CN109848964A - Teaching robot's data collection system based on optics motion capture - Google Patents
Teaching robot's data collection system based on optics motion capture Download PDFInfo
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Abstract
A kind of teaching robot's data collection system based on optics motion capture, module are mainly divided into demarcating module, switch communication module, data processing module, monitoring module and teaching robot's module.Data processing module sends acquisition to demarcating module by switch module, to obtain teaching action data, teaching action data is pose of the collected power tool in teaching action process in demarcating module, the pose of power tool is obtained by data processing module and is coordinately transformed and generates the movement instruction that robot can execute, robot module is sent by WiFi by this instruction, monitoring module distributes control command to modules and monitors whole system, so that teaching robot completes to act identical movement with teaching to realize teaching.System is acquired in real time using optics motion capture system, compared with prior art, has good long-range control performance, collected data have high-precision, and teaching has stability.
Description
Technical field
It is that one kind passes through capture the present invention relates to a kind of teaching robot's data collection system based on optics motion capture
Optics action data, the data collection system of real-time control six-DOF robot.
Background technique
In order to make robot generate the movement of particular track, it is common practice that a kind of operation equipment is used, by teaching personnel
The operation equipment is operated manually, makes robot according to specified action movement, meanwhile, by the position road of robot
The range of information such as diameter, manipulator stop position angle and height are recorded in controller, finally raw based on recorded data
At the operation program of robot.When carrying out teaching to robot using operation equipment, traditional teaching method needs will movement
Multiple static movements are decomposed into, the movement of robot is then determined according to position, height and the angle information of each static movement
Information does so not only heavy workload, but also due to the limitation of micromotion precision, can not sufficiently reflect teaching personnel's arm
The information of end free movement, the relatively slightly complicated movement of teaching, teaching completion is more difficult, shows robot teaching by some
Religion movement or the limitation of other external conditions；For example, in movement of the teaching robot using sander polishing workpiece, due to
Need constantly to adjust the angle of grinding disc during the grinding process, if be difficult using traditional teaching method by these movement essences
The various information for really decomposing and determining movement, can not accurately complete teaching task.
Zhang Tao, teaching robot's collector systems based on optics motion capture Yang Xin, are appointed to propose a kind of robot
Teaching method, apparatus and system (Zhang Tao, Yang Xin, a kind of robot teaching method, apparatus of Ren Wei and system: China,
106182003 [P], 2016-12-07), it uses using data in Inertial Measurement Unit IMU acquisition teaching action process,
Although improving accuracy and efficiency, IMU has disturbing factor, especially location error vulnerable to various, to influence and be
The precision of system.The it is proposeds such as Yu Jianjun, Xu piebald horse speed, Ruan Xiaogang have hand-in-hand demonstration robot system and the side of learning by imitation mechanism
Method (Yu Jianjun, Xu piebald horse speed, and the such as Ruan Xiaogang have the hand-in-hand demonstration robot system and method for learning by imitation mechanism: China,
104924313 [P] 2015-09-23), believed using the state that the action detection device being mounted in robot acquires each connecting rod
Breath, by Information application to learning by imitation algorithm, guidance machine people's system learning by imitation teaching behavior, but operating process is complicated,
The learning algorithm performance used is less high, and user's operation is cumbersome and inconvenient.Capital Guo Yan day etc. proposes a kind of industrial robot teaching system
System and method (capital Guo Yan day, a kind of industrial robot teaching system and method for Cheng Fanyu, Liu Hao: China, 108214495 [P]
.2018.06.29), which is used and is obtained spatial data based on the hand-held locater of infrared laser Scan orientation, and will be empty
Between data be sent to data processing server.But compared based on optics motion capture, obtained data are not sufficiently stable, infrared to swash
Optical scanning distance is not remote enough.
Summary of the invention
In view of the deficiencies of the prior art, the present invention proposes a kind of teaching robot's data acquisition based on optics motion capture
System captures optics action data by real-time online, and so as to greatly improve identification range and accuracy of identification, raising is shown
Teach efficiency and effect.
