CN111633651B - TCP calibration method for hollow tubular tool - Google Patents
TCP calibration method for hollow tubular tool Download PDFInfo
- Publication number
- CN111633651B CN111633651B CN202010466105.1A CN202010466105A CN111633651B CN 111633651 B CN111633651 B CN 111633651B CN 202010466105 A CN202010466105 A CN 202010466105A CN 111633651 B CN111633651 B CN 111633651B
- Authority
- CN
- China
- Prior art keywords
- hollow tubular
- tubular tool
- tcp
- robot
- rigid sphere
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses aThe TCP calibration method of the hollow tubular tool is characterized by comprising the following steps: s100, fixing a radius r in a robot coordinate systembThe diameter of the rigid sphere is larger than the half-value r of the inner wall of the hollow tubular tools(ii) a S200, mounting the hollow tubular tool on a mechanical arm flange of a robot; s300, controlling the mechanical arm of the robot to move, enabling the top surface of the hollow tubular tool to be buckled on the surface of the rigid sphere, and determining the current position t of the flange of the mechanical arm through a robot system1And attitude R1(ii) a S400, repeating the step S300 for 3 times to obtain a corresponding position t1、t2、t3、t4And attitude R1、R2、R3、R4(ii) a S500, the position of a Transmission Control Protocol (TCP) point of the hollow tubular tool is on an axis inside the hollow tubular tool and is away from the top surface of the hollow tubular tool by a distance of
The TCP calibration method for the hollow tubular tool provided by the invention can be used for quickly and accurately determining the TCP of the hollow tubular structure.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a TCP calibration method for a hollow tubular tool.
Background
TCP is short for the center point of the tool and is the part of the robot that is in contact with the work piece. When we let the robot approach a certain point in space, either manually or programmatically, it is essential to let the TCP approach that point. Different tools are mounted on the same robot, and different TCPs exist due to different shapes and sizes of the tools, so that when different tools are replaced, the TCP of the robot needs to be determined again, namely the position of the robot in a flange coordinate system of the robot is determined.
The method comprises the steps of enabling a certain tip point of a replaced tool to touch a fixed sharp point with determined coordinates in a robot coordinate system, touching and recording pose parameters of a flange plate from four directions, and calculating TCP by using a four-point method principle.
However, for a customized tool such as a hollow tubular tool, the calibrated TCP needs to be on the axis of the tubular tool, the axis is suspended without contacting any solid point, and the TCP of the hollow tubular tool is difficult to determine because the fixed sharp point for determining the coordinate can not be touched directly by the tip of the tubular tool.
Disclosure of Invention
The invention aims to provide a TCP calibration method of a hollow tubular tool, which can quickly and accurately determine the TCP of a hollow tubular structure.
The invention discloses a TCP calibration method of a hollow tubular tool, which adopts the technical scheme that:
a TCP calibration method for a hollow tubular tool comprises the following steps:
s100, fixing a radius r in a robot coordinate systembThe diameter of the rigid sphere is larger than the radius r of the inner wall of the hollow tubular tools；
S200, mounting the hollow tubular tool on a mechanical arm flange of a robot;
s300, controlling the mechanical arm of the robot to move, enabling the top surface of the hollow tubular tool to be buckled on the surface of the rigid sphere, and determining the current position t of the flange of the mechanical arm through a robot system1And attitude R1；
S400, repeating the step S300 for 3 times, and buckling the top surface of the hollow tubular tool on the surface of the rigid sphere from different directions to obtain the corresponding position t of the flange1、t2、t3、t4And attitude R1、R2、R3、R4；
S500, calculating the TCP point of the hollow tubular tool by the four-point method principlePositioned on an axis inside the hollow tubular tool, the TCP point of the hollow tubular tool being positioned at a distance from the top surface of the hollow tubular tool
Preferably, in the step S400, the step S300 is repeated 3 times, and the directions of the 4 times are vertical and different.
As the preferred scheme, in the S300 step, the ladder sleeve of cavity tubulose instrument coaxial line is installed to cavity tubulose instrument front end, the telescopic ladder face of ladder aligns with the terminal surface of cavity tubulose instrument, the recess with the laminating of rigid ball is seted up to the ladder sleeve outer end, and the recess wraps rigid ball half, the distance between the centre of sphere of the telescopic recess sphere of ladder and the ladder face is LaControlling the mechanical arm of the robot to move, so that the groove of the stepped sleeve arranged on the hollow tubular tool is buckled on the surface of the rigid sphere to obtain a position t1And attitude R1Then, step 400 is executed, the distance between the position of the TCP point and the top surface of the hollow tubular tool is LaAnd is located on the central axis of the hollow tubular tool.
