CN110779554A - Mechanical arm, and calibration system and method based on initial pose of IMU - Google Patents
Mechanical arm, and calibration system and method based on initial pose of IMU Download PDFInfo
- Publication number
- CN110779554A CN110779554A CN201911235939.5A CN201911235939A CN110779554A CN 110779554 A CN110779554 A CN 110779554A CN 201911235939 A CN201911235939 A CN 201911235939A CN 110779554 A CN110779554 A CN 110779554A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- imu
- joints
- angle
- initial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000005259 measurement Methods 0.000 claims abstract description 21
- 239000011159 matrix material Substances 0.000 claims description 14
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 9
- 230000001133 acceleration Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm, and an initial pose calibration system and method based on an IMU (inertial measurement Unit), and the initial pose calibration method based on the IMU comprises the following steps: acquiring initial attitude angles acquired by IMUs (inertial measurement units) arranged at each joint of the mechanical arm; after all the IMUs and motors at all joints of the mechanical arm are electrified, calculating the relative rotation angle of any two adjacent joints of the mechanical arm according to the initial attitude angle; and according to the difference value between the relative rotation angle and the preset angle, the difference value is used as an execution angle of a motor at each joint of the mechanical arm, so that initial zero calibration of the mechanical arm is realized. The calibration method can conveniently calculate the posture of the mechanical arm and realize the quick zero return of the motor of the mechanical arm.
Description
Technical Field
The invention relates to the technical field of mechanical arm initial pose calibration, in particular to a mechanical arm, and an IMU-based initial pose calibration system and method.
Background
With the remarkable progress of social development and science and technology, the Inertia Measurement Unit (IMU) which has the advantages of continuous innovation of micro-electro-mechanical technology, small volume, light weight, low power consumption and high reliability expands the application range of the attitude measurement and control system from the traditional aerospace and industrial control fields to a wider field, and particularly has a great promotion effect on the research of the attitude measurement and control system of some micro carriers or micro portable equipment. The mechanical arm is used as a multi-coupling, multivariable and time-varying nonlinear and unstable high-order system, and meanwhile, a kinematic equation of the mechanical arm has non-integrity constraint, so that the mechanical arm is used as a system with relatively simple structure and relatively complex control, and is a typical device for verifying the attitude measurement and control system.
Dubowsky et al first propose the idea of changing the attitude of the carrier using a cyclic movement of the joint angle. Yamada and Yoshikawa propose feedback control methods for effecting changes in the attitude of the carrier based on movement of the manipulator arm along a closed path. Nakamura and Mukherjee propose a non-complete constraint 'bidirectional' control method for driving an operation arm joint and simultaneously controlling a carrier attitude and a mechanical arm joint angle by using a Lyapunov method.
Disclosure of Invention
The invention aims to provide a mechanical arm, and a system and a method for calibrating an initial pose based on an IMU (inertial measurement Unit), which can conveniently solve the posture of the mechanical arm and realize the quick zero return of a motor of the mechanical arm.
In order to achieve the above object, the present invention provides an initial pose calibration method based on an IMU, including the following steps:
acquiring initial attitude angles acquired by IMUs (inertial measurement units) arranged at each joint of the mechanical arm;
calculating to obtain the relative rotation angle of any two adjacent joints of the mechanical arm according to the initial attitude angle;
and according to the difference value between the relative rotation angle and the preset angle, the difference value is used as an execution angle of a motor at each joint of the mechanical arm, so that initial zero calibration of the mechanical arm is realized.
Optionally, after the step of acquiring the initial attitude angle acquired by the IMU installed at each joint of the robot arm, the method further includes the steps of:
calculating to obtain the motion trail and the space attitude of the mechanical arm according to the initial attitude angle;
displaying the motion trajectory and the spatial pose in a three-dimensional environment.
Optionally, the step of obtaining the relative rotation angle of any two adjacent joints of the mechanical arm according to the initial attitude angle specifically includes:
calculating to obtain a rotation matrix of any IMU according to all the initial attitude angles;
and calculating to obtain a relative rotation matrix of any two adjacent joints of the mechanical arm according to all the rotation matrices.
