CN110370271A - The joint transmission ratio error calibration method of industrial serial manipulator - Google Patents
The joint transmission ratio error calibration method of industrial serial manipulator Download PDFInfo
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- 230000008878 coupling Effects 0.000 claims abstract description 16
- 238000010168 coupling process Methods 0.000 claims abstract description 16
- 238000005859 coupling reaction Methods 0.000 claims abstract description 16
- 238000009434 installation Methods 0.000 claims abstract description 8
- 238000005259 measurement Methods 0.000 claims description 18
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 238000005457 optimization Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012850 discrimination method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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Abstract
The invention discloses a kind of joint transmission ratio error calibration methods of industrial serial manipulator, including industrial serial manipulator, robot controller, computer, laser tracker and installation laser target target tooling；Industrial serial manipulator and robot controller data connection, computer respectively with robot controller and laser tracker data connection；Installation laser target target tooling is solidly connected with robot end；The present invention has the characteristics that calibration accuracy height, speed are fast, it can be achieved that reduction ratio and coupling ratio parameter identification and calibration.
Description
Technical field
The present invention relates to series connection Industrial Robot Technology fields, high-precision based on laser tracker progress more particularly, to one kind
Degree measurement, the joint that the series connection industrial robot that global cartesian space error optimizes is carried out to industrial robot ratio error
Ratio error calibration method.
Background technique
Since servo motor is there are high revolving speed, the characteristic of low torque, apply the motor at robot arm joint usual
Retarder is needed slow down increasing square to match output.The each joint of robot generally passes through motor-retarder-rod piece transmission,
Retarder generallys use RV retarder, harmonic speed reducer and belt wheel decelerator.
For in robot joint angles control process, controller directly reads the encoder code disc for being mounted on motor end
Data will lead to each joint axis angles control error of robot, further shadow if there are errors for the reduction ratio of retarder
Ring the absolute fix precision of robot.
Gravitational moment is smaller when in order to stretch robot, and the big quality part such as motor is as close to pedestal direction, machine
The movement of the several axis in people end is transmitted by machine driving, and leading to end joint, there are coupled relations, if decoupling does not have
Thoroughly, it equally will affect the absolute fix precision of robot.
The reduction ratio and coupling ratio error in joint are an important factor for influencing absolute fix precision, to distinguish to above-mentioned transmission ratio
Knowledge can play a crucial role hoisting machine human nature.Identification of the robot transmission than parameter is to rotation or mobile pass
The reduction ratio of section and there are the coupling ratio errors in coupled relation joint to be recognized, compensates back robot controller, with elevator
Device people's absolute fix precision.Currently, common reduction ratio discrimination method, such as a kind of " test side of robot reduction ratio of Xu Fang
Method ", cumbersome and accuracy are poor.
Summary of the invention
Goal of the invention of the invention is to overcome ratio error in the prior art to recognize cumbersome, poor accuracy
Deficiency, provide it is a kind of based on laser tracker carry out high-acruracy survey, industrial robot ratio error is carried out it is global
The joint transmission ratio error calibration method of the series connection industrial robot of cartesian space error optimization.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of joint transmission ratio error calibration method of industry serial manipulator, characterized in that including industrial serial machine
People, robot controller, computer, laser tracker and installation laser target target tooling；Industrial serial manipulator and robot
Controller data connection, computer respectively with robot controller and laser tracker data connection；Laser target target work is installed
Dress is solidly connected with robot end；Include the following steps:
(1-1) selects any m position in industrial robot dexterous workspace in cube according to GB/T12642
Point, robot controller control robot end and reach m selected location point, make the installation laser for being fixed on robot end
Posture of the tooling of target at each location point is towards laser tracker；
(1-2) computer controls laser tracker robot measurement end in the laser target position y of m location point；Meter
Calculation machine reads industrial robot in each axis joint angle nominal value θ of each location point by controllern；
(1-3) computer utilizes the m location point joint angle nominal value θ recordedn, the laser target position y of measurement, utilization
Robot nominal structure parameter value calculation obtains ratio error value；
(1-4) computer updates the transmission ratio of identification into robot controller, and completion compares parameter to robot transmission
The compensation of error.
The present invention can be carried out high-acruracy survey based on laser tracker, carry out the overall situation to industrial robot ratio error
The optimization of cartesian space error.And the ratio error recognized by modelling can to a greater degree hoisting machine people it is exhausted
To positioning accuracy.