The present invention is that technical solution used by solving prior art problem is:
Teaching robot's data collection system based on optics motion capture, it is characterised in that: data processing module passes through
Switch communication module sends acquisition to demarcating module, monitors modules by monitoring module, realizes teaching robot's fortune
The real-time online acquisition of dynamic control data, specifically includes:
Demarcating module, demarcating module include optics motion capture system, power tool and teaching robot, in demarcating module
Optics motion capture system is connected by cable with switch module, and camera receives logical in optics motion capture system
The data acquisition command for transmitting and is crossed in switch module, starts to carry out optics to power tool in optics motion capture system
Motion capture, while transmitting by switch module the motion trace data of collected power tool；Since power tool is
Based on optical trapping system coordinate system, and robot is under world coordinate system, it is therefore desirable to robot are placed in optics and moved
Make to save relative position of the robot in optics motion capture system coordinate system after being demarcated in capture system, so that optics
It may recognize that robot in motion capture system and operate on it, coordinate transformation process is as follows:
Wherein, { V } is optics motion capture system origin system, and { mar } is desktop reference substance coordinate system, and { UR } is
Robot coordinate system, { tool } are power tool coordinate system,It is homogeneous change of the UR coordinate system relative to V coordinate system for 4 × 4
It changes,Homogeneous transformation for mar coordinate system relative to coordinate system,Homogeneous change for UR coordinate system relative to mar coordinate system
It changes,Homogeneous transformation for tool coordinate system relative to UR coordinate system,ForInverse transformation,For tool coordinate system
Homogeneous transformation relative to V coordinate system；Illustrate general rotation and translation, mono- coordinate system of Lai Dingyi,It is 3 × 3
Spin matrix is the expression of { UR } relative to { V }；Scalar rij, wherein i=1,2 ... 9, j=1,2 ... 9, indicate each arrow in UR
The component that projects on unit direction in its referential V is measured to indicate；APURORGTo determine that the position of the origin of coordinate system { UR } is sweared
Amount；
Remaining homogeneous transformation withIt is similar,Coordinate system UR when indicating with coordinate system V expression
The unit vector of major axes orientation；Optics motion capture system origin system, robot bottom are listened to using tf tool in ROS
The coordinate system of marker on seat desktop, and robot base coordinate sys-tem can also be listened to by tf, therefore according to the label of publication
Optics motion capture system origin system and robot can be obtained by coordinate transform in the positional relationship of object and robot base
The relative positional relationship of base coordinate system, thus realize robot in the calibration of optics motion capture system origin system,
After the completion of calibration, demarcating module acquisition receives the motion trace data information of power tool and collected information is passed through exchange
Machine module is sent to data processing module；
Data processing module, data processing module are connected by WiFi with switch module, are received and are acquired in demarcating module
Collected posture information is written in file the motion trace data and spatial attitude data information of the power tool arrived,
Reading and writing of files in ROS system sends a robot end by inverse kinematics and obtains each joint angles information, machine
People's inverse kinematics process is as follows:
The joint angles of mechanical arm are respectively that pedestal is the first joint angle θ1, shoulder is second joint angle θ2, ancon is third
Joint angle θ3, wrist 1 is the 4th joint angle θ4, wrist 2 is the 5th joint angle θ5, wrist 3 is the 6th joint angle θ6；Specific meter
Calculation method is as follows:
When known to the numerical value of robot end's pose, angle, θ is solved by following equationsi, i=1,2,3,4,5,6；
Wherein,It is the transformation matrix that ending coordinates system 6 arrives pedestal fixed coordinate system 0, its numerical value is known, nx、
ny、nzFor projection of each vector in reference frame fixed coordinate system 0 on x unit direction of ending coordinates system 6, ox、oy、oz
For projection of each vector on the y unit direction in reference frame fixed coordinate system of ending coordinates system 6, ax、ay、azFor
Projection of each vector of ending coordinates system 6 on the z unit direction in reference frame fixed coordinate system 0, according to formulaθ can be found out1, can indicate are as follows:
In addition:
Wherein, wherein c represents cos, behalf sin, αi: around xi-1Reference axis, from zi-1Rotate to ziAngle； ai: edge
xi-1Reference axis, from zi-1It is moved to ziAngle；θi: around ziReference axis, from xi-1Rotate to xiAngle；di: along ziReference axis,
From xi-1It is moved to xiAngle；1 6T is the transformation matrix that ending coordinates system 6 arrives pedestal fixed coordinate system 1, its numerical value is known
,1nx、1ny、1nzFor throwing of each vector in reference frame fixed coordinate system 1 on x unit direction of ending coordinates system 6
Shadow,1ox、1oy、1ozFor throwing of each vector on the y unit direction in reference frame fixed coordinate system of ending coordinates system 6
Shadow,1ax、1ay、1azFor throwing of each vector on the z unit direction in reference frame fixed coordinate system 1 of ending coordinates system 6
Shadow, contrast (1-6) and formula (1-7), the value of two the 2nd rows the 4th of formula column are constant, can be obtained and solve θ1The unitary needed
Equation:
-pxs1+pyc1=d2+d3+d4 (1-8)
According to the universal formula of trigonometric function, θ can be found out1:
θ1=atan2 (py,px)-atan2(E,±F) (1-9)
Then contrast equation (1-6) and (1-7), can solve θ5And θ6；
It can be solved by the element of the first three columns of the second row of matrix:
-nxs1+nyc1=-s5c6 (1-10)
-oxs1+oyc1=s5c6 (1-11)
-axs1+ayc1=-c (1-12)
Simultaneous (1-10), (1-11) are eliminated variable, are obtained:
Find out θ5:
θ5=atan2 (s5,axs1-ayc1) (1-14)
Work as s5When=0, i.e. θ5=0 or θ5When=π, singularity can occur for mechanism, cannot thus find out θ6Angle；
Work as s5≠ 0, i.e. θ5≠ 0 and θ5When ≠ π, θ can be found out6:
Contrast equation (1-6) and (1-7), according to the tertial element of matrix the first row and the third line third column element, this
Two column elements can derive equation below:
axc1+ays1=-c234s5 (1-16)
az=s234s5 (1-17)
Work as s5When=0, i.e. θ5=0 or θ5When=π, singularity can occur for mechanism, cannot thus find out θ2+θ3+θ4Angle
It spends；Work as s5≠ 0, i.e. θ5≠ 0 and θ5When ≠ π, θ can be found out2+θ3+θ4:
Contrast equation (1-6) and (1-7), can be with by element that the column of matrix the first row the 4th and the third line the 4th arrange this two column
Derive following equation:
pxc1+pys1=a3c23+a2c2-d5s234 (1-19)
pz-d1=-a3s23-a2s2-d5c234 (1-20)
Eliminate θ2+θ3, so as to solve θ2Value:
Solve θ2And then secondary simultaneous (1-19) and (1-20), θ can be found out2+θ3Therefore θ is found out3With θ4；By above
The solution formula of inverse kinematics, so that it may find out the angle of each joint angle；
Switch communication module, switch communication module include Ethernet switch, router and cable, and Ethernet is handed over
It changes planes and the acquisition that data processing module is sent is received by cable, and by the collected track of demarcating module and posture number
It is believed that breath is sent to data processing module, switch communication module establishes nothing by WiFi and data processing module and demarcating module
Line connection, opens Wi-Fi hotspot by router, is established and is wirelessly connected using TCP communication protocol mode, and passes through WiFi transparent transmission mould
Formula quickly transmits data；Switch communication module provides power supply and data communication for the camera in optics motion capture system,
And data processing module is sent by WiFi by the data that acquisition is completed；
Monitoring module, monitoring module are made up of WiFi via switch communication module and robot, optical trapping system
Local area network is responsible for that each module working condition is shown use simultaneous with function for monitoring to modules distribution control command
In observation whole system whether trouble-free operation, it helps system operation when something goes wrong, user can be helped smoothly to navigate to
The module to go wrong；
Teaching robot's module, teaching robot's module access data processing module by WiFi, receive in data processing
End orbit posture is converted to the angle value of each joint angle in module, so that robot completion is corresponding with power tool movement
Movement.
The demarcating module includes optics motion capture system, power tool and teaching robot, optics motion capture
System includes eight cameras and capture system host；Teaching robot is demarcated in optics motion capture system, is made
It obtains teaching robot and completes movement corresponding with power tool movement.The reality that optics motion capture system provides in demarcating module
When optical data, can be applied to the motion-captured of real-time online and analysis；The cam lens of optics motion capture system are logical
The reflected light collected on power tool is crossed, forms focusedimage in the sensor plane of camera, increase lock-on range and is caught
Catch stability.