The invention also provides a calibration system for the initial pose based on the IMU, which comprises the following components:
an acquisition module: the system comprises a manipulator, a controller and a controller, wherein the manipulator is used for acquiring initial attitude angles acquired by IMUs (inertial measurement units) arranged at each joint of the manipulator;
a calculation module: the relative rotation angle of any two adjacent joints of the mechanical arm is obtained according to the initial attitude angle;
a zero-position execution module: and the motor is used for performing zero calibration on the mechanical arm according to the difference value between the relative rotation angle and the preset angle as an execution angle of the motor at each joint of the mechanical arm.
The invention further provides a mechanical arm, which comprises a robot body and the IMU-based initial pose calibration system.
Optionally, at least three joints are included, respectively front and rear telescopic joints (J)
0) And inner and outer rotary joints (J)
1) And left and right rotary joints (J)
4) (ii) a And the front and rear telescopic joints (J)
0) A top part provided with the robot body, the inner and outer rotary joints (J)
1) Is arranged on the front and back telescopic joint (J)
0) The front end of (A), the left and right rotary joints (J)
4) Is arranged on the internal and external rotary joints (J)
1) The bottom end of (a);
a first IMU is mounted on the front and rear expansion joint (J)
0) The system is used for reflecting the relation of the robot body coordinate system relative to the world coordinate system;
a second IMU mounted to the inner and outer revolute joints (J)
1) For reaction of said front and rear expansion joints (J)
0) And/or the inner and outer rotary joints (J)
1) A relationship relative to a world coordinate system;
a third IMU is mounted to the left and right revolute joint (J)
4) For reflecting said left and right rotary joints (J)
4) Relative to the world coordinate system.
Optionally, the robot body is arranged in a vertical direction.
Compared with the background technology, the method has the advantages that the Inertial Measurement Unit (IMU) is used for calibrating the posture of the mechanical arm, and the Inertial Measurement Unit (IMU) is used for collecting pose information jointly through an accelerometer, a gyroscope and a magnetometer which are inertial measurement devices. The accelerometer detects acceleration signals of the mechanical arm on three independent axes of a carrier coordinate system, the gyroscope detects angular velocity signals of the mechanical arm relative to a navigation coordinate system, angular velocity and acceleration of the mechanical arm in a three-dimensional space are measured, and the posture of the mechanical arm is calculated according to the angular velocity and the acceleration.
Specifically, acquiring an initial attitude angle of each joint through an IMU (inertial measurement Unit) installed at each joint of the mechanical arm, wherein the initial attitude angle is a rotation angle of each joint compared with a world coordinate system; the method comprises the steps of obtaining a relative rotation angle between any two adjacent joints of the mechanical arm according to an initial attitude angle, using a difference value between the relative rotation angle and a preset angle as an execution angle of a motor at each joint of the mechanical arm, and accordingly achieving initial zero calibration of the mechanical arm.
The calibration system and the mechanical arm based on the initial pose of the IMU provided by the invention have the beneficial effects, and are not described again here.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of a robotic arm according to an embodiment of the present invention;
FIG. 2 is the front and rear expansion joint J shown in FIG. 1
0And an inner and outer rotary joint J
1A partial schematic view of (a);
FIG. 3 is a schematic diagram of the IMU of FIG. 1;
FIG. 4 is a schematic diagram of the relationship between the robot body coordinate system, the world coordinate system, and the attitude angle of the robot arm of FIG. 1;
FIG. 5 is a flowchart of a calibration method based on IMU initial pose provided by an embodiment of the present invention;
fig. 6 is a block diagram of a calibration system based on an initial pose of an IMU according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 6, fig. 1 is a schematic structural diagram of a robot arm according to an embodiment of the present invention; FIG. 2 is the front and rear expansion joint J shown in FIG. 1
0And an inner and outer rotary joint J
1A partial schematic view of (a); FIG. 3 is a schematic diagram of the IMU of FIG. 1; FIG. 4 is a schematic diagram of the relationship between the robot body coordinate system, the world coordinate system, and the attitude angle of the robot arm of FIG. 1; FIG. 5 shows a calibration method for initial pose based on IMU according to an embodiment of the present inventionA flow chart; fig. 6 is a block diagram of a calibration system based on an initial pose of an IMU according to an embodiment of the present invention.
