CN111604904B - Robot positioning calibration method and device and electronic equipment - Google Patents
Robot positioning calibration method and device and electronic equipment Download PDFInfo
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- CN111604904B CN111604904B CN202010451686.1A CN202010451686A CN111604904B CN 111604904 B CN111604904 B CN 111604904B CN 202010451686 A CN202010451686 A CN 202010451686A CN 111604904 B CN111604904 B CN 111604904B
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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
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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
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention discloses a positioning calibration method and device for a robot and electronic equipment. Wherein, the method comprises the following steps: determining a reference point of the robot when the target joint is calibrated; based on the datum points, tracking calibration point positions at a plurality of angles when the robot rotates the target joint to obtain calibration parameters; comparing the calibration parameters with robot DH parameters to obtain a comparison result, wherein the robot DH parameters refer to parameters between the tail end of a manipulator of the robot and a base coordinate system; and compensating the connecting rod parameters of the target joint based on the comparison result so as to realize the positioning calibration of the robot. The invention solves the technical problems that a large number of point positions need to be searched and time is wasted when the robot is positioned and calibrated in the related technology.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a positioning calibration method and device for a robot and electronic equipment.
Background
In the related technology, most industrial robots place a tracking device at a robot end flange for multi-point calibration during positioning calibration until the parameters of a connecting rod of the robot are finally compensated. Especially, when a large machining error occurs or the arm lever of the robot is very long, the preset theoretical DH parameter cannot be automatically compensated systematically, and people do not know which joint the problem occurs in many times, so that the tolerance requirement of design and the manufacturing precision must be improved, a large amount of unqualified products are produced, and the research and development production cost and the production period of the robot are greatly improved. When the robot is used, for industries such as metal plate stamping and welding, and large stamping sheet metal parts, the deformation size and direction of the whole structure are difficult to estimate accurately, so that debugging of robot debugging personnel is difficult, and especially, the product yield of the stamping sheet metal parts is reduced due to inaccurate point positions when combined operation of a plurality of processes is met.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a positioning and calibrating method and device of a robot and electronic equipment, and aims to at least solve the technical problems that a large number of point locations need to be searched and time is wasted during positioning and calibrating of the robot in the related art.
According to an aspect of an embodiment of the present invention, there is provided a positioning calibration method for a robot, including: determining a reference point of the robot when the target joint is calibrated; based on the reference points, tracking calibration point positions at a plurality of angles when the robot rotates the target joint to obtain calibration parameters; comparing the calibration parameters with robot DH parameters to obtain a comparison result, wherein the robot DH parameters refer to parameters between the tail end of a mechanical arm of the robot and a base coordinate system; and compensating the connecting rod parameters of the target joint based on the comparison result so as to realize the positioning calibration of the robot.
Optionally, the step of determining a reference point of the robot when calibrating the target joint includes: when the target joint is a second joint, a calibration coordinate system is constructed by taking a first preset position of the robot base as a base point; and determining the first preset position of the robot base as a datum point of the robot when the robot calibrates the target joint.
Optionally, tracking calibration point locations at a plurality of angles when the robot rotates the target joint based on the reference point to obtain calibration parameters, including: installing a tracking instrument on a preset point position of the second joint; rotating the second joint; and controlling the tracking instrument to track calibration point positions at a plurality of angles when the robot rotates, so as to obtain calibration parameters.
Optionally, the step of compensating the link parameters of the target joint based on the comparison result to achieve positioning calibration of the robot includes: based on the comparison result, compensating a plurality of connecting rod parameters of the robot relative to the first joint at the second joint so as to calibrate the second joint and realize the positioning calibration of the robot at the second joint; after the robot realizes the positioning calibration of the second joint, the central point of the previous joint is sequentially used as a calibration positioning point for other joints of the robot, and the connecting rod parameters of the next adjacent joint are compensated, so that the positioning calibration of the robot on all the joints is realized.
Optionally, the tracking instrument comprises at least: laser tracker.