Preferably, the rigid sphere is made of stainless steel, ceramic or stone.
The TCP calibration method of the hollow tubular tool disclosed by the invention has the beneficial effects that: the TCP of the hollow tubular tool is buckled on the surface of the rigid sphere on the axis of the TCP through the top surface of the hollow tubular tool, so that the intersection part of the inner wall of the hollow tubular tool and the rigid sphere is a standard circle, the axis of the hollow tubular tool passes through the sphere center of the rigid sphere, and when the TCP is buckled in multiple directions, the distance between the circle center of the standard circle formed by the intersection part of the inner wall of the hollow tubular tool and the rigid sphere and the sphere center of the rigid sphere is unchanged, so that the pose values t of different positions for 4 times are obtained1、t2、t3、t4And R1、R2、R3、R4The TCP of the hollow tubular tool can be directly calculated by a four-point method, so that the TC of the replaced hollow tubular tool can be quickly and accurately determinedP and its position.
Drawings
Fig. 1 is a schematic structural diagram of a TCP calibration method for a hollow tubular tool according to the present invention.
Fig. 2 is a partial schematic view of a TCP calibration method for a hollow tubular tool according to the present invention.
Fig. 3 is a schematic view of a TCP calibration method of a hollow tubular tool of the present invention with the aid of a stepped sleeve.
Fig. 4 is a partial schematic view of a TCP calibration method of a hollow tubular tool of the present invention with a stepped sleeve.
Detailed Description
The invention will be further elucidated and described with reference to the embodiments and drawings of the specification:
referring to fig. 1-2, a TCP calibration method for a hollow tubular tool includes the following steps: s100, fixing a radius r in a robot coordinate systembThe diameter of the rigid sphere 20 is larger than the radius r of the inner wall of the hollow tubular tool 10s(ii) a S200, mounting the hollow tubular tool 10 on a mechanical arm flange of a robot; s300, controlling the mechanical arm of the robot to move, enabling the top surface of the hollow tubular tool 10 to be buckled on the surface of the rigid sphere 20, and determining the current position t of the flange of the mechanical arm through a robot system1And attitude R1(ii) a S400, repeating the step S300 for 3 times, and buckling the top surface of the hollow tubular tool 10 on the surface of the rigid sphere 20 from different directions to obtain a corresponding position t1、t2、t3、t4And attitude R1、R2、R3、R4(ii) a S500, calculating the TCP by a four-point method principle, wherein the position of the TCP point of the hollow tubular tool 10 is on the axis of the interior of the hollow tubular tool 10, and the distance from the TCP point to the top surface of the hollow tubular tool 10 is
In the step S400, the step S300 is repeated for 3 times, the directions of 4 times are sequentially vertical and different, the angle between the directions of 4 times is as large as possible, the influence of the self error of the mechanical arm on the TCP calculation result can be reduced by the angle as large as possible, and the data acquisition from the four directions is required by the minimum point number of the method, but not limited to the four directions. The rigid sphere 20 is made of stainless steel, ceramic or stone, and the elastic deformation of the rigid sphere 20 is small, so that the accuracy of data can be effectively improved.
Referring to fig. 3-4, in step S300, a stepped sleeve 30 is disposed in the hollow tubular tool 10 and is coaxial with the hollow tubular tool 10, a stepped surface of the stepped sleeve 30 is aligned with an end surface of the hollow tubular tool 10, a groove attached to the rigid sphere 20 is disposed at an outer end of the stepped sleeve 30, the groove wraps a half of the rigid sphere 20, and a distance L is provided between the outer end surface of the stepped sleeve 30 and the stepped surfaceaControlling the mechanical arm of the robot to move, so that the top surface of the hollow tubular tool 10 is buckled on the surface of the rigid sphere 20 to obtain a position t1And attitude R1Then, step 400 is executed, the position of the TCP point is L away from the top surface of the hollow tubular tool 10aAnd is located on the central axis of its hollow tubular tool 10.
The four-point method principle is published in the science and technology journal mechanical and electronic, 2012, stage 6, 60 in the research on the calibration algorithm of the coordinate system of the robot tool by the combination of Xiongshu, Bobersheng and Jiangming, and the principle and the calculation process of the four-point method are explained in detail.
