CN111360812B - Industrial robot DH parameter calibration method and calibration device based on camera vision - Google Patents
Industrial robot DH parameter calibration method and calibration device based on camera vision Download PDFInfo
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- CN111360812B CN111360812B CN201811597859.XA CN201811597859A CN111360812B CN 111360812 B CN111360812 B CN 111360812B CN 201811597859 A CN201811597859 A CN 201811597859A CN 111360812 B CN111360812 B CN 111360812B
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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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- 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
Abstract
The invention relates to a camera vision-based industrial robot DH parameter calibration method and device. The moving robot collects the positions of a plurality of laser points and corresponding robot joint angles at different positions and postures. The calculation unit translates the collected multiple position points to make the corresponding laser beams intersect at one point. And by taking the value as a constraint condition, solving the robot DH parameter error by adopting a nonlinear optimization method so as to obtain an accurate DH parameter model. The invention utilizes the camera to obtain the projection point position of the laser beam emitted from the flange at the tail end of the robot on the plane, and combines the corresponding robot joint data to complete the calibration process of the HD parameters, and has the advantages of low calibration cost, simplicity and easy use, and no need of other expensive and high-precision measuring equipment. And the calibration method and the calibration equipment are suitable for the tandem robot with any configuration and degree of freedom. The method can be widely applied to the fields of industry, teaching, scientific research and the like, and the absolute positioning precision of the mechanical arm is improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a robot kinematics parameter calibration method and a robot kinematics parameter calibration device.
Background
The positional repeatability of the robot end effector and the absolute positioning accuracy of the robot are two different descriptions of robot errors. Since the repeatability does not relate to a target point in a cartesian space, the repeatability is irrelevant to inverse kinematics of the robot, and is reflected in whether the robot can accurately reproduce a teaching point. The absolute accuracy is related to the absolute position in cartesian space, so the inverse kinematics of the robot need to be employed to calculate the corresponding joint angles. Absolute accuracy refers to the ability of a robot to position its end effector in a cartesian coordinate system relative to a fixed position.
Robots generally have high repeatability, while their absolute positioning accuracy is much lower than its repeatability. However, as the application field of the robot is expanded and deepened, the requirement for absolute positioning accuracy is higher. Such as: surgery, welding, robotic cutting, high-position precision instrument machining, and the like. Therefore, the method has important significance for improving the absolute positioning accuracy of the robot. The main factor causing the absolute position and direction errors of the robot is the internal parameter errors of a robot kinematics model, and the robot kinematics calibration is an effective method for improving the robot kinematics precision.
Disclosure of Invention
In view of the technical defects, the invention aims to provide a method and a device for calibrating DH parameters of an industrial robot based on camera vision.
The technical scheme adopted by the invention for solving the technical problems is as follows: a camera vision-based industrial robot DH parameter calibration method comprises the following steps:
the method comprises the following steps: establishing a DH parameter model;
step two: controlling the robot to different positions and postures, acquiring a projection position, namely a laser spot, of a laser beam emitted by a laser probe installed at the tail end of the robot on a calibration platform by a camera, and recording a corresponding robot joint angle;
step three: taking any one laser point as a reference point, and calculating translation vectors of other laser points moving to the reference point;
step four: establishing a linear equation after the laser beam is translated by utilizing the translation vector, and establishing a nonlinear solved objective function according to a DH parameter error in the DH parameter model;
step five: and solving the DH parameter error by using a linear equation, and superposing the theoretical DH parameter value to obtain an actual parameter value to finish the calibration of the DH parameter of the robot.