Optionally, after the positioning calibration of the robot is implemented, the positioning calibration method further includes: determining a compensation data value and a connecting rod error value of the robot during positioning calibration; comparing the design parameters of the robot based on the compensation data value and the connecting rod error value to obtain a comparison result; and adjusting the guide parameters of the robot when the joint is selected based on the comparison result.
Optionally, the positioning calibration method of the robot is applied to at least one of the following scenarios: and (5) stamping and welding metal plates.
According to another aspect of the embodiments of the present invention, there is also provided a positioning calibration apparatus for a robot, including: the determining unit is used for determining a reference point of the robot when the target joint is calibrated; the tracking unit is used for tracking calibration point positions at a plurality of angles when the robot rotates the target joint based on the reference point to obtain calibration parameters; the comparison unit is used for comparing the calibration parameters with robot DH parameters to obtain comparison results, wherein the robot DH parameters refer to parameters between the tail end of a mechanical arm of the robot and a base coordinate system; and the compensation unit is used for compensating the connecting rod parameters of the target joint based on the comparison result so as to realize the positioning calibration of the robot.
Optionally, the determining unit includes: the construction module is used for constructing a calibration coordinate system by taking a first preset position of the robot base as a base point when the target joint is a second joint; the first determining module is used for determining a first preset position of the robot base as a datum point of the robot when the robot calibrates the target joint.
Optionally, the tracking unit comprises: the installation module is used for installing a tracking instrument on a preset point position of the second joint; a rotation module for rotating the second joint; and the control module is used for controlling the tracking instrument to track the calibration point positions at a plurality of angles when the robot rotates so as to obtain calibration parameters.
Optionally, the compensation unit comprises: the first compensation module is used for compensating a plurality of connecting rod parameters of the robot relative to the first joint at the second joint based on the comparison result so as to calibrate the second joint and realize the positioning and calibration of the robot at the second joint; and the second compensation module is used for sequentially taking the central point of the previous joint as a calibration positioning point for other joints of the robot after the robot realizes the positioning calibration of the second joint, and compensating the connecting rod parameters of the next adjacent joint so as to realize the positioning calibration of the robot on all the joints.
Optionally, the tracking instrument comprises at least: laser tracker.
Optionally, the positioning calibration apparatus further includes: the second determination module is used for determining a compensation data value and a connecting rod error value of the robot during positioning calibration after the positioning calibration of the robot is realized; the comparison module is used for comparing the design parameters of the robot based on the compensation data value and the connecting rod error value to obtain a comparison result; and the adjusting module is used for adjusting the guide parameters of the robot when the joint is selected based on the comparison result.
Optionally, the positioning calibration method of the robot is applied to at least one of the following scenarios: and (5) stamping and welding metal plates.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the method of positioning calibration of a robot of any of the above via execution of the executable instructions.
According to another aspect of the embodiments of the present invention, there is also provided a computer storage medium, where the computer storage medium includes a stored program, and when the program runs, the apparatus where the computer storage medium is located is controlled to execute any one of the above-mentioned positioning calibration methods for a robot.
In the embodiment of the invention, when the robot is positioned and calibrated, a reference point of the robot when the robot calibrates the target joint is determined, calibration point positions of the robot when the robot rotates the target joint at multiple angles are tracked based on the reference point to obtain calibration parameters, the calibration parameters are compared with DH parameters of the robot to obtain a comparison result, wherein the DH parameters of the robot refer to parameters between the tail end of a manipulator of the robot and a base coordinate system, and link parameters of the target joint are compensated based on the comparison result to realize the positioning and calibration of the robot. In this embodiment, the relative positions of the joints of the robot can be respectively marked, and simultaneously the relative positions are compared with the designed DH parameters, and then the link parameters of the joints are compensated, so that the calibration of the robot can be accurately and efficiently completed, meanwhile, the point location calibration of the robot can be rapidly completed in the robot application scene, the accumulated error during calibration is reduced, the calibration speed is high, the calibration duration is reduced, and therefore the technical problems that a large number of point locations need to be searched and the time is wasted during robot positioning calibration in the related art are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of an alternative method of robot position calibration according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an alternative positioning calibration device for a robot according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the invention provides a positioning and calibrating method of a robot for reducing accumulated errors or a calibration method of the robot, which can guide designers to reasonably select the tolerance range of joints through data statistics, reduce the processing cost and improve the processing efficiency; from the perspective of robot calibration, the calibration speed of the robot can be increased, each joint of the robot is accurately compensated, and the overall positioning accuracy of the robot is improved.
