CN110253574A - A kind of detection of multitask mechanical arm pose and error compensating method - Google Patents
A kind of detection of multitask mechanical arm pose and error compensating method Download PDFInfo
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- CN110253574A CN110253574A CN201910485132.0A CN201910485132A CN110253574A CN 110253574 A CN110253574 A CN 110253574A CN 201910485132 A CN201910485132 A CN 201910485132A CN 110253574 A CN110253574 A CN 110253574A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a kind of detection of multitask mechanical arm pose and error compensating methods, belong to Industrial Robot Technology field, device used in this method includes twin camera, six articulated mechanical arms, host computer and mechanical arm control cabinet.Two video cameras are separately mounted to mechanical arm two sides, for collection machinery arm image information and be sent to host computer, to obtain the posture information of mechanical arm；Six articulated mechanical arms are for completing welding, component assembly and cargo handling work；Host computer is used to carry out the calculating of calibration and the processing, the selection of mission mode and data of image；Mechanical arm control cabinet is used to receive the instruction of host computer, realizes the control to mechanical arm.According to the principle that majorized function minimizes, the newly-increased error compensation amount of each step is calculated, to obtain new error compensation amount, and then controls the next step movement of mechanical arm.
Description
Technical field
The present invention relates to Industrial Robot Technology fields, specifically, be related to a kind of detection of multitask mechanical arm pose and
Error compensating method.
Background technique
In recent years, mechanical arm is widely used in welding, part dress due to having the characteristics that flexible operation, easy to control
With being carried etc. in tasks with cargo.Since each connecting rod of mechanical arm inevitably introduces ginseng during manufacture, assembly etc.
Number errors, this allows for having differences between the actual value and nominal value of each rod piece parameter of mechanical arm, so as to cause mechanical arm end
There is certain deviations between the pose for holding the pose being actually reached and expectation to reach.
To realize the accurate motion control of mechanical arm, need to carry out position and attitude error compensation to it.Present motion control side
Case is primarily present following problems:
(1) Chinese patent literature of Publication No. CN107457785A discloses a kind of robot position based on joint feedback
Compensation method is set, this method is kinematic in analysis mechanical arm it is also desirable to carry out accurate mathematical modeling, analysis to motor
The transmission function of motor rotation, modeling and controller design process are complicated, and data processing amount is big；
(2) Chinese patent literature of Publication No. CN108297101A discloses a kind of multi-joint arm serial manipulator end
Position and attitude error detection and dynamic compensation method, this method obtain end position and attitude error using obliquity sensor.Due to each bar parameter
Actual value had differences with nominal value, therefore pose obtain it is not accurate enough；
(3) Chinese patent literature of Publication No. CN106247932A discloses a kind of robot based on camera chain and exists
Line error-compensating apparatus and method, this method have applied to multiple groups camera and two-dimentional dipmeter, and hardware system is complex,
And more specific position and attitude error backoff algorithm is not proposed；
(4) each patent more than does not consider that the otherness of different task pose compensation demand, design are appointed just for a certain item
Business (such as welding, component assembly and cargo are carried).
Summary of the invention
It is an object of the present invention to provide a kind of detections of multitask mechanical arm pose and error compensating method, this method can be with needle
Specific pose compensation, strong applicability are carried out to different tasks, different working environments.
To achieve the goals above, multitask mechanical arm pose provided by the invention detection and error compensating method include with
Lower step:
1) binocular stereo visual sensor is demarcated, the D-H motion model of mechanical arm is established, obtains each of D-H motion model
Coordinate conversion matrixjT6The theoretical expression of (j=0~5)；
2) task type of mechanical arm is set, according to the task type and working environment, the automatic power that pose is set and is compensated
Weight coefficient wi(i=1~6).The weight coefficient characterizes the significance level of different directions position adjustment and pose adjustment, so as to
Mechanical arm is set to be able to use different operating condition and mission requirements.For example, when undertaking component assembly task at the same focus on position and
Posture angular accuracy more focuses on position precision when undertaking welding and cargo carries task；When apart from operating point farther out more
The control for focusing on position precision when being closer while focusing on the control of position and attitude angle.