Preferably, step (1-3) includes the following steps:
The ratio error of robot influences the joint angle angle value of robot, and then influences robot end position, machine
Person joint's angle value deviation can be indicated with robot end's position deviation relationship by Jacobian matrix.
(2-1) sets dP=J (θn) d θ be robot differential kinematics model, wherein dP be robot end position
Deviation, J (θn) it is the joint of robot error space to the transformational relation in robot end's location error space, referred to as Jacobi square
Battle array, d θ are the deviation of joint angle；
(2-2) set robot end's position deviation as
DP=y-f (θn)；
Wherein, dP is robot end's position deviation value, and y is the laser target position that laser tracker measurement obtains, f
The normal solution function of () for robot, the mapping relations of description robot joint angles value to robot end position,For each axis joint angle nominal value of robot,It is the i-th joint angles nominal value, i=1 ..k, k is
Joint of robot sum；
(2-3) sets θaIt is the vector of each axis joint angle actual value composition of robot；
(2-4) set the error of reduction ratio as
Wherein, kiFor the ratio between the i-th joint name and actual deceleration ratio, as deceleration ratio error, ri nAnd ri qIt is expressed as
The nominal value and actual value of i-th joint reduction ratio,Indicate the input value of the i-th joint speed reducer,WithRespectively indicate i-th
The name and real output value of joint speed reducer；
(2-5) set the error of coupling ratio as
Wherein,WithJth joint is respectively indicated to the nominal value and actual value of the coupling ratio in the i-th joint；
The coupled relation that (2-6) sets each axis of robot only can generate rotation to subsequent joint as current joint rotation,
Then all coupling ratio parameters can construct a decoupling matrices C；WithIt can be read from robot controller, thenIt can be obtained by calculation
Above formula can be re-written as
(2-7) set i-th of joint angle actual value as
(2-8) set the deviation of i-th of joint angle as
Wherein, dkiIt is the deviation of the deceleration ratio error in i-th of joint, dhjiIt is that the coupling ratio in the i-th joint is missed in jth joint
The deviation of difference；
(2-9) is by the nominal joint angle angle value θ of m location pointnIt is substituted into the measurement laser target position y of m location pointIn, calculate the deviation dk, dh of ratio error；
Wherein, p=1 ..., m, m are number of the robot motion to space any position point, and general m takes 50；pDP is
Robot end's position deviation value that p measurement data is calculated,pJ(θn) it is the corresponding Ya Ke being calculated of pth time measurement
Compare matrix；D θ=[d θ1..., d θk] be each joint shaft joint angle deviation；Dk=[dk1... dki…dkk]；Dh=
[dh12... dhji…dhk-1k]。
(2-10) is by deviation dk, the dh of ratio error, in addition original ratio error k and h is as new transmission ratio
Error；Wherein, k=[k1... ki…kk]；H=[h12... hji…hk-1k]；
When at least one in dk and dh is greater than R, it is transferred to step (2-1), wherein R is correction threshold；
When dk and dh≤R when, obtain revised ratio error；
Preferably, R is 10-7To 10-13。
Therefore, high, speed that the invention has the following beneficial effects: calibration accuracies is fastly, it can be achieved that reduction ratio and coupling ratio miss
Difference identification and calibration.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of industrial robot and laser tracker of the invention；
Fig. 2 is a kind of flow chart of the invention；
Fig. 3 is a kind of ratio error calibration front and back absolute fix accuracy comparison figure of the invention.
In figure: industrial serial manipulator 1, laser target 2, laser tracker 3.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and detailed description.