In accordance with an embodiment of the present invention, there is provided an embodiment of a method for positioning calibration of a robot, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system, such as a set of computer-executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a flowchart of an alternative positioning calibration method for a robot according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
step S102, determining a reference point of the robot when the robot calibrates a target joint;
step S104, based on the reference points, tracking calibration point positions of the robot at a plurality of angles when the robot rotates the target joint to obtain calibration parameters;
step S106, comparing the calibration parameters with robot DH parameters to obtain a comparison result, wherein the robot DH parameters refer to parameters between the tail end of a mechanical arm of the robot and a base coordinate system;
and S108, compensating the connecting rod parameters of the target joint based on the comparison result so as to realize the positioning calibration of the robot.
Through the steps, when the robot is positioned and calibrated, the reference point of the robot when the robot calibrates the target joint is determined, calibration point positions of the robot when the robot rotates the target joint at multiple angles are tracked based on the reference point to obtain calibration parameters, the calibration parameters are compared with the robot DH parameters to obtain a comparison result, wherein the robot DH parameters refer to parameters between the tail end of the mechanical arm of the robot and a base coordinate system, and the link rod parameters of the target joint are compensated based on the comparison result to realize the positioning and calibration of the robot. In this embodiment, the relative positions of the joints of the robot can be respectively marked, and simultaneously the relative positions are compared with the designed DH parameters, and then the link parameters of the joints are compensated, so that the calibration of the robot can be accurately and efficiently completed, meanwhile, the point location calibration of the robot can be rapidly completed in the robot application scene, the accumulated error during calibration is reduced, the calibration speed is high, the calibration duration is reduced, and therefore the technical problems that a large number of point locations need to be searched and the time is wasted during robot positioning calibration in the related art are solved.
The robot related to the embodiment of the invention includes but is not limited to: industrial robots (e.g., six-axis robots), educational robots. Industrial robots include, but are not limited to: servo motor, speed reducer, hold-in range, mechanical body, mechanical interface etc.. The positioning calibration method of the robot is applied to at least one of the following scenes: stamping and welding metal plates, polishing, spraying paint, welding by a machine tool and the like.
The present invention will be described in detail below with reference to the above-described embodiments.
And step S102, determining a reference point of the robot when the target joint is calibrated.
Taking a six-axis industrial robot as an example, the robot includes a shoulder joint, a wrist joint, an elbow joint, and the like, with the shoulder joint as a first joint, the elbow joint as a second joint, and the wrist joint as a third joint.
Optionally, the step of determining a reference point of the robot when calibrating the target joint includes: when the target joint is a second joint, a calibration coordinate system is established by taking a first preset position of the robot base as a base point; and determining the first preset position of the robot base as a datum point of the robot when the robot calibrates the target joint.
And selecting a point position of a first preset position on a base of the robot as a base point, so as to determine a reference point when the target joint is calibrated.
And step S104, tracking calibration point positions of the robot at a plurality of angles when the robot rotates the target joint based on the reference points to obtain calibration parameters.
In the embodiment of the invention, based on the reference point, the calibration point positions at a plurality of angles when the robot rotates the target joint are tracked to obtain the calibration parameters, and the method comprises the following steps: installing a tracking instrument on a preset point position of the second joint; rotating the second joint; and controlling the tracking instrument to track the calibration point positions at a plurality of angles when the robot rotates, so as to obtain calibration parameters.