3) object pose is given, each joint angles q is soughtt=[q1,q2,q3.q4,q5,q6]T, and initial error compensation is set
It measures Δ q=[0,0,0,0,0,0]T；
4) it according to the principle of binocular stereo vision, obtains the image of mechanical arm simultaneously using two video cameras, determines mechanical
The specific location of arm distal point in both images, it is anti-according to the position of two video cameras and the image information of mechanical arm tail end point
The posture information of mechanical arm tail end is released, the composition error D=[d of end pose is calculatedx,dy,dz,δx,δy,δz]T, wherein dx,
dy,dzFor location error, δx,δy,δzFor attitude error；
5) according to each coordinate conversion matrixjT6Seek Jacobian matrix J (q)；
6) the newly-increased error compensation amount Δ q in each joint is soughtadd, then new error compensation amount is Δ q=Δ q+ Δ qadd；
7) object pose for giving next point, seeks the point of theory q in each jointt, and the actual motion in each joint is set
Angle is q=qtΔ q, is moved according to q；
8) step 4)~7 are repeated), until the task of completion.
In above-mentioned technical proposal, the power of suitable pose compensation is automatically generated according to different task type and operating conditions
Weight coefficient obtains the posture information of mechanical arm using the principle of binocular stereo vision, real-time according to the Jacobian matrix of mechanical arm
Iteration generates each movable joint error compensation amount under the weight coefficient, to realize the real-time error compensation of mechanical arm.
Preferably, in step 1), it is assumed that from -1 joint of kth (the 0th joint is pedestal) to the coordinate in k-th of joint
Transformation are as follows:
In above formula, joint rotation angle θiIndicate Xi-1Axis is around Zi-1Axis turns to XiThe angle rotated needed for axis；Joint biases diTable
Show Xi-1Axis is along Zi-1Axis is moved to XiThe distance of axis；Connecting rod torsional angle αiIndicate Zi-1Axis is around XiAxis turns to ZiIt is rotated needed for axis
Angle；Length of connecting rod aiIndicate Zi-1Axis is along XiAxis turns to ZiThe angle rotated needed for axis.
The then relational matrix of the coordinate system of mechanical arm tail end and connecting rod j-1 coordinate systemjT6The theoretical expression of (j=0~5)
Are as follows:
Wherein, nx、ny、nz、ox、oy、oz、ax、ay、az、px、py、pzIt respectively indicatesjTn12 elements are corresponding in first three rows
Numerical value.
Preferably, in step 3), initial error compensation rate Δ q=[0,0,0,0,0,0]T。
Preferably, in step 5), the m of Jacobian matrix J (q) arrange bymT6It determines, are as follows:
Wherein, n, o, a and p aremT6Four column vectors.
Preferably, according to majorized function minimization principle, seeking the newly-increased error compensation amount Δ in each joint in step 6)
qadd, majorized function is set are as follows:
Wherein, W=diag { w1,w2,w3,w4,w5,w6, diag is for constructing diagonal matrix.It enablesIt obtains:
-J(q)TW[D-J(q)Δqadd]=0
By above formula, each joint can be obtained and increase error compensation amount newly:
Δqadd=[Δ q1add,Δq2add,Δq3add,Δq4add,Δq5add,Δq6add]T
Preferably, seeking the point of theory q in each joint by inverse kinematics method in step 3) and step 7)t.Robot
Inverse kinematics, that is, known machine people end position and posture, according to known physical parameter (such as each robot linkage
Length etc.) Converse solved each joint correspondingly rotates the process of angle.
Compared with prior art, the invention has the benefit that
(1) method of the invention is modeled using the physical parameter of mechanical arm, and the movement without studying motor is special
Property, have the advantages that design is convenient, data volume is small；
(2) method of the invention utilizes the principle of machine vision, and the posture information of collection machinery arm end has arrangement side
Just, accurate advantage is measured；
(3) method of the invention can carry out specific pose compensation for different tasks, different working environments, fit
It is strong with property.
Detailed description of the invention
Fig. 1 is the structure of multitask mechanical arm pose detection and error compensating method institute use device in the embodiment of the present invention
Schematic diagram；
Fig. 2 is the flow chart of multitask mechanical arm pose detection and error compensating method in the embodiment of the present invention；
Fig. 3 is the D-H Mo Xing figure of multitask mechanical arm.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, with reference to embodiments and its attached drawing is to this hair
It is bright to be described further.
