CN110202581A - Compensation method, device and the electronic equipment of end effector of robot operating error - Google Patents
Compensation method, device and the electronic equipment of end effector of robot operating error Download PDFInfo
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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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
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- B25J9/1628—Programme controls characterised by the control loop
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Abstract
The present invention provides compensation method, device and the electronic equipments of a kind of end effector of robot operating error, are related to robotic technology field, comprising: when robot motion is to the first designated position, acquire the first image of part；The actuator motions of its end are cooperateed with to acquire the second image of part when robot is back to the first designated position according to the second designated position control robot；The direction parameter for extracting the first image and the second image respectively determines actuator composition error according to direction parameter；Judge whether actuator composition error meets actuator error abatement objective function；If satisfied, being worked according to the actuator grabbing error compensation matrix control robot and actuator that obtain in advance；Actuator grabbing error compensation matrix is used for the compensating parameter being converted into actuator composition error under robot end's coordinate system.The present invention can preferably realize online compensation to robot pose, to improve output accuracy when end effector of robot work.
Description
Technical field
The present invention relates to robotic technology fields, more particularly, to a kind of compensation of end effector of robot operating error
Method, apparatus and electronic equipment.
Background technique
Industrial robot at work, requires to be held accordingly according to different manipulating objects in robot end's load
Row device.The real work precision of industrial robot, depends not only on the positioning accuracy of robot end, additionally depends on end execution
The operating accuracy of device.Especially on the higher assembly line of positioning accuracy request, the precision that part is placed by robot is depended on
The output accuracy of end crawl actuator.
The eye-in-hand industrial robot of vision system calibration is completed, after actuator is installed at its end, robot
Final output precision when work depends not only on the positioning accuracy of robot end, also needs to consider that installation end effector introduces
Two errors: (1) since installation surface error causes the error of the practical geometric center deviation theory geometric center of actuator, this
Error is known as " actuator installation error "；(2) the resetting error of actuator itself, this error are known as " actuator positioning
Error ".After above-mentioned two error estimate formulas, it is referred to as " actuator composition error ".
Existing industrial robot error compensating method, mainly by Method of Calculation of Robotic Movements and inverse solution, to eliminate fortune
Dynamic trajectory error or each joint position error.Using industrial robot production line on, user more concerned be to be loaded with
After end effector, the precision of robot final output.But in this way, the output accuracy of machine man-hour is not still
It is high.
Summary of the invention
The purpose of the present invention is to provide the compensation method of end effector of robot operating error, device and electronics to set
It is standby, online compensation can be preferably realized to robot pose, to improve the output accuracy of machine man-hour.
The compensation method of end effector of robot operating error provided by the invention, comprising: when robot motion is to right
When the first designated position of quasi- part to be captured, the first image of the part is acquired；Institute is controlled according to the second designated position
The actuator motions for stating robot and the robot end are adopted when the robot is back to first designated position
Collect the second image of the part；The direction parameter of the first image and second image is extracted respectively, and according to extraction
To the direction parameter determine actuator composition error；Wherein, the direction parameter includes the part in affiliated image
Geometric center position and direction parameter；Judge whether the actuator composition error meets actuator error abatement target letter
Number；If satisfied, controlling the robot and actuator progress according to the actuator grabbing error compensation matrix obtained in advance
Work；Wherein, the actuator grabbing error compensation matrix is used to the actuator composition error being converted into robot end
Compensating parameter under coordinate system.
Further, the actuator for controlling the robot and the robot end according to the second designated position is transported
It is dynamic, when the robot is back to first designated position, the step of acquiring the second image of the part, comprising: obtain
The first image first position parameter in camera coordinates system is taken, and is based on trick transformation matrix for the first position parameter
Be converted to the second position parameter under actuator coordinate system；According to holding for robot end described in the second position state modulator
Row device grabs the part when moving to the second designated position；Work as when the robot carrying actuator motions and is back to
When second designated position, the actuator is controlled by the part of crawl and is returned to original position；Control the robot
First designated position is moved to, and acquires the second image of the part in first specified location.