The first step is specifically as follows: the transformation matrix expression from the i-1 link coordinate system to the i link coordinate system is as follows:
wherein s θ i ＝sinθ i ,cθ i ＝cosθ i ,sα i ＝sinα i ,cα i ＝cosα i ；sβ i ＝sinβ i ,cβ i ＝cosβ i ；θ i For the i-1 th connecting rod coordinate system to wind Z i Axis from X i-1 Rotated to X i Angle of (d) i Is the i-1 link coordinate system along Z i Axial direction from X i-1 Move to X i A distance of i-1 For the i-1 link coordinate system around X i-1 Axial direction from Z i-1 Rotate to Z i Angle of (a) i-1 Is the i-1 link coordinate system along X i-1 Axial direction from Z i-1 Move to Z i Distance of (b), beta i For the i-1 link coordinate system around Y i Axis from X i-1 Rotated to X i The angle of (d); i represents the index number of the link coordinate system; x i 、Y i 、Z i Respectively representing the X, Y and Z axes of the ith link coordinate system.
The linear equation after the laser beam translation is as follows:
wherein: m is a unit of xj ,m yj The x-axis component and the y-axis component of a laser beam translation vector corresponding to the jth laser point under a calibration table coordinate system are determined; n is a radical of an alkyl radical xj ,n yj ,n zj Three components of a direction vector of a robot flange coordinate system x axis corresponding to the jth laser point under the base coordinate system; p is a radical of formula xj ,p yj ,p zj And setting three coordinate components of the intersection point of the z axis of the robot flange coordinate system and the laser beam of the jth laser point under the base coordinate system.
The objective function Φ of the nonlinear solution is as follows:
wherein: n is the number of samples, P j For the position of the jth sampled laser spot relative to the calibration table coordinate system, Δ θ = [ Delta ] θ = 1 ,…,Δθ i ,…],Δd＝[Δd 1 ,…,Δd i ,…],Δα＝[Δα 0 ,…,Δα i-1 ,…],Δa＝[Δa 0 ,…,Δa i-1 ,…],Δβ＝[Δβ 1 ,…,Δβ i ,…]Error of DH parameter, Δ θ i ，Δd i ，Δα i-1 ，Δa i-1 ，Δβ i Respectively, DH parameter θ i ，d i ，α i-1 ，a i-1 ，β i I denotes the index number of the link coordinate system.
The fifth step is as follows:
using a laser beam translation vector, i.e. m xj ,m yj Translating the straight line; calculating an objective function value by using a linear equation after the laser beam is translated, and stopping calculation when the objective function value is smaller than a threshold value, namely representing that all translation vectors are translated and then intersect at one point; at this time, Δ θ, Δ d, Δ α, Δ a, Δ β are DH parameter errors;
and adding the DH parameter error and the corresponding theoretical DH parameter to obtain an actual parameter value.
A camera vision-based industrial robot DH parameter calibration device comprises a calibration laser probe, a calibration platform and a vision measurement and calculation unit;
the calibration laser probe is arranged at the tail end of the industrial robot flange and used for projecting laser to the calibration platform;
the calibration platform is placed in the working space of the robot and is parallel to the mounting base;
and the vision measurement and calculation unit is fixed above the calibration platform and used for acquiring the projection position of the laser beam on the calibration platform and acquiring and recording the joint angle of the robot from the robot controller.
The calibration laser probe is parallel to the X axis of the terminal flange coordinate system.
The vision measurement and calculation system is also used for solving the DH parameter error and obtaining the actual parameter value.
The invention has the following beneficial effects and advantages:
(1) The invention adopts the camera to obtain the projection position of the laser ray emitted by the laser probe at the tail end of the robot on the plane, has low cost and simple and convenient installation and operation compared with a laser tracker, and ensures the measurement precision to a certain extent.
(2) The calibration device has the advantages of simple structure, small volume and portability, can be placed at any position of a working space, and has no requirements on the placing position and the posture of the robot.
(3) Frequent maintenance and verification of equipment are not needed, the device is insensitive to installation and measurement errors, certain errors are allowed to exist, and the measurement precision can be ensured.
(4) The invention utilizes the camera to obtain the projection point position of the laser beam emitted from the end flange of the robot on the plane, and combines the corresponding robot joint data to complete the calibration process of the HD parameters, and has the advantages of low calibration cost, simplicity and easy use, and no need of other expensive and high-precision measuring equipment. And the calibration method and the calibration device are suitable for the tandem robot with any configuration and degree of freedom. The method can be widely applied to the fields of industry, teaching, scientific research and the like, and the absolute positioning precision of the mechanical arm is improved.