ROS publish/subscribe information communication mechanism, each module are used between the data processing module and demarcating module
Exist in the form of ROS interior joint, the data of transmitting is published in form of a message on corresponding theme, other function moulds
Block gets message by subscribing to the theme, reaches the transmission of the data between module with this.
The advantages and positive effects of the present invention are: precision is very high, teaching operation is simple and easy, only need to be by brandishing operation work
High-precision teaching can be completed in tool, and avoiding directly contact robot ensure that the safety of operator, while not need
Manually recorded taught point is wanted, system automatically records track and greatly improves working efficiency, can satisfy various types of need
It asks.The system allows user intuitively can monitor and track entire teaching by that can timely feedback working condition and parameter
System has used cameras capture system, and accuracy class is high, and data transmit efficient stable, efficiently smooth to the capture of motion profile,
WiFi connection is used simultaneously, and working space is extended, and the industrial teaching job requirement of high-accuracy high-efficiency rate can be met.It is a kind of
Teaching robot's data acquisition device system based on optics motion capture is the complex works such as to spray, weld, polish, polish
Industry excellent selection, it is specialized, precision is high, easy to operate, versatile the features such as facilitate all users.
Detailed description of the invention
Fig. 1 is platform composition schematic diagram of the invention.
Fig. 2 is system control planning of the invention.
Fig. 3 is monitoring module of the invention.
The coordinate system relational graph of the position Fig. 4 demarcating module of the invention.
Specific embodiment
The present invention is further described below in conjunction with attached drawing.
A kind of teaching robot's data collection system based on optics motion capture, as shown in Figure 1, the main packet of platform composition
It includes: teaching robot 1, robot teaching apparatus processing terminal 2, interchanger 3, optical trapping system camera 4, power tool 5.
Power tool and teaching robot are demarcated using optical trapping system camera 4, after the completion of calibration, shown using robot
Teaching device processing terminal 2 sends acquisition to optical trapping system camera, to the position of power tool 5, attitude data into
Row acquisition；Robot teaching apparatus processing terminal 2 is carried out data transmission by interchanger 3 with optical trapping system camera 4, is adopted
Collection receives the position of power tool 5 transmitted in optical trapping system camera 4, attitude data information, and to receiving
Position, attitude data be coordinately transformed and generate the movement instruction that robot can execute, send teaching for this instruction
Robot 1, so that teaching robot completes with teaching movement same action to realize teaching, in whole system teaching process
In, it is responsible for distributing control command to modules and to entire by the monitoring module in robot teaching apparatus processing terminal 2
System operation situation is monitored.
The invention devises a kind of teaching robot's data collection system based on optics motion capture, robot teaching dress
It sets equipped with interactive software on processing terminal, to send acquisition and motion trace data and spatial attitude data are generated fortune
Dynamic instruction.Robot teaching platform is put up according to the description to Fig. 1, Fig. 3:
1) eight cameras are fixed on mounting platform by user first, to each camera, by rj-45 cables line one end
It is inserted into camera socket, the other end is inserted into a socket of interchanger；Camera is the motion capture camera specially designed,
Real-time proprietary image procossing is executed using multiple high speed processors, when camera is set as normal motion-captured mode, it
The sphere of reflection motion information that can post on output operation tool, transmitting sphere reflect the light of camera flash-light unit,
Cam lens collect the reflected light in scene, form the image in auto-focusing camera sensor plane；Ethernet switch is eight
A video camera provides power supply and data communication, and manages data flow and transfer data to switch communication by rj-45 cables line
In module, demarcating module passes through switch communication module and data processing module, monitoring module, teaching robot's module composition office
Domain net, modules of the monitoring module into local area network send control command.