Further, the acquisition the first image is in camera coordinates system the step of the parameter of first position, comprising: root
The first image first position parameter in camera coordinates system is obtained according to camera projection model；Wherein, the camera projective module
Type are as follows:
Wherein, u and v is coordinate of the characteristic point in the first image on the part, (xc, yc, zc) be characterized a little
First position parameter under camera coordinates system, (Fx, Fy) be camera equivalent focal length, (Cx, Cy) it is optical axis and image planes intersection point
Image coordinate, M are internal reference matrix.
Further, it is described based on trick transformation matrix by the first position Parameter Switch be actuator coordinate system under
The step of second position parameter, comprising: according between camera coordinates system and actuator coordinate system transformation relation trick and transformation
The first position Parameter Switch is second position parameter by matrix；Wherein, the camera coordinates system and actuator coordinate system it
Between transformation relation are as follows:
Wherein, (xc, yc, zc) it is characterized the first position parameter a little under camera coordinates system, (xe, ye, ze) be characterized a little
Second position parameter under actuator coordinate, TecFor the trick transformation matrix.
Further, the actuator error cuts down objective function are as follows:
Wherein, p1iWith p2iThe coordinate of characteristic point in the part of front and back, W are grabbed for i-th partx(p1i, p2i)、Wy(p1i,
p2i)、Wz(p1i, p2i) respectively indicate based on p1iWith p2iComponent of the position deviation on three directions of coordinate system x, y, z axis, β is
Deviation threshold.
Further, the method also includes: according to the actuator composition error update actuator grabbing error compensation
Matrix.
Further, the step for judging the actuator composition error and whether meeting actuator error abatement objective function
Suddenly, comprising: if the actuator composition error is unsatisfactory for actuator error abatement objective function, update the placement position of the part
It sets, and re-executes the compensation method of the end effector of robot operating error.
A kind of compensation device of end effector of robot operating error provided by the invention, comprising: the first Image Acquisition
Module, for acquiring the first figure of the part when robot motion is to the first designated position for being directed at part to be captured
Picture；Second image capture module, for controlling the execution of the robot and the robot end according to the second designated position
Device movement, when the robot is back to first designated position, acquires the second image of the part；Parameter extraction mould
Block is joined for extracting the direction parameter of the first image and second image respectively, and according to the orientation extracted
Number determines actuator composition error；Wherein, the direction parameter includes geometric center position of the part in affiliated image
And directioin parameter；Judgment module, for judging whether the actuator composition error meets actuator error abatement objective function；
Control module, for if satisfied, controlling the robot and described according to the actuator grabbing error compensation matrix that obtains in advance
Actuator works；Wherein, the actuator grabbing error compensation matrix is for the actuator composition error to be converted into
Compensating parameter under robot end's coordinate system.
A kind of electronic equipment provided by the invention, comprising: processor and storage device；Meter is stored on the storage device
Calculation machine program, the computer program execute as above described in any item methods when being run by the processor.
A kind of computer readable storage medium provided by the invention is stored with calculating on the computer readable storage medium
The step of machine program, the computer program executes method described in any of the above embodiments when being run by processor.