When the robot is calibrated, firstly, a proper point position is selected on a base of the robot as a reference point, a tracking instrument is installed at a fixed position of a second joint, the second joint is rotated by adjusting a demonstrator, different angles theta are tracked for positioning, connecting rod parameters of the second joint are compensated, and calibration of the second joint is completed.
In the embodiment of the invention, the position vector of the robot motion is calculated through a D-H model, the position vector of the later joint takes the rotation center of the previous joint of the robot as the origin of coordinates, the positioning is carried out through parameters (including four parameters of a connecting rod length a, a connecting rod rotation angle alpha, a connecting rod offset distance D and a joint angle theta), the first three parameters determine the physical positions of the coordinates of the joints of the robot and are fixed, the last theta angle reflects the angle of the robot motion, the motion range of each joint is the value range of the theta angle, namely, the joint angle of the joint during the rotation is tracked through the rotating joint, and the calibration parameters are obtained.
Optionally, the tracking instrument comprises at least: laser tracker.
And S106, comparing the calibration parameters with robot DH parameters to obtain a comparison result, wherein the robot DH parameters refer to parameters between the tail end of the mechanical arm of the robot and the base coordinate system.
And S108, compensating the connecting rod parameters of the target joint based on the comparison result so as to realize the positioning calibration of the robot.
As an alternative embodiment of the present invention, the step of compensating the link parameters of the target joint based on the comparison result to realize the positioning calibration of the robot includes: based on the comparison result, compensating a plurality of connecting rod parameters of the robot relative to the first joint at the second joint so as to calibrate the second joint and realize the positioning and calibration of the robot at the second joint; after the robot realizes the positioning calibration of the second joint, the central point of the previous joint is used as a calibration positioning point for other joints of the robot in sequence, and the connecting rod parameters of the next adjacent joint are compensated, so that the positioning calibration of the robot on all the joints is realized.
In the embodiment of the invention, the calibration point of the previous joint is positioned to complete the parameter compensation of the connecting rod of the next adjacent joint, the point location calibration of the whole robot is completed, and the connecting rod error caused by machining and structural body deformation is eliminated.
Optionally, after the positioning calibration of the robot is implemented, the positioning calibration method further includes: determining a compensation data value and a connecting rod error value when the robot carries out positioning calibration; comparing the design parameters of the robot based on the compensation data value and the connecting rod error value to obtain a comparison result; and adjusting the guide parameters of the robot when the joint is selected based on the comparison result.
In the embodiment of the invention, calibration data and compensation values of parameters of a plurality of robot connecting rods, particularly a robot with a large arm exhibition, are realized, designers are guided to reasonably select the design tolerance of joint parts by analyzing the compensation values of joints, the tolerance range of parts can be given when the robots are designed by counting the data compensation values and theoretical values and then comparing the data compensation values and the theoretical values, the development cost and the period of the robots are reduced, the processing difficulty and the processing cost are reduced, and the product quality and the production efficiency are improved.
Fig. 2 is a schematic diagram of an alternative positioning calibration apparatus for a robot according to an embodiment of the present invention, and as shown in fig. 2, the positioning calibration apparatus may include: a determination unit 21, a tracking unit 23, a comparison unit 25, a compensation unit 27, wherein,
a determining unit 21, configured to determine a reference point of the robot when calibrating the target joint;
the tracking unit 23 is configured to track calibration point locations at multiple angles when the robot rotates the target joint based on the reference point to obtain calibration parameters;
the comparison unit 25 is configured to compare the calibration parameters with robot DH parameters to obtain comparison results, where the robot DH parameters are parameters between the robot end and the base coordinate system;
and the compensation unit 27 is used for compensating the link parameters of the target joint based on the comparison result so as to realize the positioning calibration of the robot.