2) robot is demarcated in demarcating module, the robot used is UR5 robot, by optics motion capture
System world coordinate system X, Y, Z-direction are arranged to unanimously, paste light on robot desktop with robot basis coordinates system X, Y, Z-direction
The identifiable marker ball of motion capture system, measurement marker ball and robot base relative pose relationship are learned, after measurement
Data be packaged into the launch file in a ROS, and using the tf tool of ROS, by robot desktop in launch file
The marker ball posted and the position orientation relation of robot base release, and listen to optics using tf tool in ROS and act
The coordinate system of marker on capture system origin coordinate system, robot base desktop, and robot base coordinate sys-tem can also pass through
Tf is listened to, therefore according to the positional relationship of the marker of publication and robot base, it is dynamic that optics can be obtained by coordinate transform
Make the relative positional relationship of capture system origin coordinate system and robot base coordinate sys-tem, so that it is dynamic in optics to realize robot
Make the calibration of capture system origin coordinate system, for the coordinate system relational graph of demarcating module as shown in Fig. 2, transformation for mula is as follows:
Other homogeneous transform matrix ask method the same, brandish operation work in the optics motion capture system in demarcating module
Tool allows power tool to start to do teaching movement, obtains teaching action data, acquisition by writing C++ data acquisition program in ROS
The data arrived are the trace information of power tool, by coordinate transform by the coordinate system of power tool relative to motion capture system
Under coordinate system be converted into coordinate system of the power tool coordinate system under robot basis coordinates system；
3) the robot basis coordinates system after coordinate transform is received by switch communication module in data processing module
The trace information of power tool is converted into robot end by coordinate transform by the trace information of the power tool under referential
Trace information obtains each joint angle angle value of robot, is calculated first with formula (1-9) after converting by inverse kinematics
The first joint angle of pedestal (θ1), formula (1-14) obtains the 5th joint angle θ of wrist 25, formula (1-15) obtains the 6th joint of wrist 3
Angle θ6, formula (1-18) obtains (θ2+θ3+θ4), simultaneous formula (1-18), (1-19), (1-20) obtains shoulder second joint angle θ2,
Ancon third joint angle θ is obtained in formula (1-19), (1-20) after the shoulder second joint solved to be updated to simultaneous3, hand
The 4th joint angle θ of wrist 14.Six joint angle θ of robot are acquired by above procedure1、θ2、θ3、θ4、θ5、θ6, by six joint angles
It is sent to teaching robot's module, so that teaching robot, which makes, acts same action with teaching.
4) monitoring module is as shown in figure 4, by WiFi via interchanger and robot, optical trapping system forms local
Net is responsible for distributing control command to modules, and simultaneous with function for monitoring, robot, optics motion capture system are worked
Status display come out for user observe whole system whether trouble-free operation, it helps system operation when something goes wrong, energy
User is helped smoothly to navigate to the specific module to go wrong.
It is the control situation of whole system above, the use of optics motion capture system in demarcating module, so that system is grasped
Make it is simple, it is provided in real time, the optical data of high quality, can be applied to real-time online or it is offline it is motion-captured,
Analysis；Interchanger is connected to the camera of optical trapping system by rj-45 cables line, and directly powers to all video cameras
Data are captured, analyze, the data obtained in this way are highly stable, lock-on range is also farther.Compared with prior art, have high
The advantages of teaching precision and efficiency, remotely can carry out teaching to robot.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, protection of the invention
Range should not be construed as being limited to the specific forms stated in the embodiments, and protection scope of the present invention is also and in art technology
Personnel conceive according to the present invention it is conceivable that equivalent technologies mean.