The embodiment of the invention provides compensation method, device and the electronics of a kind of end effector of robot operating error to set
It is standby, this method comprises: acquiring the first figure of part when robot motion is to the first designated position for being directed at part to be captured
Picture；According to the actuator motions of the second designated position control robot and robot end, specified when robot is back to first
When position, the second image of part is acquired；The direction parameter of the first image and the second image is extracted respectively, it is true according to direction parameter
Determine actuator composition error；Judge whether actuator composition error meets actuator error abatement objective function；If satisfied, according to
The actuator grabbing error compensation matrix control robot and actuator obtained in advance works；The compensation of actuator grabbing error
Matrix is used for the compensating parameter being converted into actuator composition error under robot end's coordinate system.The embodiment of the present invention passes through base
Direction parameter in front and back twice image determines actuator composition error, and is grabbed according to the actuator composition error and actuator
Take error compensation matrix that actuator composition error is converted into the compensating parameter under robot end's coordinate system, so as to machine
Device people's pose preferably realizes online compensation, to improve output accuracy when robot and end effector of robot work.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of compensation method flow chart of end effector of robot operating error provided in an embodiment of the present invention；
Fig. 2 is the compensation method process of another end effector of robot operating error provided in an embodiment of the present invention
Figure；
Fig. 3 is that a kind of part crawl front and back provided in an embodiment of the present invention pose deviates schematic diagram；
Fig. 4 is the schematic diagram of miniature transformer center pillar part provided in an embodiment of the present invention；
Fig. 5 another part crawl front and back pose provided in an embodiment of the present invention deviates schematic diagram；
Fig. 6 is the compensation device structural block diagram of end effector of robot operating error provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with embodiment, it is clear that described reality
Applying example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field
Art personnel every other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
Inventor will greatly improve work the study found that if on-line determination and compensation can be carried out to the error of different actuators
Industry machine task efficiency and operating accuracy.Inventor is also summarized as follows the objective disadvantage of the prior art:
(1) existing robot pose error penalty method and robot motion's trajectory error penalty method, can only eliminate machine
Person joint's error or end orbit deviation do not account for being loaded with the error introduced after end effector, and this error is work
The important component of industry machine man-hour final output precision.
(2) existing robot pose error penalty method and robot motion's trajectory error penalty method can only surveyed manually
Amount and the lower offline use of operation, the efficiency for carrying out error compensation is lower, does not adapt to the needs that industry spot is applied in real time.
In short, existing robot end's position and attitude error compensation method, does not account for introducing after being loaded with end effector
Error, and need manually by measuring device determined off-line error information and to compensate, cannot achieve on-line automatic measurement
And compensation.Based on this, a kind of compensation method of end effector of robot operating error provided in an embodiment of the present invention, device and
Electronic equipment can preferably realize online compensation to robot pose, to improve the output accuracy of machine man-hour.
To be executed to a kind of robot end disclosed in the embodiment of the present invention first convenient for understanding the present embodiment
The compensation method of device operating error describes in detail.
Embodiment one:
The embodiment of the present invention provides a kind of compensation method of end effector of robot operating error, and this method can be applicable in
In industrial robot and robot end's crawl actuator based on eye-in-hand hand-eye system.Machine shown in referring to Fig.1
The compensation method flow chart of people's end effector operating error, this method may include following steps:
Step S102 acquires the part when robot motion is to the first designated position for being directed at part to be captured
The first image；
Step S104 controls the actuator motions of the robot and the robot end according to the second designated position,
When the robot is back to first designated position, the second image of the part is acquired；
Step S106, extracts the direction parameter of the first image and second image respectively, and according to extracting
The direction parameter determines actuator composition error；Wherein, the direction parameter includes that the part is several in affiliated image
What center and directioin parameter；
Step S108, judges whether the actuator composition error meets actuator error abatement objective function；
Step S110, if satisfied, according to the actuator grabbing error compensation matrix that obtains in advance control the robot and
The actuator works；Wherein, the actuator grabbing error compensation matrix is used to become the actuator composition error
Shift to the compensating parameter under robot end's coordinate system.
The compensation method of a kind of end effector of robot operating error provided in this embodiment, comprising: when robot transports
When moving to the first designated position for being directed at part to be captured, the first image of part is acquired；It is controlled according to the second designated position
The actuator motions of robot and robot end acquire the second figure of part when robot is back to the first designated position
Picture；The direction parameter for extracting the first image and the second image respectively determines actuator composition error according to direction parameter；Judgement is held
Whether row device composition error meets actuator error abatement objective function；If satisfied, being missed according to the actuator crawl obtained in advance
Poor compensation matrix control robot and actuator work；Actuator grabbing error compensation matrix is used for the comprehensive mistake of actuator
Difference is converted into the compensating parameter under robot end's coordinate system.Above-described embodiment based on the orientation in front and back twice image by being joined
Number determines actuator composition error, and according to the actuator composition error and actuator grabbing error compensation matrix that actuator is comprehensive
The compensating parameter under error transform to robot end's coordinate system is closed, so as to preferably realize online benefit to robot pose
It repays, to improve output accuracy when robot and end effector of robot work.