Embodiment
Referring to Fig. 1, device used in the multitask mechanical arm pose detection of the present embodiment and error compensating method includes
Twin camera (video camera 4 and video camera 5), six articulated mechanical arms 1, host computer 2 and mechanical arm control cabinet 3.
Two video cameras are separately mounted to the two sides of six articulated mechanical arms 1, image information and general for collection machinery arm
It is sent to host computer 2, to obtain the posture information of mechanical arm.Six articulated mechanical arms 1 for complete welding, component assembly and
Cargo handling work.Host computer 2 is used to carry out the calculating of calibration and the processing, the selection of mission mode and data of image.It is mechanical
Arm control cabinet 3 is used to receive the instruction of host computer, realizes the control to mechanical arm.
Referring to fig. 2, the present embodiment multitask mechanical arm pose detection and error compensating method the following steps are included:
Step S1 demarcates dual camera sensor, imports the nominal physical parameter of mechanical arm, in the base for considering parameter error
On plinth, the D-H motion model of mechanical arm is established.
It is known from -1 joint of kth (the 0th joint be pedestal) to the coordinate transform in k-th of joint are as follows:
Fig. 3 is shown in each symbol signal in formula.The then relationship of the coordinate system of mechanical arm tail end (connecting rod 6) and connecting rod j-1 coordinate system
MatrixjT6(j=0~5) are as follows:
Wherein, nx、ny、nz、ox、oy、oz、ax、ay、az、px、py、pzIt respectively indicatesjT612 elements are corresponding in first three rows
Numerical value.
The task type of mechanical arm is arranged in step S2, such as welding, component assembly or cargo are carried.
Step S3, controller according to the principle that mechanical arm task type and working environment, utilize fuzzy control, output bit
The weight coefficient w of appearance compensationi(i=1~6).The basic ideas of its weight setting are as follows: when undertaking component assembly task while infusing
Weight position and posture angular accuracy more focus on position precision when undertaking welding and cargo carries task；Apart from operating point compared with
The control for more focusing on position precision when remote when being closer while focusing on the control of position and attitude angle.
Step S4 gives object pose, by the inverse method of movement, uses the smallest principle according to energy, seeks unique one
Group joint point of theory qt=[q1,q2,q3.q4,q5,q6]T, it is arranged initial error compensation rate Δ q=[0,0,0,0,0,0]T；
Step S5 measures the posture information of mechanical arm tail end using the principle of machine vision, calculates the synthesis of end pose
Error D=[dx,dy,dz,δx,δy,δz]T, wherein dx,dy,dzFor location error, δx,δy,δzFor attitude error；
Step S6 seeks each coordinate conversion matrix in real timejT6, obtain Jacobian matrix J (q).Since several joints are all to turn
Movable joint, thus the m of Jacobian matrix J (q) arrange bymT6It determines, are as follows:
In formula, n, o, a and p aremT6Four column vectors.
Step S7 constructs weight matrix W=diag { w1,w2,w3,w4,w5,w6, majorized function is setIt enablesIt obtains:
-J(q)TW[D-J(q)Δqadd]=0
It can thus be concluded that each joint increases error compensation newly
Δqadd=[Δ q1add,Δq2add,Δq3add,Δq4add,Δq5add,Δq6add]T
Seek new error compensation amount Δ q=Δ q+ Δ qadd。
Step S8 gives the object pose of next point, seeks each joint point of theory value by the inverse method of movement:
qt=[q1,q2,q3.q4,q5,q6]T
Each joint is set according to actual motion angle q=qtΔ q is moved；
Step S9 repeats step S5~step S8, until task needed for completing.