Claims (3)
1. a kind of teaching robot's data collection system based on optics motion capture, it is characterised in that: data processing module is logical
It crosses switch communication module and acquisition is sent to demarcating module, monitoring module is distributed control command to modules and monitored whole
A system realizes the real-time online acquisition of motion planning and robot control data, and the specific composition of each module is:
Demarcating module, demarcating module include optics motion capture system, power tool and teaching robot, optics in demarcating module
Motion capture system is connected by cable with switch module, and camera, which receives, in optics motion capture system passes through friendship
The data acquisition command come is transmitted in module of changing planes, and starts to carry out optics movement to power tool in optics motion capture system
It captures, while transmitting the motion trace data of collected power tool by switch module；Since power tool is to be based on
Optical trapping system coordinate system, and robot is under world coordinate system, it is therefore desirable to robot is placed in optics movement and is caught
It catches and saves relative position of the robot in optics motion capture system coordinate system after being demarcated in system, so that optics acts
It may recognize that robot in capture system and operate on it, coordinate transformation process is as follows:
Wherein, { V } is optics motion capture system origin system, and { mar } is desktop reference substance coordinate system, and { UR } is robot
Coordinate system, { tool } are power tool coordinate system,It is homogeneous transformation of the UR coordinate system relative to V coordinate system for 4 × 4,
Homogeneous transformation for mar coordinate system relative to coordinate system,Homogeneous transformation for UR coordinate system relative to mar coordinate system,
Homogeneous transformation for tool coordinate system relative to UR coordinate system,ForInverse transformation,For tool coordinate system relative to
The homogeneous transformation of V coordinate system；Illustrate general rotation and translation, mono- coordinate system of Lai Dingyi,For 3 × 3 spin moments
Battle array, is the expression of { UR } relative to { V }；Scalar rij, wherein i=1,2 ... 9, j=1,2 ... 9, indicate that each vector is at it in UR
The component that projects on unit direction in referential V indicates；APURORGFor the position vector of the origin of determining coordinate system { UR }；
Remaining homogeneous transformation withIt is similar,Coordinate system UR main shaft when indicating with coordinate system V expression
The unit vector in direction；Optics motion capture system origin system, robot base table are listened to using tf tool in ROS
The coordinate system of marker on face, and robot base coordinate sys-tem can also be listened to by tf tool, therefore according to the label of publication
Optics motion capture system origin system and robot can be obtained by coordinate transform in the positional relationship of object and robot base
The relative positional relationship of base coordinate system, thus realize robot in the calibration of optics motion capture system origin system,
After the completion of calibration, demarcating module acquisition receives the motion trace data information of power tool and collected information is passed through exchange
Machine module is sent to data processing module；
Data processing module, data processing module are connected by WiFi with switch module, are received collected in demarcating module
The motion trace data and spatial attitude data information of power tool collected posture information are written in file, in ROS system
Reading and writing of files in system sends a robot end by inverse kinematics and obtains each joint angles information, robot inverse
Kinematics solution process is as follows:
The joint angles of mechanical arm are respectively that pedestal is the first joint angle θ1, shoulder is second joint angle θ2, ancon is third joint
Angle θ3, wrist 1 is the 4th joint angle θ4, wrist 2 is the 5th joint angle θ5, wrist 3 is the 6th joint angle θ6；Specific calculating side
Method is as follows:
When known to the numerical value of robot end's pose, angle, θ is solved by following equationsi, i=1,2,3,4,5,6；
Wherein,It is the transformation matrix that ending coordinates system 6 arrives pedestal fixed coordinate system 0, its numerical value is known, nx、ny、nz
For projection of each vector in reference frame fixed coordinate system 0 on x unit direction of ending coordinates system 6, ox、oy、ozFor end
Hold projection of each vector of coordinate system 6 on the y unit direction in reference frame fixed coordinate system, ax、ay、azFor end
Projection of each vector of coordinate system 6 on the z unit direction in reference frame fixed coordinate system 0, according to formulaθ can be found out1, can indicate are as follows:
In addition:
Wherein, wherein c represents cos, behalf sin, αi: around xi-1Reference axis, from zi-1Rotate to ziAngle；ai: along xi-1Coordinate
Axis, from zi-1It is moved to ziAngle；θi: around ziReference axis, from xi-1Rotate to xiAngle；di: along ziReference axis, from xi-1It moves