The present embodiment also provides a kind of compensation method process of end effector of robot operating error as shown in Figure 2
Figure, after placing part to operating position, this method may include following steps:
Step S202 acquires the of part when robot motion is to the first designated position A for being directed at part to be captured
One image A1.
Specifically, control robot end moves to the position that can carry out blur-free imaging to part to be captured, position A
Should meet: in the position when A, the geometric center of the part in camera the first image A1 collected is close to picture centre.It should
Position is the first designated position A.
Step S204 works as robot according to the actuator motions of the second designated position control robot and robot end
When being back to the first designated position, the second image of part is acquired.
In the specific implementation, which includes:
Step S2041 obtains the first image first position parameter in camera coordinates system, and will based on trick transformation matrix
First position Parameter Switch is the second position parameter under actuator coordinate system.It is to be understood that processing image A1, obtains first
First position parameter of the position to be grabbed (alternatively referred to as characteristic point) of part in camera coordinates system in image, first position ginseng
Number includes geometric center and direction parameter, and is converted to the ginseng of the second position under actuator coordinate system by trick transformation matrix
Number.
Step S2042 is moving to the second designated position according to the actuator of second position state modulator robot end
When grab part.
Step S2043, when robot carries actuator motions when being back to the second designated position, control actuator will be grabbed
The part taken is returned to original position.
Specifically, driving robot end movement to the second designated position B, position B should according to second position parameter
Meet: in the position when B, the theoretical crawl center of actuator and geometric center weight in crawl position corresponding in the parameter of the second position
It closes, actuator grabs part and carries out the movement of free routing in company with robot, is then return to the second designated position B and puts part
Return original position.
Step S2044, robot motion is to the first designated position for control, and the of the first specified location acquisition part
Two image A2.That is, robot end moves to the first designated position A, camera acquires the second of part in same position again
Image.
Step S206 extracts the direction parameter of the first image and the second image respectively, and according to the direction parameter extracted
Determine actuator composition error；Wherein, direction parameter includes geometric center position and direction parameter of the part in affiliated image.
That is, extracting the geometric center position and direction parameter of part, the orientation respectively in the two images A1 and A2 successively acquired
The difference of parameter, as actuator composition error.
Step S208, judges whether actuator composition error meets actuator error abatement objective function.If satisfied, executing
Step S210, if not satisfied, repeating above-mentioned steps S202 to S208.
Step S210 carries out work according to the actuator grabbing error compensation matrix control robot and actuator that obtain in advance
Make；Wherein, actuator grabbing error compensation matrix is for actuator composition error to be converted under robot end's coordinate system
Compensating parameter.
If actuator composition error meets actuator error abatement objective function, terminate to compensate process, robot control
Processing procedure sequence will use current error compensation matrix to work, to realize the online compensation of actuator grabbing error.If
Actuator composition error is unsatisfactory for actuator error abatement objective function, then more new parts placement location, jumps to step S202
Carry out next round optimization.
In addition, the above method provided by the present embodiment can also include the following steps: according to actuator composition error more
New actuator grabbing error compensation matrix.
For the ease of understanding above-mentioned steps, part crawl front and back pose offset signal as shown in Figure 3 can refer to
Figure, by taking rigid actuator grabs Rectangular Parts as an example, P1, P2 are respectively the position for grabbing certain characteristic point on the part of front and back.Building
Object coordinates system Co1With Co2, long side and short side with part pedestal be x, y-axis, and short transverse is z-axis.If Co1With Co2Between
Transformation matrix is To, then it grabs shown in the transformation relation such as formula (1) between former and later two coordinate systems:
Po2=Topo1 (1)
Wherein, po1With po2It is crawl front and back characteristic point in Co1With Co2In coordinate.