Drawings
Fig. 1 is a schematic diagram of a DH parameter calibration device of an industrial robot based on camera vision.
Wherein 1-a robot; 2-a laser probe; 3-a camera and a computing unit; 4-height and balance adjustment means; 5-a calibration table; 6-calibration table fixing device.
FIG. 2 is a flowchart of a DH parameter calibration method of an industrial robot based on camera vision.
FIG. 3 is a schematic view of the translation of a laser beam in accordance with an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples.
FIG. 1 is a schematic diagram of a DH parameter calibration device of an industrial robot based on camera vision, which is adopted by the invention and comprises a robot; a laser probe mounted at a robot end flange; a calibration table placed in the robot working space; a vision measurement and computation unit placed above the calibration platform, the vision measurement and computation system comprising an industrial camera and an embedded processor; the calibration platform is also provided with a height and balance adjusting device and a calibration platform fixing device. The calibration laser probe is arranged on the tail end flange of the robot and is parallel to the X axis of the coordinate system of the tail end flange. The calibration platform comprises an adjustable support and a laser projection plane, and the adjustable support is used for ensuring that the laser projection plane is parallel to the plane where the robot base is located. The vision measurement and calculation system comprises an industrial camera and an embedded processor, and is respectively used for acquiring the position of a laser point on a calibration platform, recording the shutdown angle of the robot and carrying out nonlinear optimization calculation on actual DH parameters. The height and balance adjusting device is used for adjusting the height of the calibration platform and adjusting the inclination angle of the calibration plane of the calibration platform. l i I =1, \ 8230;, n is the corresponding laser beam of the ith sample, a i And (4) coordinates of the intersection point of the corresponding laser beam of the ith sample and the calibration platform are described relative to a calibration platform coordinate system.
The invention also provides a calibration method based on the calibration device, and the implementation details of the method are as follows:
and (3) establishing a corrected DH parameter model containing y-axis rotation, wherein the robot may have deviation rotating around the y-axis in the assembly process, and if the deviation is ignored, the accuracy of the kinematic calibration may be influenced. The transformation matrix expression from the link coordinate system i-1 to the link coordinate system i is as follows:
wherein s represents sin and c represents cos; s θ i ＝sinθ i ,cθ i ＝cosθ i ,sα i ＝sinα i ,cα i ＝cosα i ；sβ i ＝sinβ i ,cβ i ＝cosβ i ；θ i For i-1 link coordinate system i Axis from X i-1 Rotated to X i Angle of (d) i Is the i-1 link coordinate system along Z i Axis from X i-1 Move to X i A distance of i-1 For i-1 connecting rod coordinate system around X i-1 Axis from Z i-1 Rotate to Z i Angle of (a) i-1 Is the i-1 connecting rod coordinate system along X i-1 Axis from Z i-1 Move to Z i Distance of (b), beta i For i-1 connecting rod coordinate system around Y i Axis from X i-1 Rotated to X i The angle of (c). i denotes an index number of the link coordinate system. X i 、Y i 、Z i Respectively representing the X, Y and Z axes of the ith link coordinate system.
The linear equation model of the laser beam is established as follows:
wherein: n is xj ,n yj ,n zj Three components of a direction vector of a robot flange coordinate system x axis under a base coordinate system corresponding to the jth sampling point; p is a radical of xj ,p yj ,p zj And setting three coordinate components of the intersection point of the z axis of the robot flange coordinate system and the laser beam emitted by the laser probe under the base coordinate system for the jth sampling point.
And translating the laser beams to make all the translated laser beams intersect at one point. The linear equation model after the laser beam translation is as follows:
wherein: m is a unit of xj ,m yj And calibrating the x-axis component and the y-axis component of the platform coordinate system for the laser beam translation vector corresponding to the jth laser point.