Embodiment as shown in Figure 1 and Figure 2 is a kind of joint transmission ratio error calibration method of industrial serial manipulator, packet
Include industrial serial manipulator 1, robot controller, computer, laser tracker 3 and the tooling for installing laser target 2；Industry string
Join robot and robot controller data connection, computer respectively with robot controller and laser tracker data connection；
Installation laser target target tooling is solidly connected with robot end；Include the following steps:
Step 100, robot runs to m location point of dexterous workspace
Any m location point in industrial robot dexterous workspace in cube, machine are selected according to GB/T12642
People's controller controls robot end and reaches m selected location point, makes the installation laser target target for being fixed on robot end
Posture of the tooling at each location point is towards laser tracker；
Step 200, computer reads joint angle, and tracker measures terminal position
Computer controls laser tracker robot measurement end in the laser target position y of m location point；Computer is logical
It crosses controller and reads industrial robot in each axis joint angle nominal value θ of each location pointn；
Step 300, computer calculates modified transmission ratio parameter
Computer utilizes the m location point joint angle nominal value θ recordedn, the laser target position y of measurement utilizes machine
Ratio error value is calculated in name justice values of the structural parameters；
Step 301, dP=J (θ is setn) d θ be robot differential kinematics model, wherein dP be robot end position
Set deviation, J (θn) it is the joint of robot error space to the transformational relation in robot end's location error space, referred to as Jacobi
Matrix, d θ are the deviation of joint angle；
Step 302, set robot end's position deviation as
DP=y-f (θn)；
Wherein, dP is robot end's position deviation value, and y is the laser target position that laser tracker measurement obtains, f
The normal solution function of () for robot, the mapping relations of description robot joint angles value to robot end position,For each axis joint angle nominal value of robot,It is the i-th joint angles nominal value, i=1 ..k, k is
Joint of robot sum；
Step 303, θ is setaIt is the vector of each axis joint angle actual value composition of robot；
Step 304, set the error of reduction ratio as
Wherein, kiFor the ratio between the i-th joint name and actual deceleration ratio, as deceleration ratio error, ri nAnd ri aIt is expressed as
The nominal value and actual value of i-th joint reduction ratio,Indicate the input value of the i-th joint speed reducer,WithRespectively indicate i-th
The name and real output value of joint speed reducer；
Step 305, set the error of coupling ratio as
Wherein,WithJth joint is respectively indicated to the nominal value and actual value of the coupling ratio in the i-th joint；
Step 306, the coupled relation for setting each axis of robot can only generate subsequent joint as current joint rotation to be turned
Dynamic, then all coupling ratio parameters can construct a decoupling matrices C；WithIt can be read from robot controller,
SoIt can be obtained by calculation
Above formula can be re-written as
Step 307, set i-th of joint angle actual value as
Step 308, set the deviation of i-th of joint angle as
Wherein, dkiIt is the deviation of the deceleration ratio error in i-th of joint, dhjiIt is that the coupling ratio in the i-th joint is missed in jth joint
The deviation of difference.
Step 309, by the nominal joint angle angle value θ of m location pointnWith the measurement laser target position y generation of m location point
EnterIn, calculate the deviation dk, dh of ratio error；
Wherein, p=1 ..., m, m are number of the robot motion to space any position point, and general m takes 50；pDP is
Robot end's position deviation value that p measurement data is calculated,pJ(θn) it is the corresponding Ya Ke being calculated of pth time measurement
Compare matrix；D θ=[d θ1..., d θk] be each joint shaft joint angle deviation；Dk=[dk1... dki…dkk]；Dh=
[dh12... dhji…dhk-1k]。
Step 310, by deviation dk, the dh of ratio error, in addition original ratio error k and h is as new transmission
Ratio error；
When at least one in dk and dh is greater than R, it is transferred to step 300, wherein R is correction threshold；
When dk and dh≤R when, obtain revised ratio error.
Preferably, R is 10-7To 10-13。
Step 400, computer updates the transmission ratio of identification into robot controller, completes to robot transmission than joining
The compensation of number error.
Fig. 3 is a kind of ratio error calibration front and back absolute fix accuracy comparison figure of the invention.
It should be understood that this embodiment is only used to illustrate the invention but not to limit the scope of the invention.In addition, it should also be understood that,
After having read the content of the invention lectured, those skilled in the art can make various modifications or changes to the present invention, these etc.
Valence form is also fallen within the scope of the appended claims of the present application.
Claims (3)
1. it is a kind of industry serial manipulator joint transmission ratio error calibration method, characterized in that including industrial serial manipulator,
Robot controller, computer, laser tracker and installation laser target target tooling；Industrial serial manipulator and robot control
Device data connection, computer respectively with robot controller and laser tracker data connection；Install laser target target tooling with
Robot end is solidly connected；Include the following steps:
(1-1) selects any m location point in industrial robot dexterous workspace in cube, machine according to GB/T12642
Device people's controller controls robot end and reaches m selected location point, makes the installation laser target for being fixed on robot end
Posture of the tooling at each location point towards laser tracker；
(1-2) computer controls laser tracker robot measurement end in the laser target position y of m location point；Computer
Industrial robot is read in each axis joint angle nominal value θ of each location point by controllern；
(1-3) computer utilizes the m location point joint angle nominal value θ recordedn, the laser target position y of measurement utilizes machine
Ratio error value is calculated in name justice values of the structural parameters；
(1-4) computer updates the transmission ratio of identification into robot controller, and completion compares parameter error to robot transmission
Compensation；
The present invention can be carried out high-acruracy survey based on laser tracker, carry out global flute card to industrial robot ratio error
You optimize space error；And the ratio error recognized by modelling can to a greater degree hoisting machine people it is absolutely fixed
Position precision.
