CN110253574B - Multi-task mechanical arm pose detection and error compensation method - Google Patents
Multi-task mechanical arm pose detection and error compensation method Download PDFInfo
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- CN110253574B CN110253574B CN201910485132.0A CN201910485132A CN110253574B CN 110253574 B CN110253574 B CN 110253574B CN 201910485132 A CN201910485132 A CN 201910485132A CN 110253574 B CN110253574 B CN 110253574B
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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
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Abstract
The invention discloses a multi-task mechanical arm pose detection and error compensation method, and belongs to the technical field of industrial robots. The two cameras are respectively arranged on two sides of the mechanical arm and used for acquiring image information of the mechanical arm and transmitting the image information to the upper computer so as to acquire pose information of the mechanical arm; the six-joint mechanical arm is used for completing welding, part assembly and cargo carrying; the upper computer is used for calibrating and processing images, selecting task modes and calculating data; the mechanical arm control cabinet is used for receiving instructions of the upper computer and controlling the mechanical arm. And calculating the newly added error compensation amount of each step according to the principle of minimizing the optimization function, thereby obtaining a new error compensation amount and further controlling the next step of movement of the mechanical arm.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a multi-task mechanical arm pose detection and error compensation method.
Background
In recent years, the mechanical arm has the characteristics of flexible operation and convenient control, and is widely applied to tasks such as welding, part assembly, cargo handling and the like. Parameter errors are inevitably introduced into the connecting rods of the mechanical arm in the manufacturing, assembling and other processes, so that the difference exists between the actual value and the nominal value of the parameters of the rod pieces of the mechanical arm, and certain deviation exists between the actual arrival pose of the tail end of the mechanical arm and the expected arrival pose of the tail end of the mechanical arm.
In order to realize accurate motion control of the mechanical arm, pose error compensation needs to be carried out on the mechanical arm. The following problems mainly exist in the current motion control scheme:
(1) chinese patent publication No. CN107457785A discloses a robot position compensation method based on joint feedback, which analyzes the kinematics of a mechanical arm, and at the same time, needs to perform accurate mathematical modeling on a motor, analyzes a transfer function of the rotation of the motor, and has complicated modeling and controller design processes and large data processing capacity;
(2) chinese patent publication No. CN108297101A discloses a method for detecting and dynamically compensating end pose errors of a multi-joint arm tandem robot, which uses a tilt sensor to obtain the end pose errors. Because the actual value and the nominal value of each rod parameter are different, the pose acquisition is not accurate enough;
(3) chinese patent publication No. CN106247932A discloses an online robot error compensation device and method based on a photography system, the method uses multiple sets of cameras and two-dimensional tilt meters, the hardware system is complex, and no clear pose error compensation algorithm is proposed;
(4) the above patents do not consider the difference in the requirements for different task pose compensation, and are designed for only one task (e.g., welding, part assembly, and cargo handling).
Disclosure of Invention
The invention aims to provide a multi-task mechanical arm pose detection and error compensation method which can perform specific pose compensation aiming at different tasks and different working environments and has strong applicability.
In order to achieve the purpose, the multi-task mechanical arm pose detection and error compensation method provided by the invention comprises the following steps of:
1) calibrating a binocular stereo vision sensor, establishing a D-H motion model of the mechanical arm, and obtaining each coordinate conversion matrix of the D-H motion modeljT6(j is 0-5) a theoretical expression;
2) setting the task type of the mechanical arm, and automatically setting a weight coefficient w of pose compensation according to the task type and the working environmenti(i is 1 to 6). The weight coefficient represents the importance degree of position adjustment and posture adjustment in different directions, so that the mechanical arm can use different working conditions and task requirements. For example, position and attitude angle accuracy is emphasized simultaneously when undertaking part assembly tasks, and position accuracy is emphasized more when undertaking welding and cargo handling tasks; more emphasis is placed on control of position accuracy when the distance from the working point is far, and on control of position and attitude angle when the distance is near.