The nonlinear optimization objective function equation adopted for establishing the DH parameters is as follows:
wherein: n is the number of samples, P j For the position of the jth sampled laser spot relative to the calibration table coordinate system, Δ θ = [ Delta ] θ = 1 ,…,Δθ i ,…],Δd＝[Δd 1 ,…,Δd i ,…],Δα＝[Δα 0 ,…,Δα i-1 ,…],Δa＝[Δa 0 ,…,Δa i-1 ,…],Δβ＝[Δβ 1 ,…,Δβ i ,…]The error of the actual DH parameter from the theoretical DH parameter, i.e.: the error in the angle of rotation θ about the z-axis, the error in the distance d traveled along the z-axis, the error in the angle of rotation α about the x-axis, the error in the translation distance a along the x-axis, and the error in the angle of rotation β about the y-axis for the corresponding link coordinate system.
Fig. 2 is a flowchart of a DH parameter calibration method of an industrial robot based on camera vision. The calibration steps are as follows:
the method comprises the following steps: the kinematics DH parameters and parameter errors, camera parameters are initialized. And establishing a coordinate system of the calibration table and ensuring that the coordinate axis is consistent with the coordinate system of the base in the direction, wherein the position of the coordinate system can be selected at will under the visual field of the camera.
Step two: and moving the robot to different positions and postures, and acquiring the projection position of the laser beam emitted by the tail end of the robot on the calibration platform by the camera and recording the corresponding joint angle of the robot.
Step three: and taking any one laser point as a reference point, and calculating translation vectors of other laser points moving to the reference point. As shown in fig. 3. Wherein: l' i Is 1 i The other parameters of the translated laser beam are as defined in FIG. 1.
Step four: updating the optimization variables, namely: the DH parameter error.
Step five: and (4) calculating a linear equation of each sampling point and translating the straight line by using the translation vector obtained in the step three. And calculating an optimized objective function value by using the translated linear equation, and judging whether a termination condition is met, namely the objective function value is small enough (ensuring that all laser beams are crossed at one point after being translated according to the translation vectors obtained in the third step).
Step six: and solving the DH parameter error by using a nonlinear optimization method, and then superposing the theoretical DH parameter value to obtain an actual parameter value to finish the calibration of the DH parameter of the robot.
The calibration method and the calibration device for the DH parameters of the industrial robot based on the camera vision are simple to install, convenient to operate and low in price. The calibration of the kinematic DH parameters of the serial robot can be met, and therefore the absolute positioning accuracy of the robot is simply and quickly improved.
Claims (5)
1. A camera vision-based industrial robot DH parameter calibration method is characterized by comprising the following steps:
the method comprises the following steps: establishing a DH parameter model;
the first step is specifically as follows: the transformation matrix expression from the i-1 link coordinate system to the i link coordinate system is as follows:
wherein s θ i ＝sinθ i ，cθ i ＝cosθ i ，Sα i ＝sinα i ，cα i ＝cosα i ；sβ i ＝sinβ i ，cβ i ＝cosβ i ；θ i For the i-1 th connecting rod coordinate system to wind Z i Axial direction from X i-1 Rotated to X i Angle of (d) i Is the i-1 link coordinate system along Z i Axis from X i-1 Move to X i A distance of i-1 For the i-1 link coordinate system around X i-1 Axis from Z i-1 Rotate to Z i Angle of (a) i-1 Is the i-1 link coordinate system along X i-1 Axis from Z i-1 Move to Z i Distance of (b), beta i Is the i-1 link coordinateIs tied and wound Y i Axis from X i-1 Rotated to X i The angle of (d); i represents the index number of the link coordinate system; x i 、Y i 、Z i Respectively representing X, Y and Z axes of an ith connecting rod coordinate system;
step two: controlling the robot to different positions and postures, and acquiring a projection position, namely a laser point, of a laser beam emitted by a laser probe installed at the tail end of the robot on a calibration platform by a camera, and recording corresponding robot joint angles;