In the above scheme, the TCP of the hollow tubular tool 10 is fastened to the surface of the rigid sphere 20 through the top surface of the hollow tubular tool 10 on the axis thereof, so that the intersection of the inner wall of the hollow tubular tool 10 and the rigid sphere 20 is a standard circle, the axis of the hollow tubular tool 10 passes through the center of the rigid sphere 20, and when the TCP is fastened in multiple directions, the distance between the center of the standard circle and the center of the rigid sphere 20 formed by the intersection of the inner wall of the hollow tubular tool 10 and the rigid sphere 20 is unchanged, thereby obtaining the pose values t at 4 different positions1、t2、t3、t4And R1、R2、R3、R4The TCP of the hollow tubular tool 10 can be directly calculated by the four-point method, so that the TCP of the replaced hollow tubular tool 10 and the position thereof can be quickly and accurately determined.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (3)
1. A TCP calibration method of a hollow tubular tool is characterized by comprising the following steps:
s100, fixing a radius of
The diameter of the rigid sphere is larger than the radius of the inner wall of the hollow tubular tool
；
S200, mounting the hollow tubular tool on a mechanical arm flange of a robot;
s300, controlling the mechanical arm of the robot to move, enabling the top surface of the hollow tubular tool to be buckled on the surface of the rigid sphere, and determining the current position of the flange of the mechanical arm through a robot system
And posture
The hollow tubular tool is characterized in that a stepped sleeve coaxial with the hollow tubular tool is installed at the front end of the hollow tubular tool, the stepped surface of the stepped sleeve is aligned with the end surface of the hollow tubular tool, a groove fitted with a rigid sphere is formed in the outer end of the stepped sleeve, the rigid sphere is wrapped by the groove in a half-to-half mode, and the distance between the spherical center of the spherical surface of the stepped sleeve and the stepped surface is
Controlling the mechanical arm of the robot to move so that the groove of the stepped sleeve arranged on the hollow tubular tool is buckled on the surface of the rigid sphere to obtain a position
And posture
And executing the next step, wherein the position of the TCP point is far away from the top surface of the hollow tubular tool
And is positioned on the central axis of the hollow tubular tool;
s400, repeating the step S300 for 3 times, and buckling the top surface of the hollow tubular tool on the surface of the rigid sphere from different directions to obtain the corresponding position of the flange
、
、
、
And posture
、
、
、
;
S500, calculating the TCP by a four-point method principle, wherein the position of the TCP point of the hollow tubular tool is on the axis of the interior of the hollow tubular tool, and the distance from the position of the TCP point of the hollow tubular tool to the top surface of the hollow tubular tool is
。
2. The TCP calibration method for a hollow tubular tool according to claim 1, wherein in the step S400, the step S300 is repeated 3 times, and the directions of the 4 times are vertical and different.
3. The TCP calibration method for hollow tubular tool according to any of claims 1-2, wherein the material of said rigid sphere is stainless steel, ceramic or stone.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010466105.1A CN111633651B (en) | 2020-05-28 | 2020-05-28 | TCP calibration method for hollow tubular tool |
| PCT/CN2020/130196 WO2021238104A1 (en) | 2020-05-28 | 2020-11-19 | Tcp calibration method for hollow tubular tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010466105.1A CN111633651B (en) | 2020-05-28 | 2020-05-28 | TCP calibration method for hollow tubular tool |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111633651A CN111633651A (en) | 2020-09-08 |
| CN111633651B true CN111633651B (en) | 2021-01-29 |
Family
ID=72326360
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010466105.1A Active CN111633651B (en) | 2020-05-28 | 2020-05-28 | TCP calibration method for hollow tubular tool |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111633651B (en) |
| WO (1) | WO2021238104A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111633651B (en) * | 2020-05-28 | 2021-01-29 | 杭州键嘉机器人有限公司 | TCP calibration method for hollow tubular tool |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1831468A (en) * | 2005-03-10 | 2006-09-13 | 新奥博为技术有限公司 | Method for deciding relative position of laser scanner and robot |
| CN103114809A (en) * | 2013-02-06 | 2013-05-22 | 中国石油大学(华东) | Vibration absorption type downhole hydraulic pulse generation device and well drilling method thereof |
| CN106483963A (en) * | 2015-08-26 | 2017-03-08 | 泰科电子(上海)有限公司 | The automatic calibration method of robot system |
| JP6478774B2 (en) * | 2015-04-08 | 2019-03-06 | キヤノン株式会社 | Imaging apparatus, imaging method, and program |