3) Giving a target pose and solving each joint angle qt＝[q1,q2,q3.q4,q5,q6]TAnd setting an initial error compensation amountΔq＝[0,0,0,0,0,0]T；
4) According to the principle of binocular stereo vision, two cameras are used for simultaneously acquiring images of the mechanical arm, the specific positions of the tail end points of the mechanical arm in the two images are determined, the pose information of the tail end of the mechanical arm is reversely deduced according to the positions of the two cameras and the image information of the tail end points of the mechanical arm, and the comprehensive error D of the tail end pose is calculated as D [ D ]x,dy,dz,x,y,z]TWherein d isx,dy,dzIn order to be a position error,x,y,zis the attitude error;
5) transforming the matrix according to each coordinatejT6Solving a Jacobian matrix J (q);
6) calculating newly added error compensation quantity delta q of each jointaddThen, the new error compensation amount is Δ q ═ Δ q + Δ qadd；
7) The target pose of the next point is given, and the theoretical angle q of each joint is obtainedtAnd setting the actual motion angle of each joint as q ═ qt- Δ q, with motion according to q;
8) and repeating the steps 4) to 7) until the task is completed.
According to the technical scheme, the weight coefficient of proper pose compensation is automatically generated according to different task types and working conditions, pose information of the mechanical arm is obtained by using a binocular stereo vision principle, and error compensation quantity of each moving joint under the weight coefficient is generated through real-time iteration according to a Jacobian matrix of the mechanical arm, so that real-time error compensation of the mechanical arm is realized.
Preferably, in step 1), the coordinates from the (k-1) th joint (the 0 th joint is a base) to the k th joint are converted into:
in the above formula, the joint angle thetaiRepresents Xi-1Axial winding Zi-1The shaft being rotated to XiThe angle of rotation required for the shaft; offset of joint diRepresents Xi-1The axis being along Zi-1The shaft being moved to XiDistance of the shaft; connecting rod torsion angle alphaiRepresents Zi-1Axial winding XiThe shaft being rotated to ZiThe angle of rotation required for the shaft; length of connecting rod aiRepresents Zi-1The axis being along XiThe shaft being rotated to ZiThe angle of rotation required for the shaft.
The transformation matrix of the coordinate system of the tail end of the mechanical arm and the j-1 coordinate system of the connecting rodjT6The theoretical expression of (j ═ 0-5) is as follows:
wherein n isx、ny、nz、ox、oy、oz、ax、ay、az、px、py、pzRespectively representjTnThe first three rows correspond to 12 elements.
Preferably, in step 3), the initial error compensation amount Δ q is [0,0,0,0,0,0 ═ 0]T。
Preferably, in step 5), the m-th column of the Jacobian matrix J (q) is composed ofmT6The determination is as follows:
wherein n, o, a and p aremT6Four column vectors.
Preferably, in step 6), the newly added error compensation quantity Δ q of each joint is obtained according to the optimization function minimization principleaddSetting an optimization function as:
wherein W is diag { W ═ d { (W) }1,w2,w3,w4,w5,w6And diag is used to construct the diagonal matrix. Order to
Obtaining:
-J(q)TW[D-J(q)Δqadd]＝0
from the above formula, the newly added error compensation amount of each joint can be obtained:
Δqadd＝[Δq1add,Δq2add,Δq3add,Δq4add,Δq5add,Δq6add]T
preferably, in step 3) and step 7), the theoretical angle q of each joint is obtained by inverse kinematicst. The inverse kinematics of the robot is the process of knowing the position and the attitude of the tail end of the robot and reversely solving the corresponding rotation angle of each joint according to the known physical parameters (such as the length of each mechanical arm connecting rod).
Compared with the prior art, the invention has the beneficial effects that:
(1) the method utilizes the physical parameters of the mechanical arm to carry out modeling, does not need to research the motion characteristics of the motor, and has the advantages of convenient design and small data volume;
(2) the method of the invention collects the pose information of the tail end of the mechanical arm by using the principle of machine vision, and has the advantages of convenient arrangement and accurate measurement;
(3) the method can carry out specific pose compensation aiming at different tasks and different working environments, and has strong applicability.