Transformation matrix ToIt is made of spin matrix R and translation vector t.Accurate transformation matrix T in order to obtaino, in matrix
Parameter use nonlinear optimization method, according to the deviation of part feature point physical location and theoretical position after crawl, establish and miss
Difference and the Optimized model minimized.
If carrying out i experiment, the deviation of characteristic point physical location and theoretical position after indicating crawl with function W, function W can
To be expressed as formula (2):
W(p1i, p2i)=p2i-Top1i (2)
Wherein, p1iWith p2iIt is part crawl front and back characteristic point in i-th experiment in Co1And Co2In coordinate.
Using Wx(p1i, p2i)、Wy(p1i, p2i)、Wz(p1i, p2i) position deviation is respectively indicated along three, coordinate system x, y, z axis
On direction component (namely be based on p1iWith p2iComponent of the position deviation on three directions of coordinate system x, y, z axis), then execute
The objective function of device error abatement are as follows:
Wherein, β is deviation threshold, is determined according to the size of the acceptable actuator position error of different application.
Further, if after camera calibration, internal reference matrix is M, the then change between camera coordinates system and image coordinate system
Change relationship, i.e. camera projection model are as follows:
Wherein, u and v is coordinate of the characteristic point in the first image on part, (xc, yc, zc) be characterized and a little sat in camera
Coordinate (namely first position parameter) under mark system, (Fx, Fy) be camera equivalent focal length, (Cx, Cy) it is optical axis and image planes intersection point
Image (pixel) coordinate, i.e. image principal point.
Based on the camera projection model, above-mentioned the first image of acquisition can the step of the parameter of first position in camera coordinates system
To include: to obtain the first image first position parameter in camera coordinates system according to camera projection model.
Above formula (4) establishes relationship of the image (pixel) of part between coordinate and camera coordinates, so as to utilize
The included camera of eye-in-hand industrial robot measures the direction parameter value of part using visual pattern method, and passes through
Acquisition error compensation value is further calculated, makes it possible on-line measurement and compensation.
If after eye-in-hand industrial robot completes hand and eye calibrating, obtained trick transformation matrix is Tec, then it is based on
Trick transformation matrix by first position Parameter Switch be actuator coordinate system under the second position parameter the step of may include:
According between camera coordinates system and actuator coordinate system transformation relation trick and transformation matrix first position joined
Number is converted to second position parameter；Wherein, the transformation relation between camera coordinates system and actuator coordinate system is (5):
Wherein, (xc, yc, zc) it is characterized the first position parameter a little under camera coordinates system, (xe, ye, ze) be characterized a little
Coordinate (namely second position parameter) under actuator coordinate, TecFor trick transformation matrix.
It can be obtained by (4), (5) two formulas:
Above formula (6) establishes the relationship between image (pixel) coordinate of part and actuator coordinate, so as to pass through
The image of part is acquired, and the direction parameter of part is transformed in actuator coordinate system, with guided robot end effector
Part is grabbed, to automatically grab and compensation.
To sum up, the compensation method of a kind of end effector of robot operating error provided by the above embodiment, by being based on
Direction parameter of the front and back twice in image determines actuator composition error, and is grabbed according to the actuator composition error and actuator
Actuator composition error is converted into the compensating parameter under robot end's coordinate system by error compensation matrix, so as to machine
People's pose preferably realizes online compensation, to improve output accuracy when robot and end effector of robot work.
Embodiment two:
Based on the compensation method of end effector of robot operating error provided by embodiment one, the present embodiment provides one
With on miniature transformer Flexible assembling line in kind of practical application, for the crawl of center pillar (Rectangular Parts), to illustrate the above method.
Fig. 4 is the schematic diagram of miniature transformer center pillar part, and Fig. 5 is actuator there are in the case where error, part be crawled before with grab
After taking, schematic diagram that pose shifts.