| CN111145630A (en) * | 2020-01-20 | 2020-05-12 | 福建省特种设备检验研究院 | Teaching aid for measuring tool coordinate system of industrial robot and using method thereof |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08384B2 (en) * | 1987-09-16 | 1996-01-10 | ファナック株式会社 | Tool tip point automatic setting method |
| EP1883780B1 (en) * | 2005-05-20 | 2013-07-03 | Orthosoft, Inc. | Method and apparatus for calibrating spherical objects using a computer system |
| EP2350750B1 (en) * | 2008-11-25 | 2012-10-31 | ABB Technology Ltd | A method and an apparatus for calibration of an industrial robot system |
| CN111127568B (en) * | 2019-12-31 | 2023-07-04 | 南京埃克里得视觉技术有限公司 | Camera pose calibration method based on spatial point location information |
| CN111633651B (en) * | 2020-05-28 | 2021-01-29 | 杭州键嘉机器人有限公司 | TCP calibration method for hollow tubular tool |
-
2020
- 2020-05-28 CN CN202010466105.1A patent/CN111633651B/en active Active
- 2020-11-19 WO PCT/CN2020/130196 patent/WO2021238104A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1831468A (en) * | 2005-03-10 | 2006-09-13 | 新奥博为技术有限公司 | Method for deciding relative position of laser scanner and robot |
| CN103114809A (en) * | 2013-02-06 | 2013-05-22 | 中国石油大学(华东) | Vibration absorption type downhole hydraulic pulse generation device and well drilling method thereof |
| JP6478774B2 (en) * | 2015-04-08 | 2019-03-06 | キヤノン株式会社 | Imaging apparatus, imaging method, and program |
| CN106483963A (en) * | 2015-08-26 | 2017-03-08 | 泰科电子(上海)有限公司 | The automatic calibration method of robot system |
| CN111145630A (en) * | 2020-01-20 | 2020-05-12 | 福建省特种设备检验研究院 | Teaching aid for measuring tool coordinate system of industrial robot and using method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 一种工业机器人TCP 位置标定算法研究;洪磊;《机械设计》;20170320;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111633651A (en) | 2020-09-08 |
| WO2021238104A1 (en) | 2021-12-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP3240549B2 (en) | 3D coordinate measuring device | |
| JP6964989B2 (en) | Control methods, robot systems, article manufacturing methods, programs, and recording media | |
| CN109676636A (en) | A kind of industrial robot kinematics calibration system and scaling method | |
| JP5550468B2 (en) | Force sensor calibration method | |
| JP2015147280A (en) | robot calibration method | |
| CN111360586A (en) | Laser light emitting direction calibration method based on standard ball | |
| CN107560538A (en) | The scaling method of six-DOF robot tool coordinates system based on laser tracker | |
| CN106705956A (en) | Rapid industrial robot tail end pose measuring device and measuring method thereof | |
| CN111633651B (en) | TCP calibration method for hollow tubular tool | |
| CN113211445B (en) | Robot parameter calibration method, device, equipment and storage medium | |
| CN112659112A (en) | Robot eye calibration method based on line laser scanner | |
| US12061076B2 (en) | Probe for three-dimensional coordinate measuring device, three-dimensional coordinate measuring device, three-dimensional coordinate measuring system, and three-dimensional coordinate measuring method | |
| CN112762822B (en) | Mechanical arm calibration method and system based on laser tracker | |
| CN112045684B (en) | Automatic auxiliary calibration device and method thereof | |
| CN113752253B (en) | Parameter optimization method for continuum robot | |
| CN112603544B (en) | Calibration system and method for mechanical arm end effector | |
| CN115609586A (en) | Robot high-precision assembling method based on grabbing pose constraint | |
| JP2023003592A (en) | Force control parameter adjustment method and force control parameter adjustment device | |
| CN109531560B (en) | Large length-diameter ratio shaft hole assembly analysis system and method | |
| US20140310966A1 (en) | Method of Determining a Target Spatial Coordinate Using an Apparatus Comprising a Movable Hand-Held Probe and a Portable Base Unit, and a Related Apparatus | |
| CN114986132B (en) | Robot flexible shaft hole assembly method and device based on visual sense | |
| CN117601137B (en) | Multi-robot joint control method | |
| RU2814785C1 (en) | Automatic calibration device and method of implementation thereof | |
| TWI746004B (en) | Origin calibration method of manipulator | |
| CN118061206B (en) | Robot TCP calibration device, method, computer equipment and storage medium |
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 | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20201229 Address after: 310000 rooms 305 and 306, building 8, 181 Wuchang Avenue, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province Applicant after: HANGZHOU JIANJIA ROBOT Co.,Ltd. Address before: 518000 1003, building B4, nanjingxin village, Minzhi street, Longhua District, Shenzhen City, Guangdong Province Applicant before: Du Siao |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 310000 rooms 305 and 306, building 8, 181 Wuchang Avenue, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Jianjia Medical Technology Co.,Ltd. Address before: 310000 rooms 305 and 306, building 8, 181 Wuchang Avenue, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU JIANJIA ROBOT Co.,Ltd. |