The invention provides a calibration method based on an initial pose of an IMU (inertial measurement Unit), which mainly aims at a mechanical arm shown in an attached figure 1 of the specification. Therefore, the rotation angle of the mechanical arm can be obtained only by solving the rotation angle of the inertia measurement unit.
The flow chart of the calibration method is shown in the attached figure 5 of the specification, and the process mainly comprises the following steps:
s1, acquiring initial attitude angles acquired by IMUs (inertial measurement units) arranged at each joint of the mechanical arm;
s2, obtaining a relative rotation angle between any two adjacent joints of the mechanical arm according to the initial attitude angle;
and S3, according to the difference value between the relative rotation angle and the preset angle, the difference value is used as an execution angle of a motor at each joint of the mechanical arm, and initial zero calibration of the mechanical arm is achieved.
For step S1, an IMU is fixed at each joint of each robot arm, and as mentioned above, the IMU can acquire initial attitude angles (or angular rates) in three directions as the robot arm rotates synchronously. The initial attitude angle refers to the absolute rotation angle of each joint compared to the world coordinate system.
Specifically, when the mechanical arm is powered on and the mechanical arm is stable (the mechanical arm is stable, that is, after the IMU and the motor are powered on, the mechanical arm does not move any more), the IMU may acquire the initial attitude angle of each joint. In step S2, after all the IMUs and the motors at the joints of the robot arm are energized, the relative rotation angle between any two adjacent joints of the robot arm is obtained according to the initial attitude angle.
When the mechanical arm is powered on and the mechanical arm is stable, calculating according to the initial attitude angle to obtain the relative rotation angle between any two adjacent joints; i.e. the relative rotation angle is calculated from the absolute rotation angle.
Aiming at the calculation method for obtaining the relative rotation angle through the absolute rotation angle, a rotation matrix of any IMU can be obtained through calculation according to all initial attitude angles; and then calculating the relative rotation angle according to all the rotation matrixes.
Specifically, a world coordinate system and a carrier coordinate system of the inertial measurement unit may be defined: the world coordinate system W adopts a geographical coordinate system of east (E), north (N) and sky (U); the carrier coordinate system O uses the inertial measurement unit default coordinate system as shown in fig. 3. The transformation matrix from the world coordinate system W to the carrier coordinate system O can be represented as R
w→O. As shown in fig. 4, the transformation from the world coordinate system W to the carrier coordinate system O can be decomposed into three rotations, and the angles of the three rotations are defined as ψ, θ and γ, which are the heading angle (yaw), pitch angle (pitch) and roll angle (roll), respectively. That is, each IMU can return the relationship between its own coordinate system (carrier coordinate system O) and the world coordinate system W in real time, and the relationship is expressed by the euler angle.
Euler Angles of the mechanical arms angle: (roll, pitch, yaw), which can be calculated from the euler angle of the IMU; that is, the rotation matrix between any two adjacent joints can be calculated by an absolute rotation angle (initial attitude angle measured by the IMU).
The IMU1 reflects the relation between the robot body coordinate system and the world coordinate system; IMU2 reacted J
0、J
1The relationship of the joint to the world coordinate system; IMU3 reacted J
4The relationship of the joint to the world coordinate system.
Angle by IMU 1: (roll, pitch, yaw) yields the rotation matrix Mr 1.
Specifically, Mr1 ═ Mx1 ═ My1 ═ Mz 1.
Wherein x, y and z represent three directions of a coordinate system.
Angle by IMU 2: (roll, pitch, yaw) yields the rotation matrix Mr 2. The calculation formula of the rotation matrix Mr2 is the same as Mr 1.
Angle by IMU 3: (roll, pitch, yaw) yields a rotation matrix Mr3, which is calculated by the same formula as Mr1 for the rotation matrix Mr 3.
Then, the adjacent joints are calculated, namely a rotation matrix M is obtained
T1And M
T2，M
T1And M
T2It is obtained by the following formula,
M
T1＝(Mr1)
T*Mr2；M
T2＝((Mr2)
T*Mr3。
and then obtaining a relative rotation angle between two adjacent joints of the mechanical arm according to a corresponding formula, namely an Euler angle of the mechanical arm: (roll, pitch, yaw).