Drawings
FIG. 1 is a schematic structural diagram of a device used in a multi-task robot pose detection and error compensation method in an embodiment of the invention;
FIG. 2 is a flow chart of a multi-tasking robot pose detection and error compensation method in an embodiment of the invention;
FIG. 3 is a D-H model of a multi-tasking robotic arm.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the following embodiments and accompanying drawings.
Examples
Referring to fig. 1, the apparatus used in the method for multi-task robot arm pose detection and error compensation of the present embodiment includes two cameras (camera 4 and camera 5), a six-joint robot arm 1, an upper computer 2, and a robot arm control cabinet 3.
The two cameras are respectively arranged on two sides of the six-joint mechanical arm 1 and used for collecting image information of the mechanical arm and transmitting the image information to the upper computer 2, so that pose information of the mechanical arm is obtained. The six-joint mechanical arm 1 is used for completing welding, part assembling and cargo carrying. The upper computer 2 is used for calibrating and processing images, selecting task modes and calculating data. The mechanical arm control cabinet 3 is used for receiving instructions of the upper computer and controlling the mechanical arm.
Referring to fig. 2, the method for detecting and compensating the pose of the multi-task mechanical arm according to the embodiment includes the following steps:
and step S1, calibrating the double-camera sensor, importing nominal physical parameters of the mechanical arm, and establishing a D-H motion model of the mechanical arm on the basis of considering parameter errors.
It is known that the coordinate transformation from the k-1 th joint (the 0 th joint is the base) to the k-th joint is:
the symbols in the formula are schematically shown in FIG. 3. The transformation matrix of the coordinate system of the end of the robot arm (link 6) and the j-1 coordinate system of the linkjT6(j is 0 to 5):
wherein n isx、ny、nz、ox、oy、oz、ax、ay、az、px、py、pzRespectively representjT6The first three rows correspond to 12 elements.
Step S2, a task type of the robot arm is set, such as welding, parts assembly, or cargo handling.
Step S3, the controller outputs a weight coefficient w of pose compensation according to the task type and the working environment of the mechanical arm by using the principle of fuzzy controli(i is 1 to 6). The basic idea of weight setting is as follows: the position and attitude angle precision is emphasized when the part assembly task is undertaken, and the position precision is emphasized when the welding and cargo carrying task is undertaken; more emphasis is placed on control of position accuracy when the distance from the working point is far, and on control of position and attitude angle when the distance is near.
Step S4, a target pose is given, and a unique group of joint theoretical angles q is obtained through an inverse motion method according to the principle of minimum energy uset＝[q1,q2,q3.q4,q5,q6]TThe initial error compensation amount Δ q is set to [0,0,0,0,0,0]T；
Step S5, measuring the pose information of the tail end of the mechanical arm by using the principle of machine vision, and calculating the comprehensive error D of the tail end pose as Dx,dy,dz,x,y,z]TWherein d isx,dy,dzIn order to be a position error,x,y,zis the attitude error;
step S6, real-time obtaining each coordinate transformation matrixjT6The Jacobian matrix J (q) is obtained. Since several joints are rotational joints, the m-th column of the Jacobian matrix J (q) is composed ofmT6The determination is as follows:
wherein n, o, a and p aremT6Four column vectors.
In step S7, a weight matrix W ═ diag { W ═ is constructed1,w2,w3,w4,w5,w6}, setting an optimization function
Order to
Obtaining:
-J(q)TW[D-J(q)Δqadd]＝0
therefore, newly added error compensation of each joint can be obtained
Δqadd＝[Δq1add,Δq2add,Δq3add,Δq4add,Δq5add,Δq6add]T
Calculating a new error compensation amount Δ q ═ Δ q + Δ qadd。
Step S8, the target pose of the next point is given, and the theoretical angle value of each joint is obtained through an inverse motion method:
qt＝[q1,q2,q3.q4,q5,q6]T
setting each joint according to the actual motion angle q ═ qt- Δ q performing a motion;
and step S9, repeating the step S5 to the step S8 until the required task is completed.