Move xiAngle；Be ending coordinates system 6 arrive pedestal fixed coordinate system 1 transformation matrix, its numerical value be it is known,1nx、1ny、1nzFor projection of each vector in reference frame fixed coordinate system 1 on x unit direction of ending coordinates system 6,1ox、1oy、1ozFor projection of each vector on the y unit direction in reference frame fixed coordinate system of ending coordinates system 6,1ax、1ay、1azIt is right for projection of each vector on the z unit direction in reference frame fixed coordinate system 1 of ending coordinates system 6
Than formula (1-6) and formula (1-7), the value of two the 2nd rows the 4th of formula column is constant, can be obtained and solves θ1The equation with one unknown quantity needed:
-pxs1+pyc1=d2+d3+d4 (1-8)
According to the universal formula of trigonometric function, θ can be found out1:
θ1=atan2 (py,px)-atan2(E,±F) (1-9)
E=d2+d3+d4；Then contrast equation (1-6) and (1-7), can solve θ5And θ6；By matrix
The element of the first three columns of second row can solve:
-nxs1+nyc1=-s5c6 (1-10)
-oxs1+oyc1=s5c6 (1-11)
-axs1+ayc1=-c5 (1-12)
Simultaneous (1-10), (1-11) are eliminated variable, are obtained:
Find out θ5:
θ5=atan2 (s5,axs1-ayc1) (1-14)
Work as s5When=0, i.e. θ5=0 or θ5When=π, singularity can occur for mechanism, cannot thus find out θ6Angle；Work as s5≠
0, i.e. θ5≠ 0 and θ5When ≠ π, θ can be found out6:
Contrast equation (1-6) and (1-7), according to the tertial element of matrix the first row and the third line third column element, this two column
Element can derive equation below:
axc1+ays1=-c234s5 (1-16)
az=s234s5 (1-17)
Work as s5When=0, i.e. θ5=0 or θ5When=π, singularity can occur for mechanism, cannot thus find out θ2+θ3+θ4Angle；
Work as s5≠ 0, i.e. θ5≠ 0 and θ5When ≠ π, θ can be found out2+θ3+θ4:
Contrast equation (1-6) and (1-7) can be derived by the element that the column of matrix the first row the 4th and the third line the 4th arrange this two column
Following equation out:
pxc1+pys1=a3c23+a2c2-d5s234 (1-19)
pz-d1=-a3s23-a2s2-d5c234 (1-20)
Eliminate θ2+θ3, so as to solve θ2Value:
Solve θ2And then secondary simultaneous (1-19) and (1-20), θ can be found out2+θ3Therefore θ is found out3With θ4；By above inverse fortune
The dynamic solution formula learned, so that it may find out the angle of each joint angle；
Switch communication module, switch communication module include Ethernet switch, router and cable, Ethernet switch
The acquisition that data processing module is sent is received by cable, and the collected track of demarcating module and attitude data are believed
Breath is sent to data processing module, and switch communication module is wirelessly connected by WiFi and data processing module and demarcating module foundation
It connects, Wi-Fi hotspot is opened by router, established and be wirelessly connected using TCP communication protocol mode, and is fast by WiFi transparent transmission mode
Speed transmission data；Switch communication module provides power supply and data communication for the camera in optics motion capture system, and will
The data that acquisition is completed are sent to data processing module by WiFi；
Monitoring module, monitoring module form local via switch communication module and robot, optical trapping system by WiFi
Net is responsible for showing each module working condition simultaneous with function for monitoring to modules distribution control command and being used to see
Examine whole system whether trouble-free operation, it helps system operation when something goes wrong, user can be helped smoothly to navigate to out and asked
The module of topic；
Teaching robot's module, teaching robot's module access data processing module by WiFi, receive in data processing module
Middle end orbit posture is converted to the angle value of each joint angle, so that robot completes move corresponding with power tool movement
Make.
2. teaching robot's acquisition system according to claim 1 based on optics motion capture, it is characterised in that: described
Demarcating module include optics motion capture system, power tool and teaching robot, optics motion capture system includes eight
Camera and capture system host；Teaching robot is demarcated in optics motion capture system, so that teaching robot
Complete movement corresponding with power tool movement；The real-time optical data that optics motion capture system provides in demarcating module,
It can be applied to the motion-captured of real-time online and analysis；The cam lens of optics motion capture system are by collecting operation work
Reflected light on tool forms focusedimage in the sensor plane of camera, increases lock-on range and captures stability.
3. teaching robot's acquisition system according to claim 1 based on optics motion capture, it is characterised in that: described
Data processing module and demarcating module between use ROS publish/subscribe information communication mechanism, each module is with ROS interior joint
Form exist, the data of transmitting are published in form of a message on corresponding theme, other functional modules pass through subscription
The theme gets message, reaches the transmission of the data between module with this.
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