Claims (6)
1. a kind of multitask mechanical arm pose detection and error compensating method, which comprises the following steps:
1) binocular stereo visual sensor is demarcated, the D-H motion model of mechanical arm is established, obtains each coordinate of D-H motion model
Transition matrixjT6The theoretical expression of (j=0~5)；
2) task type of mechanical arm is set, according to the task type and working environment, the power of system automatically generated pose compensation
Weight coefficient wi(i=1~6)；
3) object pose is given, the point of theory q in each joint is soughtt=[q1,q2,q3.q4,q5,q6]T, and initial error benefit is set
The amount of repaying Δ q=[0,0,0,0,0,0]T；
4) method for utilizing binocular stereo vision, measures the posture information of mechanical arm tail end, calculates the composition error D of end pose
=[dx,dy,dz,δx,δy,δz]T, wherein dx,dy,dzFor location error, δx,δy,δzFor attitude error；
5) each coordinate conversion matrix is sought in real time, obtains Jacobian matrix J (q)；
6) the newly-increased error compensation amount Δ q in each joint is soughtadd, then new error compensation amount is Δ q=Δ q+ Δ qadd；
7) object pose for giving next point, seeks the point of theory q in each jointt=[q1,q2,q3.q4,q5,q6]T, and be arranged each
Actual motion angle in joint is q=qtΔ q is moved；
8) step 4)~7 are repeated), until the task of completion.
2. multitask mechanical arm pose detection according to claim 1 and error compensating method, which is characterized in that step 1)
In, it is assumed that from -1 joint of kth (the 0th joint is pedestal) to the coordinate transform in k-th of joint are as follows:
In above formula, joint rotation angle θiIndicate Xi-1Axis is around Zi-1Axis turns to XiThe angle rotated needed for axis；Joint biases diIt indicates
Xi-1Axis is along Zi-1Axis is moved to XiThe distance of axis；Connecting rod torsional angle αiIndicate Zi-1Axis is around XiAxis turns to ZiThe angle rotated needed for axis
Degree；Length of connecting rod aiIndicate Zi-1Axis is along XiAxis turns to ZiThe angle rotated needed for axis；
The then relational matrix of the coordinate system of mechanical arm tail end and connecting rod j-1 coordinate systemjT6The theoretical expression of (j=0~5) are as follows:
Wherein, nx、ny、nz、ox、oy、oz、ax、ay、az、px、py、pzIt respectively indicatesjT6The corresponding numerical value of 12 elements in first three rows.
3. multitask mechanical arm pose detection according to claim 1 and error compensating method, which is characterized in that step 3)
In, initial error compensation rate Δ q=[0,0,0,0,0,0]T。
4. multitask mechanical arm pose detection according to claim 1 and error compensating method, which is characterized in that step 5)
In, the m of Jacobian matrix J (q) arrange bymT6It determines, may be expressed as:
Wherein, n, o, a and p aremT6Four column vectors.
5. multitask mechanical arm pose detection according to claim 1 and error compensating method, which is characterized in that step 6)
In, according to majorized function minimization principle, seek the newly-increased error compensation amount Δ q in each jointadd, majorized function is set are as follows:
Wherein, W=diag { w1,w2,w3,w4,w5,w6, it enablesIt obtains:
-J(q)TW[D-J(q)Δqadd]=0
By above formula, each joint can be obtained and increase error compensation amount newly:
Δqadd=[Δ q1add,Δq2add,Δq3add,Δq4add,Δq5add,Δq6add]T 。
6. multitask mechanical arm pose detection according to claim 1 and error compensating method, which is characterized in that step 3)
With in step 7), the point of theory in each joint is sought by the inverse method of movement.
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| CN110811827A (en) * | 2019-09-25 | 2020-02-21 | 中奕智创医疗科技有限公司 | Surgical robot motor resetting calibration device, calibration method and robot |
| CN111530670A (en) * | 2020-04-30 | 2020-08-14 | 重庆见芒信息技术咨询服务有限公司 | Part position error compensation method and system applied to robot spraying field |
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| CN113341718A (en) * | 2021-06-10 | 2021-09-03 | 浙江大学 | Hydrodynamic coefficient hybrid adaptive estimation method of under-actuated water surface robot |
| CN113561183A (en) * | 2021-07-26 | 2021-10-29 | 上海大学 | Pose tracking system based mechanical arm target point online tracking method and system |
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| CN114589698A (en) * | 2022-04-07 | 2022-06-07 | 北京信息科技大学 | Mechanical arm model-free real-time calibration method and device based on multi-target visual measurement and machine learning |
| CN114589698B (en) * | 2022-04-07 | 2023-06-06 | 北京信息科技大学 | Model-free real-time calibration method and device for mechanical arm based on multi-target vision measurement and machine learning |
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