P1 is the center of part before grabbing, and P2 is the center of part after actuator is grabbed and placed.If the generation of P1 before grabbing
Boundary's coordinate is (x1,y1), the world coordinates of P2 becomes (x after crawl2,y2).Then as shown in Figure 5:
Wherein, α is the angle of part long side and x-axis before grabbing, and β is the angle of part long side and x-axis after crawl is placed, θ
The angle in the central axes direction for P1P2 and by P1, γ is P1P2 and passes through the angle in the central axes direction of P2, between P1P2
Distance be d.Crawl front and back every time, θ, d, γ are fixed value, and numerical value is related to machining and tool mounting means.Root
According to industrial robot grabbing error model, tri- parameters of θ, d, γ are optimized, the parameter as error compensation.
After the key parameter for obtaining executing agency's grabbing error, position correction is carried out before end-of-arm tooling works, that is, is being held
Locating bias compensation is carried out before the crawl of row mechanism.According to Fig. 5, if its mass center is the position P2, its mass center after crawl before part grabs
For the position P1, the i.e. compensated position of industrial robot executing agency, if Central of the parts world coordinates is (x, y), it is compensated it
Arm end world coordinates is (x afterwards0,y0), it can obtain:
Wherein, φ is the angle after manipulator compensates with x-axis, and β is the preceding angle by the central axes of P2 relative to x-axis of compensation
Degree, d and γ are the parameter value acquired in formula (4).Execution tool carries out crawl precompensation sequence are as follows: first by industrial robot end
End and the angle of x-axis are adjusted to φ, then the position (x-dcos φ, y-dsin φ) being moved under world coordinate system is grabbed.
Firstly, utilizing the included vision of eye-in-hand industrial robot in the case where not compensating actuator error
System, automatic measurement center pillar is in 10 different positions, the crawl front and back direction of part and the offset of position, as shown in table 1.
The experimental result of part is grabbed when 1 actuator error of table does not compensate
Then, according to process shown in Fig. 1 or 2, end effector grabbing error is measured and parameter iteration optimizes.Its
In, measurement result when drift angle is about 90 ° is chosen, as the iterative initial value of d and θ, iteration result is as shown in table 2.
2 actuator error parameter iteration result of table
Iteration acquired results are embedded into industrial robot crawl control program, actuator error are compensated, together
Sample carries out crawl experiment, the preceding measurement result such as table with part direction parameter after crawl of crawl 10 different positions to part
Shown in 3.
The experimental result of part is grabbed after 3 actuator error compensation of table
Contrast table 1 and 3 measured data of table, the results showed that, to the composition error of end effector according to above-described embodiment one
In compensation method compensate after, grab the offset of positioning relative to averagely reducing 94.2% before compensation, positioning accuracy
Improving is more than an order of magnitude, and effect is very significant.
To sum up: the camera that above-described embodiment can be carried by eye-in-hand industrial robot utilizes visual pattern side
Method measures the offset of actuator error, realizes on-line automatic measurement.Cut down objective function by error, iteration updates optimization
Actuator grabbing error compensation matrix.Robot control program can be directly embedded by solving obtained error compensation matrix, thus real
The on-line automatic measurement and compensation of existing industrial robot end effector composition error.
Embodiment three:
The compensation method of the end effector of robot operating error in one, the embodiment of the present invention mention based on the above embodiment
A kind of compensation device of end effector of robot operating error is supplied, referring to Fig. 6, which includes:
First image capture module 601, for as robot motion to the first designated position for being directed at part to be captured
When, acquire the first image of part；
Second image capture module 602, for the execution according to the second designated position control robot and robot end
Device movement, when robot is back to the first designated position, acquires the second image of part；
Parameter extraction module 603, for extracting the direction parameter of the first image and the second image respectively, and according to extracting
Direction parameter determine actuator composition error；Wherein, direction parameter includes geometric center position of the part in affiliated image
And directioin parameter；
Judgment module 604, for judging whether actuator composition error meets actuator error abatement objective function；
Control module 605, for if satisfied, controlling robot according to the actuator grabbing error compensation matrix obtained in advance
It works with actuator；Wherein, actuator grabbing error compensation matrix is used to actuator composition error being converted into robot
Compensating parameter under ending coordinates system.