The positioning and calibrating device for the robot can determine the reference point of the robot when the robot is calibrated by the determining unit 21, track the calibration point positions of the robot at a plurality of angles when the robot rotates the target joint based on the reference point by the tracking unit 23 to obtain the calibration parameter, compare the calibration parameter with the robot DH parameter by the comparing unit 25 to obtain the comparison result, wherein the robot DH parameter is the parameter between the tail end of the manipulator of the robot and the base coordinate system, and compensate the link rod parameter of the target joint based on the comparison result by the compensating unit 27 to realize the positioning and calibrating of the robot. In this embodiment, the relative positions of the joints of the robot can be respectively marked, and simultaneously the relative positions are compared with the designed DH parameters, and then the link parameters of the joints are compensated, so that the calibration of the robot can be accurately and efficiently completed, meanwhile, the point location calibration of the robot can be rapidly completed in the robot application scene, the accumulated error during calibration is reduced, the calibration speed is high, the calibration duration is reduced, and therefore the technical problems that a large number of point locations need to be searched and the time is wasted during robot positioning calibration in the related art are solved.
Optionally, the determining unit includes: the construction module is used for constructing a calibration coordinate system by taking a first preset position of the robot base as a base point when the target joint is a second joint; the first determining module is used for determining a first preset position of the robot base as a datum point of the robot when the robot calibrates the target joint.
Alternatively, the tracking unit includes: the installation module is used for installing a tracking instrument on a preset point position of the second joint; the rotating module is used for rotating the second joint; and the control module is used for controlling the tracking instrument to track the calibration point positions at a plurality of angles when the robot rotates so as to obtain calibration parameters.
Optionally, the compensation unit includes: the first compensation module is used for compensating a plurality of connecting rod parameters of the robot relative to the first joint at the second joint based on the comparison result so as to calibrate the second joint and realize the positioning and calibration of the robot at the second joint; and the second compensation module is used for sequentially taking the central point of the previous joint as a calibration positioning point for other joints of the robot after the robot realizes the positioning calibration of the second joint, and compensating the connecting rod parameters of the next adjacent joint so as to realize the positioning calibration of the robot on all the joints.
Optionally, the tracking instrument comprises at least: laser tracker.
In an embodiment of the present invention, the positioning calibration apparatus further includes: the second determination module is used for determining a compensation data value and a connecting rod error value of the robot during positioning calibration after the positioning calibration of the robot is realized; the comparison module is used for comparing the design parameters of the robot based on the compensation data value and the connecting rod error value to obtain a comparison result; and the adjusting module is used for adjusting the guide parameters of the robot when the joint is selected based on the comparison result.
Optionally, the positioning calibration method of the robot is applied to at least one of the following scenarios: and (5) stamping and welding metal plates.
The positioning calibration device of the robot may further include a processor and a memory, wherein the determining unit 21, the tracking unit 23, the comparing unit 25, the compensating unit 27, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.
The processor comprises a kernel, and the kernel calls a corresponding program unit from the memory. The kernel can be set to be one or more than one, and the parameters of the kernel are adjusted to compensate the parameters of the connecting rod of the target joint, so that the positioning and calibration of the robot are realized.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including: a processor; and a memory for storing executable instructions for the processor; wherein the processor is configured to perform the positioning calibration method of the robot of any one of the above via execution of the executable instructions.