Claims (6)
1. A multi-task mechanical arm pose detection and error compensation method is characterized by comprising the following steps:
1) calibrating a binocular stereo vision sensor, establishing a D-H motion model of the mechanical arm, and obtaining each coordinate conversion matrix of the D-H motion modeljT6(j is 0-5) a theoretical expression;
2) setting the task type of the mechanical arm, and automatically generating a weight coefficient w of pose compensation by the system according to the task type and the working environmenti(i＝1～6)；
3) Giving a target pose and solving a theoretical angle q of each jointt＝[q1,q2,q3.q4,q5,q6]TAnd setting the initial error compensation amount Δ q to [0,0,0,0,0,0]T；
4) Measuring the pose information of the tail end of the mechanical arm by using a binocular stereo vision method, and calculating the comprehensive error D [ D ] of the pose of the tail endx,dy,dz,x,y,z]TWherein d isx,dy,dzIn order to be a position error,x,y,zis the attitude error;
5) solving each coordinate transformation matrix in real time to obtain a Jacobian matrix J (q);
6) calculating newly added error compensation quantity delta q of each jointaddThen, the new error compensation amount is Δ q ═ Δ q + Δ qadd；
7) The target pose of the next point is given, and the theoretical angle q of each joint is obtainedt＝[q1,q2,q3.q4,q5,q6]TAnd setting the actual motion angle of each joint as q ═ qt- Δ q performing a motion;
8) and repeating the steps 4) to 7) until the task is completed.
2. The multi-tasking mechanical arm pose detection and error compensation method according to claim 1, wherein in step 1), it is assumed that the coordinate transformation from the k-1 th joint (the 0 th joint is a base) to the k-th joint:
in the above formula, the joint angle thetaiRepresents Xi-1Axial winding Zi-1The shaft being rotated to XiThe angle of rotation required for the shaft; offset of joint diRepresents Xi-1The axis being along Zi-1The shaft being moved to XiDistance of the shaft; connecting rod torsion angle alphaiRepresents Zi-1Axial winding XiThe shaft being rotated to ZiThe angle of rotation required for the shaft; length of connecting rod aiRepresents Zi-1The axis being along XiThe shaft being rotated to ZiRequired for the shaftThe angle of rotation;
the transformation matrix of the coordinate system of the tail end of the mechanical arm and the j-1 coordinate system of the connecting rodjT6The theoretical expression of (j ═ 0-5) is as follows:
wherein n isx、ny、nz、ox、oy、oz、ax、ay、az、px、py、pzRespectively representjT6The first three rows correspond to 12 elements.
3. The multi-tasking manipulator pose detection and error compensation method according to claim 1, wherein in step 3), the initial error compensation amount Δ q is [0,0,0,0,0,0 ] q]T。
4. The multi-tasking manipulator pose detection and error compensation method of claim 1, wherein in step 5), the mth column of the Jacobian matrix J (q) is composed ofmT6The decision, which can be expressed as:
wherein n, o, a and p aremT6Four column vectors.
5. The multi-task mechanical arm pose detection and error compensation method according to claim 1, wherein in step 6), a newly added error compensation quantity Δ q of each joint is obtained according to an optimization function minimization principleaddSetting an optimization function as:
wherein W is diag { W ═ d { (W) }1,w2,w3,w4,w5,w6Instruction of
Obtaining:
-J(q)TW[D-J(q)Δqadd]＝0
from the above formula, the newly added error compensation amount of each joint can be obtained:
Δqadd＝[Δq1add,Δq2add,Δq3add,Δq4add,Δq5add,Δq6add]T。
6. the multi-task mechanical arm pose detection and error compensation method according to claim 1, wherein in the step 3) and the step 7), the theoretical angle of each joint is obtained through an inverse motion method.
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