The compensation device of a kind of end effector of robot operating error provided in an embodiment of the present invention, comprising: work as machine
When people moves to the first designated position for being directed at part to be captured, the first image of part is acquired；According to the second designated position
The actuator motions for controlling robot and robot end acquire the of part when robot is back to the first designated position
Two images；The direction parameter for extracting the first image and the second image respectively determines actuator composition error according to direction parameter；Sentence
Whether disconnected actuator composition error meets actuator error abatement objective function；If satisfied, being grabbed according to the actuator obtained in advance
Error compensation matrix majorization robot and actuator is taken to work；Actuator grabbing error compensation matrix is used for actuator is comprehensive
Close the compensating parameter under error transform to robot end's coordinate system.The embodiment of the present invention passes through based in front and back twice image
Direction parameter determines actuator composition error, and will be held according to the actuator composition error and actuator grabbing error compensation matrix
Row device composition error is converted into the compensating parameter under robot end's coordinate system, so as to preferably realize to robot pose
Online compensation, to improve output accuracy when robot and end effector of robot work.
In some embodiments, above-mentioned second image capture module 602 is used for: obtaining the first image in camera coordinates system
Middle first position parameter, and be the second position under actuator coordinate system by first position Parameter Switch based on trick transformation matrix
Parameter；Part is grabbed when moving to the second designated position according to the actuator of second position state modulator robot end；When
Robot carries actuator motions when being back to the second designated position, controls actuator for the part of crawl and is returned to original position
It sets；Robot motion is controlled to the first designated position, and in the second image of the first specified location acquisition part.
In some embodiments, above-mentioned second image capture module 602 is used for: obtaining first according to camera projection model
Image first position parameter in camera coordinates system；Wherein, camera projection model are as follows:
Wherein, u and v is coordinate of the characteristic point in the first image on part, (xc, yc, zc) be characterized and a little sat in camera
First position parameter under mark system, (Fx, Fy) be camera equivalent focal length, (Cx, Cy) sat for the image of optical axis and image planes intersection point
Mark, M are internal reference matrix.
In some embodiments, above-mentioned second image capture module 602 is used for: being sat according to camera coordinates system and actuator
It is second position parameter that the transformation relation trick and transformation matrix between system, which are marked, by first position Parameter Switch；Wherein, camera is sat
Transformation relation between mark system and actuator coordinate system are as follows:
Wherein, (xc, yc, zc) it is characterized the first position parameter a little under camera coordinates system, (xe, ye, ze) be characterized a little
Second position parameter under actuator coordinate, TecFor trick transformation matrix.
In some embodiments, device further includes update module, is used for: being updated and is executed according to actuator composition error
Device grabbing error compensation matrix.
In some embodiments, above-mentioned judgment module 604 is also used to: if actuator composition error is unsatisfactory for actuator mistake
Difference abatement objective function, the placement location of more new parts, and re-execute the compensation side of end effector of robot operating error
Method.
Example IV:
The embodiment of the present invention provides a kind of electronic equipment, as shown in fig. 7, comprising: processor 701 and storage device 702；
Computer program is stored on storage device 702, computer program executes the side of embodiment one when being run by processor 701
Method.
The embodiment of the present invention also provides a kind of computer readable storage medium, and meter is stored on computer readable storage medium
Calculation machine program, the step of method in above-described embodiment one is executed when computer program is run by processor.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of compensation method of end effector of robot operating error characterized by comprising
When robot motion is to the first designated position for being directed at part to be captured, the first image of the part is acquired；
The actuator motions that the robot and the robot end are controlled according to the second designated position, when the robot returns
When being back to first designated position, the second image of the part is acquired；
The direction parameter of the first image and second image is extracted respectively, and true according to the direction parameter extracted
Determine actuator composition error；Wherein, the direction parameter includes geometric center position and side of the part in affiliated image
To parameter；
Judge whether the actuator composition error meets actuator error abatement objective function；
If satisfied, controlling the robot and actuator progress according to the actuator grabbing error compensation matrix obtained in advance
Work；Wherein, the actuator grabbing error compensation matrix is used to the actuator composition error being converted into robot end
Compensating parameter under coordinate system.
