and method for mechanical arm angle sensor and full-computer trolley |
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| US6070109A (en) * | 1998-03-10 | 2000-05-30 | Fanuc Robotics North America, Inc. | Robot calibration system |
| JP2008522836A (en) * | 2004-10-25 | 2008-07-03 | ユニバーシティ・オブ・デイトン | Method and system for providing improved accuracy in articulated robots by kinematic robot model parameter determination |
| CN103231375A (en) * | 2013-04-28 | 2013-08-07 | 苏州大学 | Industrial robot calibration method based on distance error models |
| DE102016116702B4 (en) * | 2015-09-14 | 2019-01-24 | Fanuc Corporation | Measuring system for calibrating the mechanical parameters of a robot |
| CN108463313A (en) * | 2016-02-02 | 2018-08-28 | Abb瑞士股份有限公司 | Robot system is calibrated |
| CN107042528B (en) * | 2017-06-01 | 2019-06-21 | 中国科学院宁波材料技术与工程研究所 | A kind of Kinematic Calibration system and method for industrial robot |
| CN108274459B (en) * | 2018-01-05 | 2020-12-22 | 高创传动科技开发（深圳）有限公司 | Calibration method and system of industrial robot |
| CN108527373A (en) * | 2018-06-28 | 2018-09-14 | 深圳清华大学研究院 | The parameter measurement of mechanical arm and discrimination method and device, terminal, storage medium |
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