According to another aspect of the embodiments of the present invention, there is also provided a computer storage medium, where the computer storage medium includes a stored program, and when the program runs, the apparatus on which the computer storage medium is located is controlled to execute any one of the above positioning calibration methods for a robot.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: determining a reference point of the robot when the target joint is calibrated; based on the datum points, tracking calibration point positions at a plurality of angles when the robot rotates the target joint to obtain calibration parameters; comparing the calibration parameters with robot DH parameters to obtain a comparison result, wherein the robot DH parameters refer to parameters between the tail end of a manipulator of the robot and a base coordinate system; and compensating the connecting rod parameters of the target joint based on the comparison result so as to realize the positioning calibration of the robot.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable computer storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a computer storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned computer storage media include: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A method for calibrating the positioning of a robot, comprising:
determining a reference point of the robot when the target joint is calibrated;
based on the reference points, tracking calibration point positions at a plurality of angles when the robot rotates the target joint to obtain calibration parameters;
comparing the calibration parameters with robot DH parameters to obtain a comparison result, wherein the robot DH parameters refer to parameters between the tail end of a mechanical arm of the robot and a base coordinate system;
based on the comparison result, the link parameters of the target joint are compensated to realize the positioning calibration of the robot,
the method comprises the following steps of determining a reference point of the robot when a target joint is calibrated, wherein the steps comprise: when the target joint is a second joint, a calibration coordinate system is constructed by taking a first preset position of the robot base as a base point; and determining the first preset position of the robot base as a datum point of the robot when the robot calibrates the target joint.
2. The positioning calibration method according to claim 1, wherein the step of tracking calibration points at a plurality of angles when the robot rotates the target joint based on the reference point to obtain calibration parameters comprises:
installing a tracking instrument on a preset point position of the second joint;
rotating the second joint;
and controlling the tracking instrument to track calibration point positions at a plurality of angles when the robot rotates, so as to obtain calibration parameters.
3. The positioning calibration method according to claim 2, wherein the step of compensating the link parameters of the target joint based on the comparison result to achieve the positioning calibration of the robot comprises:
based on the comparison result, compensating a plurality of connecting rod parameters of the robot relative to the first joint at the second joint so as to calibrate the second joint and realize the positioning calibration of the robot at the second joint;
after the robot realizes the positioning calibration of the second joint, the central point of the previous joint is sequentially used as a calibration positioning point for other joints of the robot, and the connecting rod parameters of the next adjacent joint are compensated, so that the positioning calibration of the robot on all the joints is realized.
4. The position calibration method according to claim 2, wherein the tracking instrument comprises at least: laser tracker.
5. The positioning calibration method according to claim 1, wherein after the positioning calibration of the robot is performed, the positioning calibration method further comprises:
determining a compensation data value and a connecting rod error value of the robot during positioning calibration;
comparing the design parameters of the robot based on the compensation data value and the connecting rod error value to obtain a comparison result;
and adjusting the guide parameters of the robot when the joint is selected based on the comparison result.
6. The positioning calibration method according to any one of claims 1 to 5, characterized in that the positioning calibration method of the robot is applied to a scenario of at least one of: and (5) stamping and welding metal plates.
7. A positioning calibration device of a robot, comprising:
the determining unit is used for determining a reference point of the robot when the target joint is calibrated;
the tracking unit is used for tracking calibration point positions at a plurality of angles when the robot rotates the target joint based on the reference point to obtain calibration parameters;
the comparison unit is used for comparing the calibration parameters with robot DH parameters to obtain comparison results, wherein the robot DH parameters refer to parameters between the tail end of a mechanical arm of the robot and a base coordinate system;
a compensation unit for compensating the link parameter of the target joint based on the comparison result to realize the positioning calibration of the robot,
the determination unit includes: the construction module is used for constructing a calibration coordinate system by taking a first preset position of the robot base as a base point when the target joint is a second joint; the first determining module is used for determining a first preset position of the robot base as a datum point of the robot when the robot calibrates the target joint.
8. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the method of positioning calibration of a robot of any of claims 1 to 5 via execution of the executable instructions.
9. A computer storage medium, characterized in that the computer storage medium comprises a stored program, wherein when the program runs, the computer storage medium is controlled to execute a positioning calibration method of a robot according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010451686.1A CN111604904B (en) | 2020-05-25 | 2020-05-25 | Robot positioning calibration method and device and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010451686.1A CN111604904B (en) | 2020-05-25 | 2020-05-25 | Robot positioning calibration method and device and electronic equipment |
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| CN111604904A CN111604904A (en) | 2020-09-01 |
| CN111604904B true CN111604904B (en) | 2022-01-07 |
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