2. the method according to claim 1, wherein it is described according to the second designated position control the robot and
The actuator motions of the robot end acquire the part when the robot is back to first designated position
The second image the step of, comprising:
The first image first position parameter in camera coordinates system is obtained, and based on trick transformation matrix by described first
Setting Parameter Switch is the second position parameter under actuator coordinate system；
According to actuator crawl when moving to the second designated position of robot end described in the second position state modulator
The part；
When the robot carries the actuator motions when being back to second designated position, controlling the actuator will
The part of crawl is returned to original position；
The robot motion is controlled to first designated position, and acquires the part in first specified location
Second image.
3. according to the method described in claim 2, it is characterized in that, the acquisition the first image is in camera coordinates system
The step of one location parameter, comprising:
The first image first position parameter in camera coordinates system is obtained according to camera projection model；
Wherein, the camera projection model are as follows:
Wherein, u and v is coordinate of the characteristic point in the first image on the part, (xc, yc, zc) be characterized a little in phase
First position parameter under machine coordinate system, (Fx, Fy) be camera equivalent focal length, (Cx, Cy) be optical axis and image planes intersection point image
Coordinate, M are internal reference matrix.
4. according to the method described in claim 2, it is characterized in that, described joined the first position based on trick transformation matrix
The step of number is converted to the second position parameter under actuator coordinate system, comprising:
According between camera coordinates system and actuator coordinate system transformation relation trick and transformation matrix the first position joined
Number is converted to second position parameter；
Wherein, the transformation relation between the camera coordinates system and actuator coordinate system are as follows:
Wherein, (xc,yc,zc) it is characterized the first position parameter a little under camera coordinates system, (xe,ye,ze) be characterized and a little holding
Second position parameter under row device coordinate, TecFor the trick transformation matrix.
5. the method according to claim 1, wherein the actuator error cuts down objective function are as follows:
Wherein, p1iWith p2iThe coordinate of characteristic point in the part of front and back, W are grabbed for i-th partx(p1i, p2i)、Wy(p1i, p2i)、Wz
(p1i, p2i) respectively indicate based on p1iWith p2iComponent of the position deviation on three directions of coordinate system x, y, z axis, β is deviation threshold
Value.
6. the method according to claim 1, wherein the method also includes:
Actuator grabbing error compensation matrix is updated according to the actuator composition error.
7. judging whether the actuator composition error meets the method according to claim 1, wherein described and holding
Row device error cuts down the step of objective function, comprising:
If the actuator composition error is unsatisfactory for actuator error abatement objective function, the placement location of the part is updated,
And re-execute the compensation method of the end effector of robot operating error.
8. a kind of compensation device of end effector of robot operating error characterized by comprising
First image capture module, for when robot motion is to the first designated position for being directed at part to be captured, acquisition
First image of the part；
Second image capture module, for controlling the execution of the robot and the robot end according to the second designated position
Device movement, when the robot is back to first designated position, acquires the second image of the part；
Parameter extraction module, for extracting the direction parameter of the first image and second image respectively, and according to extraction
To the direction parameter determine actuator composition error；Wherein, the direction parameter includes the part in affiliated image
Geometric center position and direction parameter；
Judgment module, for judging whether the actuator composition error meets actuator error abatement objective function；
Control module, for if satisfied, according to the actuator grabbing error compensation matrix that obtains in advance control the robot and
The actuator works；Wherein, the actuator grabbing error compensation matrix is used to become the actuator composition error
Shift to the compensating parameter under robot end's coordinate system.
9. a kind of electronic equipment characterized by comprising processor and storage device；
Computer program is stored on the storage device, the computer program is executed when being run by the processor as weighed
Benefit requires 1 to 7 described in any item methods.
10. a kind of computer readable storage medium, computer program, feature are stored on the computer readable storage medium
The step of being, the described in any item methods of the claims 1 to 7 executed when the computer program is run by processor.
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