step three: taking any one laser point as a reference point, and calculating translation vectors of other laser points moving to the reference point;
step four: establishing a linear equation after the laser beam is translated by utilizing the translation vector, and establishing a nonlinear solved objective function according to a DH parameter error in the DH parameter model;
the linear equation after the laser beam translation is as follows:
wherein: m is xj ，m yj The x-axis component and the y-axis component of a laser beam translation vector corresponding to the jth laser point under a calibration table coordinate system are determined; n is a radical of an alkyl radical xj ，n yj ，n zj Three components of a direction vector of a robot flange coordinate system x axis corresponding to the jth laser point under the base coordinate system; p is a radical of formula xj ，p yj ，p zj Three coordinate components of the intersection point of the z axis of the robot flange coordinate system and the laser beam under the base coordinate system are set for the jth laser point;
the objective function Φ of the nonlinear solution is as follows:
wherein: n is the number of samples, P j For the position of the jth sampled laser spot relative to the calibration table coordinate system, Δ θ = [ 1 ，...，Δθ i ，...]，Δd＝[Δd 1 ，...，Δd i ，...]，Δα＝[Δα 0 ，...，Δα i-1 ，...]，Δa＝[Δa 0 ，...，Δa i-1 ，...]，Δβ＝[Δβ 1 ，...，Δβ i ，...]Error of DH parameter, Δ θ i ，Δd i ，Δα i-1 ，Δa i-1 ，Δβ i Respectively, DH parameter θ i ，d i ，α i-1 ，a i-1 ，β i I represents the index number of the link coordinate system;
step five: and solving the DH parameter error by using a linear equation, and superposing the theoretical DH parameter value to obtain an actual parameter value to finish the DH parameter calibration of the robot.
2. The method for calibrating DH parameters of an industrial robot based on camera vision according to the above claim 1, wherein said step five is as follows:
using a laser beam translation vector, i.e. m xj ，m yj Translating the straight line; calculating an objective function value by using a linear equation after the laser beam is translated, and stopping calculation when the objective function value is smaller than a threshold value, namely representing that all translation vectors are translated and then intersect at one point; at the moment, the delta theta, the delta d, the delta alpha, the delta a and the delta beta are DH parameter errors;
and adding the DH parameter error and the corresponding theoretical DH parameter to obtain an actual parameter value.
3. The device for calibrating DH parameters of an industrial robot based on camera vision of claim 1 is characterized in that it comprises a calibration laser probe, a calibration platform, a vision measurement and calculation unit;
the calibration laser probe is arranged at the tail end of the industrial robot flange and used for projecting laser to the calibration platform;
the calibration platform is placed in the robot working space and is parallel to the mounting base;
the vision measurement and calculation unit is fixed above the calibration platform and used for acquiring the projection position of the laser beam on the calibration platform and acquiring and recording the joint angle of the robot from the robot controller;
the calibration platform is also provided with a height and balance adjusting device for adjusting the height of the calibration platform and adjusting the inclination angle of the calibration plane of the calibration platform.
4. The apparatus of claim 3, wherein the calibration laser probe is parallel to the X-axis of the end flange coordinate system.
5. The apparatus of claim 3 wherein the vision measurement and computation system is further configured to perform solving for DH parameter errors and obtaining actual parameter values.
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| CN114161411B (en) * | 2021-11-18 | 2023-09-01 | 浙江大学 | Visual-based multi-legged robot kinematics parameter calibration method |
| CN114260941A (en) * | 2021-12-24 | 2022-04-01 | 上海大学 | Mechanical arm parameter calibration method based on laser displacement meter |
| CN114770605A (en) * | 2022-05-19 | 2022-07-22 | 常州大学 | Robot measurement calibration system |
| CN117226856A (en) * | 2023-11-16 | 2023-12-15 | 睿尔曼智能科技（北京）有限公司 | Robot self-calibration method and system based on vision |
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