Specifically, roll ═ arctan (- (M) in the euler angle of the robot arm
T1[1，2])/M
T1[2，2]；
In the Euler angle of the arm
pitch＝arctan(M
T1[0，2]/(M
T1[2，2]*cos(roll)-M
T1[1，2]*sin(roll)))；
Yaw ═ arctan (- (M) in euler angles of mechanical arms
T2[0，1])/M
T2[0，0])。
Aiming at the step S3, the difference value between the relative rotation angle and the preset angle is used as the execution angle of the motor at each joint of the mechanical arm, so that the initial zero calibration of the mechanical arm is realized; the preset angle is the specific position of the mechanical arm which is expected to be located at present, and the specific numerical value of the preset angle can be determined according to actual needs. The difference value can be used as an execution angle for resetting and calculating the steering engine (motors at all joints), and initial zero calibration of the mechanical arm is realized under the condition of no absolute encoder.
Further, in order to visually acquire the current motion trajectory of the mechanical arm, the motion trajectory and the spatial attitude of the mechanical arm can be calculated according to the initial attitude angle measured by the IMU, and the motion trajectory and the spatial attitude of the mechanical arm are displayed in a three-dimensional environment.
After the IMU measures the initial attitude angle, the motion trail and the space attitude of the mechanical arm can be displayed in a three-dimensional environment in real time through a display device; the initial attitude angle is used as input, the motion trail of the mechanical arm at any position and the space attitude of the mechanical arm can be output by using a corresponding formula, the current state of the mechanical arm is simulated in real time, and the motion process of the mechanical arm is intuitively known. In the process, motion trajectory data and space attitude data are generated according to the obtained position information sequence of the IMU, and three-dimensional coordinate system parameters and corresponding time information are obtained to obtain trajectory attitude information of the mechanical arm.
The IMU-based initial pose calibration method provided by the invention has the core that a plurality of IMUs are respectively arranged at each joint, the initial pose angle (absolute rotation angle) of each joint is obtained, the relative rotation angle between any two adjacent joints is obtained through calculation, so that the state of the mechanical arm after on-line startup can be obtained, and the zero calibration of the mechanical arm is realized by taking the difference value between the current state and the expected state as the execution angle of a motor (which can be a steering engine or other components).
The invention also provides a calibration system based on the initial pose of the IMU, the structural block diagram of which is shown in the attached figure 6 of the specification, and the calibration system comprises:
an acquisition module S101: the system comprises a manipulator, a controller and a controller, wherein the manipulator is used for acquiring initial attitude angles acquired by IMUs (inertial measurement units) arranged at each joint of the manipulator;
the calculation module S102: the relative rotation angle of any two adjacent joints of the mechanical arm is obtained according to the initial attitude angle;
the zero execution module S103: and the method is used for realizing initial zero calibration of the mechanical arm by taking the difference value between the relative rotation angle and the preset angle as the execution angle of the motor at each joint of the mechanical arm.
The functional functions of the above modules can be referred to above, wherein the calculating module S102 further has the following functions:
calculating to obtain a rotation matrix of any IMU according to all the initial attitude angles;
and calculating the relative rotation angle according to all the rotation matrixes.
In addition, the calibration system based on the initial pose of the IMU may further include a display module, where the display module is connected to the calculation module S102, and the display module is configured to display the motion trajectory and the spatial pose of the mechanical arm in the three-dimensional environment.
The invention provides a mechanical arm with an initial pose calibration system, which comprises the initial pose calibration system described in the specific embodiment; other parts of the robot arm can be referred to the prior art and are not expanded herein.
The calibration system for the initial pose is installed on the robot body, and can at least comprise three joints, namely front and rear telescopic joints J, according to the number of the joints
0And inner and outer rotary joints J
1And a left-right rotary joint J
4(ii) a And the front and rear telescopic joints J
0Is provided with the top of the robot body and the internal and external rotary joints J
1Is arranged on the front and back telescopic joints J
0The front end of the right-left rotation joint J
4Is arranged on the internal and external rotary joint J
1The bottom end of (a);
a first IMU1 mounted at the anterior-posterior expansion joint J
0The system is used for reflecting the relation of the robot body coordinate system relative to the world coordinate system;
a second IMU2 mounted at the inner and outer revolute joint J
1For reaction of said front and rear expansion joints J
0And/or the inner and outer rotary joints J
1A relationship relative to a world coordinate system;
a third IMU3 is attached to the left/right rotary joint J
4For reflecting the left and right rotary joints J
4Relative to the world coordinate system. Besides, the robot body can be arranged in a vertical mode, as shown in the attached figure 1 in the specification. Vertical kinematic joint J
3Can realize the extension and contraction along the vertical direction, and the specific pose is not considered.