2. the joint transmission ratio error calibration method of industry serial manipulator according to claim 1, characterized in that step
(1-3) includes the following steps:
The ratio error of robot influences the joint angle angle value of robot, and then influences robot end position, and robot closes
Section angle value deviation can be indicated with robot end's position deviation relationship by Jacobian matrix.
(2-1) sets dP=J (θn) d θ be robot differential kinematics model, wherein dP be robot end's position deviation, J
(θn) it is the joint of robot error space to the transformational relation in robot end's location error space, referred to as Jacobian matrix, d θ
For the deviation of joint angle；
(2-2) set robot end's position deviation as
DP=y-f (θn)；
Wherein, dP is robot end's position deviation value, and y is the laser target position that laser tracker measurement obtains, and f () is
The normal solution function of robot, the mapping relations of description robot joint angles value to robot end position,For each axis joint angle nominal value of robot,It is the i-th joint angles nominal value, i=1 ..k, k is
Joint of robot sum；
(2-3) sets θaIt is the vector of each axis joint angle actual value composition of robot；
(2-4) set the error of reduction ratio as
Wherein, kiFor the ratio between the i-th joint name and actual deceleration ratio, as deceleration ratio error, ri nAnd ri aIt is expressed as the i-th pass
The nominal value and actual value of speed ratio are reduced,Indicate the input value of the i-th joint speed reducer,WithThe i-th joint is respectively indicated to subtract
The name and real output value of fast device；
(2-5) set the error of coupling ratio as
Wherein,WithJth joint is respectively indicated to the nominal value and actual value of the coupling ratio in the i-th joint；
The coupled relation that (2-6) sets each axis of robot only can generate rotation to subsequent joint as current joint rotation, then institute
Some coupling ratio parameters can construct a decoupling matrices C；WithIt can be read from robot controller, thenIt can
To be obtained by calculation
Above formula can be re-written as
(2-7) set i-th of joint angle actual value as
(2-8) set the deviation of i-th of joint angle as
Wherein, dkiIt is the deviation of the deceleration ratio error in i-th of joint, dhjiIt is coupling ratio error of the jth joint to the i-th joint
Deviation.
(2-9) is by the nominal joint angle angle value θ of m location pointnIt is substituted into the measurement laser target position y of m location pointIn, calculate the deviation dk, dh of ratio error；
Wherein, p=1 ..., m, m are number of the robot motion to space any position point, and general m takes 50；pDP is that pth time is surveyed
Robot end's position deviation value that amount data are calculated,pJ(θn) it is the corresponding Jacobi square being calculated of pth time measurement
Battle array；D θ=[d θ1..., d θk] be each joint shaft joint angle deviation；Dk=[dk1... dki…dkk]；Dh=[dh12...
dhji…dhk-1k]；
(2-10) is by deviation dk, the dh of ratio error, in addition original ratio error k and h is as new ratio error；
Wherein, k=[k1... ki…kk]；H=[h12... hji…hk-1k]；
When at least one in dk and dh is greater than R, it is transferred to step (2-1), wherein R is correction threshold；
When dk and dh≤R when, obtain revised ratio error.
3. the joint transmission ratio error calibration method of industry serial manipulator according to claim 2, characterized in that R is
10-7To 10-13。
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| CN114800465A (en) * | 2021-01-29 | 2022-07-29 | 苏州艾利特机器人有限公司 | Method for improving robot joint torque detection precision and multi-joint robot |
| CN114800465B (en) * | 2021-01-29 | 2024-05-24 | 苏州艾利特机器人有限公司 | Method for improving detection precision of robot joint torque and multi-joint robot |
| CN113119130A (en) * | 2021-04-28 | 2021-07-16 | 浙江大学 | Geometric error identification method for industrial robot |
| CN113119130B (en) * | 2021-04-28 | 2022-04-15 | 浙江大学 | Geometric error identification method for industrial robot |
| CN114115013A (en) * | 2021-11-19 | 2022-03-01 | 深圳市汇川技术股份有限公司 | Robot motor control method, terminal device, and storage medium |
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