The front-back direction may be defined as a y-axis direction as shown in fig. 1 to 3 of the specification, the inner-outer direction may be defined as a direction rotating along an x-axis as shown in fig. 1 to 3 of the specification, and the left-right direction may be defined as a direction rotating along the y-axis as shown in fig. 1 to 3 of the specification.
It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The mechanical arm, the calibration system and the calibration method based on the initial pose of the IMU provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (7)
1. A calibration method for initial pose based on IMU is characterized by comprising the following steps:
acquiring initial attitude angles acquired by IMUs (inertial measurement units) arranged at each joint of the mechanical arm;
calculating to obtain the relative rotation angle of any two adjacent joints of the mechanical arm according to the initial attitude angle;
and according to the difference value between the relative rotation angle and the preset angle, the difference value is used as an execution angle of a motor at each joint of the mechanical arm, so that initial zero calibration of the mechanical arm is realized.
2. The IMU based initial pose calibration method of claim 1, wherein after the step of acquiring the IMU acquired initial pose angles at the joints of the robotic arm, further comprising the steps of:
calculating to obtain the motion trail and the space attitude of the mechanical arm according to the initial attitude angle;
displaying the motion trajectory and the spatial pose in a three-dimensional environment.
3. The IMU-based calibration method for the initial pose according to claim 1 or 2, wherein the step of obtaining the relative rotation angle of any two adjacent joints of the mechanical arm according to the initial pose angle specifically comprises:
calculating to obtain a rotation matrix of any IMU according to all the initial attitude angles;
and calculating to obtain a relative rotation matrix of any two adjacent joints of the mechanical arm according to all the rotation matrices.
4. An IMU-based initial pose calibration system, comprising:
an acquisition module: the system comprises a manipulator, a controller and a controller, wherein the manipulator is used for acquiring initial attitude angles acquired by IMUs (inertial measurement units) arranged at each joint of the manipulator;
a calculation module: the relative rotation angle of any two adjacent joints of the mechanical arm is obtained according to the initial attitude angle;
a zero-position execution module: and the motor is used for performing zero calibration on the mechanical arm according to the difference value between the relative rotation angle and the preset angle as an execution angle of the motor at each joint of the mechanical arm.
5. A robot arm comprising a robot body, characterized by further comprising the IMU initial pose based calibration system of claim 4.
6. A robot arm as claimed in claim 5, characterized by comprising at least three of said joints, respectively fore-and-aft telescopic joints (J)
0) And inner and outer rotary joints (J)
1) And left and right rotary joints (J)
4) (ii) a And the front and rear telescopic joints (J)
0) A top part provided with the robot body, the inner and outer rotary joints (J)
1) Is arranged on the front and back telescopic joint (J)
0) The front end of (A), the left and right rotary joints (J)
4) Is arranged on the internal and external rotary joints (J)
1) The bottom end of (a);
a first IMU is mounted on the front and rear expansion joint (J)
0) Coordinate system for reflecting robot bodyA relationship relative to a world coordinate system;
a second IMU mounted to the inner and outer revolute joints (J)
1) For reaction of said front and rear expansion joints (J)
0) And/or the inner and outer rotary joints (J)
1) A relationship relative to a world coordinate system;
a third IMU is mounted to the left and right revolute joint (J)
4) For reflecting said left and right rotary joints (J)
4) Relative to the world coordinate system.
7. A robot arm as claimed in claim 6, characterized in that the robot body is arranged in a vertical orientation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911235939.5A CN110779554B (en) | 2019-12-05 | 2019-12-05 | Mechanical arm, initial pose calibration system and method based on IMU |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911235939.5A CN110779554B (en) | 2019-12-05 | 2019-12-05 | Mechanical arm, initial pose calibration system and method based on IMU |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110779554A true CN110779554A (en) | 2020-02-11 |
| CN110779554B CN110779554B (en) | 2024-06-04 |
Family
ID=69393896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911235939.5A Active CN110779554B (en) | 2019-12-05 | 2019-12-05 | Mechanical arm, initial pose calibration system and method based on IMU |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110779554B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111922567A (en) * | 2020-08-13 | 2020-11-13 | 北京博清科技有限公司 | Welding control method and device, computer readable storage medium and welding system |
| CN114474046A (en) * | 2021-12-27 | 2022-05-13 | 北京子牛亦东科技有限公司 | Method for automatically calibrating zero position of manipulator and method for calibrating transmission position of manipulator |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4986280A (en) * | 1988-07-20 | 1991-01-22 | Arthur D. Little, Inc. | Hand position/measurement control system |
| JP2011093011A (en) * | 2009-10-27 | 2011-05-12 | Toyota Motor Corp | Robot arm control device, method of controlling the same, and program |
| US20120158174A1 (en) * | 2010-12-21 | 2012-06-21 | Samsung Electronics Co., Ltd. | Method to generate humanlike motion of humanoid robot |
| US20140067119A1 (en) * | 2012-08-31 | 2014-03-06 | Seiko Epson Corporation | Robot |
| CN104182614A (en) * | 2014-07-25 | 2014-12-03 | 山东建筑大学 | System and method for monitoring attitude of mechanical arm with six degrees of freedom |
| CN106217374A (en) * | 2016-08-11 | 2016-12-14 | 广州成潮智能科技有限公司 | The control method of a kind of intelligent machine mechanical arm, Apparatus and system |
| CN106625774A (en) * | 2016-12-27 | 2017-05-10 | 中国科学院长春光学精密机械与物理研究所 | Space mechanical arm geometric parameter calibration method |
| CN107478223A (en) * | 2016-06-08 | 2017-12-15 | 南京理工大学 | A kind of human body attitude calculation method based on quaternary number and Kalman filtering |
| CN108297101A (en) * | 2018-03-20 | 2018-07-20 | 四川大学 | The position and attitude error detection of multi-joint arm serial manipulator end and dynamic compensation method |
| CN109262659A (en) * | 2018-12-20 | 2019-01-25 | 中国铁建重工集团有限公司 | A kind of zero adjustment method and apparatus of joint of mechanical arm sensor |
| CN109483555A (en) * | 2018-05-17 | 2019-03-19 | 上海节卡机器人科技有限公司 | A kind of series connection rotary joint industrial robot statical model parameter identification method |
| CN110027678A (en) * | 2019-04-22 | 2019-07-19 | 哈尔滨工程大学 | A kind of mixed connection based on wave Active Compensation, which is stepped on, seizes the opportunity structure motion planning method |
| CN211053693U (en) * | 2019-12-05 | 2020-07-21 | 上海钛米机器人科技有限公司 | Mechanical arm |
-
2019
- 2019-12-05 CN CN201911235939.5A patent/CN110779554B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4986280A (en) * | 1988-07-20 | 1991-01-22 | Arthur D. Little, Inc. | Hand position/measurement control system |
| JP2011093011A (en) * | 2009-10-27 | 2011-05-12 | Toyota Motor Corp | Robot arm control device, method of controlling the same, and program |
| US20120158174A1 (en) * | 2010-12-21 | 2012-06-21 | Samsung Electronics Co., Ltd. | Method to generate humanlike motion of humanoid robot |
| US20140067119A1 (en) * | 2012-08-31 | 2014-03-06 | Seiko Epson Corporation | Robot |
| CN104182614A (en) * | 2014-07-25 | 2014-12-03 | 山东建筑大学 | System and method for monitoring attitude of mechanical arm with six degrees of freedom |
| CN107478223A (en) * | 2016-06-08 | 2017-12-15 | 南京理工大学 | A kind of human body attitude calculation method based on quaternary number and Kalman filtering |
| CN106217374A (en) * | 2016-08-11 | 2016-12-14 | 广州成潮智能科技有限公司 | The control method of a kind of intelligent machine mechanical arm, Apparatus and system |
| CN106625774A (en) * | 2016-12-27 | 2017-05-10 | 中国科学院长春光学精密机械与物理研究所 | Space mechanical arm geometric parameter calibration method |
| CN108297101A (en) * | 2018-03-20 | 2018-07-20 | 四川大学 | The position and attitude error detection of multi-joint arm serial manipulator end and dynamic compensation method |
| CN109483555A (en) * | 2018-05-17 | 2019-03-19 | 上海节卡机器人科技有限公司 | A kind of series connection rotary joint industrial robot statical model parameter identification method |
| CN109262659A (en) * | 2018-12-20 | 2019-01-25 | 中国铁建重工集团有限公司 | A kind of zero adjustment method and apparatus of joint of mechanical arm sensor |
| CN110027678A (en) * | 2019-04-22 | 2019-07-19 | 哈尔滨工程大学 | A kind of mixed connection based on wave Active Compensation, which is stepped on, seizes the opportunity structure motion planning method |
| CN211053693U (en) * | 2019-12-05 | 2020-07-21 | 上海钛米机器人科技有限公司 | Mechanical arm |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111922567A (en) * | 2020-08-13 | 2020-11-13 | 北京博清科技有限公司 | Welding control method and device, computer readable storage medium and welding system |
| CN111922567B (en) * | 2020-08-13 | 2022-06-21 | 北京博清科技有限公司 | Welding control method and device, computer readable storage medium and welding system |
| CN114474046A (en) * | 2021-12-27 | 2022-05-13 | 北京子牛亦东科技有限公司 | Method for automatically calibrating zero position of manipulator and method for calibrating transmission position of manipulator |
| CN114474046B (en) * | 2021-12-27 | 2023-10-20 | 北京子牛亦东科技有限公司 | Automatic calibration method for zero position of manipulator and transmission position calibration method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110779554B (en) | 2024-06-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107053156B (en) | Seven-degree-of-freedom bionic somatosensory mechanical arm | |
| CN109079799B (en) | Robot perception control system and control method based on bionics | |
| Roan et al. | Manipulator state estimation with low cost accelerometers and gyroscopes | |
| WO2022135011A1 (en) | Method and apparatus for obtaining combined centroid state, humanoid robot, and readable storage medium | |
| Lin et al. | Development of the wireless ultra-miniaturized inertial measurement unit WB-4: Preliminary performance evaluation | |
| CN106293103B (en) | Gesture control device and gesture control method for four-axis aircraft based on inertial sensor | |
| CN104772756A (en) | Mechanical arm based on inertial measurement units and control method thereof | |
| KR102093916B1 (en) | Electro-optical targetting pod | |
| CN103727939B (en) | Biaxial rotating attitude measurement system and measuring method thereof | |
| CN114216456B (en) | Attitude measurement method based on fusion of IMU and robot body parameters | |
| CN110779554A (en) | Mechanical arm, and calibration system and method based on initial pose of IMU | |
| Guerrero-Castellanos et al. | Design and implementation of an Attitude and Heading Reference System (AHRS) | |
| CN114926547A (en) | Calibration method of camera and IMU, electronic device and system | |
| CN105277212B (en) | A kind of second order dynamic disturbance torque compensation method of three axis inertially stabilized platform system | |
| CN211053693U (en) | Mechanical arm | |
| Zhang et al. | Snake robot shape sensing using micro-inertial sensors | |
| CN111152260A (en) | Joint corner auxiliary measurement system and method for serial rotary joint mechanical arm | |
| CN112643678A (en) | Mechanical arm, control device thereof, control system of mechanical arm and control method | |
| Zhang et al. | Research on UAV attitude data fusion algorithm based on quaternion gradient descent | |
| Gu et al. | Dexterous obstacle-avoidance motion control of Rope Driven Snake Manipulator based on the bionic path following | |
| CN110286688B (en) | Control method for underwater four-rotor unmanned aerial vehicle with mechanical arm | |
| Rodriguez-Angeles et al. | An online inertial sensor-guided motion control for tracking human arm movements by robots | |
| Leboutet et al. | Second-order kinematics for floating-base robots using the redundant acceleration feedback of an artificial sensory skin | |
| CN111590572B (en) | Robot posture updating method and system | |
| Zhou et al. | Kinematic model aided inertial motion tracking of human upper limb |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |