CN111633651B - A TCP calibration method for hollow tubular tools - Google Patents

A TCP calibration method for hollow tubular tools Download PDF

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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
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hollow tubular
tubular tool
tcp
robot
rigid sphere
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CN111633651A (en
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杜思傲
乔天
文理为
荣健
董旭亮
甘博涵
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Hangzhou Jianjia Medical Technology Co ltd
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Hangzhou Jianjia Robot Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
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Abstract

本发明公开了一种中空管状工具的TCP标定方法，其特征在于，包括以下步骤：S100，在机器人坐标系中固定一个半径为rb的标定刚性球体，刚性球体的直径大于中空管状工具的内壁半价rs；S200，将中空管状工具安装于机器人的机械臂法兰；S300，控制机器人的机械臂移动，使中空管状工具的顶面扣合在刚性球体表面，通过机器人系统确定当前机械臂法兰的位置t1和姿态R1；S400，重复S300步骤3次，获得对应的位置t1、t2、t3、t4和姿态R1、R2、R3、R4；S500，中空管状工具的TCP点位置在中空管状工具内部的轴线上，距离中空管状工具的顶面距离为

Figure DDA0002512705810000011
本发明提供的一种中空管状工具的TCP标定方法，快速并准确地确定中空管状结构的TCP。

Figure 202010466105

The invention discloses a TCP calibration method for a hollow tubular tool, which is characterized by comprising the following steps: S100, fixing a calibration rigid sphere with a radius r b in a robot coordinate system, and the diameter of the rigid sphere is larger than the inner wall of the hollow tubular tool Half price rs ; S200, install the hollow tubular tool on the robot's manipulator flange; S300, control the robot's manipulator to move, so that the top surface of the hollow tubular tool is fastened on the surface of the rigid sphere, and the current manipulator method is determined by the robot system position t 1 and attitude R 1 of the blue; S400, repeat step S300 3 times to obtain corresponding positions t 1 , t 2 , t 3 , t 4 and attitudes R 1 , R 2 , R 3 , R 4 ; S500 , hollow The position of the TCP point of the tubular tool is on the axis inside the hollow tubular tool, and the distance from the top surface of the hollow tubular tool is

Figure DDA0002512705810000011
The invention provides a method for calibrating the TCP of a hollow tubular tool, which can quickly and accurately determine the TCP of the hollow tubular structure.

Figure 202010466105

Description

TCP calibration method for hollow tubular tool
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
Figure BDA0002512705790000021
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
Figure BDA0002512705790000031
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)

1.一种中空管状工具的TCP标定方法，其特征在于，包括以下步骤：1. a TCP calibration method of a hollow tubular tool, is characterized in that, comprises the following steps: S100，在机器人坐标系中固定一个半径为
Figure 281348DEST_PATH_IMAGE001
的标定刚性球体，刚性球体的直径大于中空管状工具的内壁半径
Figure 959586DEST_PATH_IMAGE002
；S100, a radius is fixed in the robot coordinate system as
Figure 281348DEST_PATH_IMAGE001
The calibrated rigid sphere whose diameter is larger than the inner wall radius of the hollow tubular tool
Figure 959586DEST_PATH_IMAGE002
; S200，将中空管状工具安装于机器人的机械臂法兰；S200, install the hollow tubular tool on the robotic arm flange of the robot; S300，控制机器人的机械臂移动，使中空管状工具的顶面扣合在刚性球体表面，通过机器人系统确定当前机械臂法兰的位置
Figure 98443DEST_PATH_IMAGE003
和姿态
Figure 744188DEST_PATH_IMAGE004
，所述中空管状工具前端安装有与中空管状工具同轴线的阶梯套筒，所述阶梯套筒的阶梯面与中空管状工具的端面对齐，所述阶梯套筒外端开设有与刚性球体贴合的凹槽，且凹槽包住刚性球体一半，所述阶梯套筒的凹槽球面的球心与阶梯面之间的距离为
Figure 305488DEST_PATH_IMAGE005
，控制机器人的机械臂移动，使所述安装在中空管状工具上的阶梯套筒的凹槽扣合在刚性球体表面，获得位置
Figure 353079DEST_PATH_IMAGE003
和姿态
Figure 475886DEST_PATH_IMAGE004
，再执行下一步，则TCP点位置距离中空管状工具的顶面为
Figure 608928DEST_PATH_IMAGE005
且位于中空管状工具的中轴线上；S300, control the movement of the robotic arm of the robot, so that the top surface of the hollow tubular tool is fastened on the surface of the rigid sphere, and the current position of the flange of the robotic arm is determined by the robot system
Figure 98443DEST_PATH_IMAGE003
and attitude
Figure 744188DEST_PATH_IMAGE004
, the front end of the hollow tubular tool is installed with a stepped sleeve that is coaxial with the hollow tubular tool, the stepped surface of the stepped sleeve is aligned with the end face of the hollow tubular tool, and the outer end of the stepped sleeve is provided with a rigid sphere The groove covers half of the rigid sphere, and the distance between the spherical center of the groove spherical surface of the stepped sleeve and the stepped surface is
Figure 305488DEST_PATH_IMAGE005
, control the movement of the robotic arm of the robot, so that the groove of the stepped sleeve installed on the hollow tubular tool is fastened on the surface of the rigid sphere to obtain the position
Figure 353079DEST_PATH_IMAGE003
and attitude
Figure 475886DEST_PATH_IMAGE004
, and then perform the next step, the distance between the TCP point position and the top surface of the hollow tubular tool is
Figure 608928DEST_PATH_IMAGE005
and is located on the central axis of the hollow tubular tool; S400，重复S300步骤3次，并从不同方向使中空管状工具的顶面扣合在刚性球体表面，获得对应的法兰的位置
Figure 970989DEST_PATH_IMAGE003
、
Figure 810769DEST_PATH_IMAGE006
、
Figure 353746DEST_PATH_IMAGE007
、
Figure 459236DEST_PATH_IMAGE008
和姿态
Figure 378651DEST_PATH_IMAGE004
、
Figure 384522DEST_PATH_IMAGE009
、
Figure 98400DEST_PATH_IMAGE010
、
Figure 143716DEST_PATH_IMAGE011
;S400, repeat step S300 3 times, and fasten the top surface of the hollow tubular tool on the surface of the rigid sphere from different directions to obtain the position of the corresponding flange
Figure 970989DEST_PATH_IMAGE003
,
Figure 810769DEST_PATH_IMAGE006
,
Figure 353746DEST_PATH_IMAGE007
,
Figure 459236DEST_PATH_IMAGE008
and attitude
Figure 378651DEST_PATH_IMAGE004
,
Figure 384522DEST_PATH_IMAGE009
,
Figure 98400DEST_PATH_IMAGE010
,
Figure 143716DEST_PATH_IMAGE011
; S500，通过四点法原理，算出TCP，且中空管状工具的TCP点位置在中空管状工具内部的轴线上，中空管状工具的TCP点位置距离中空管状工具的顶面距离为
Figure 351975DEST_PATH_IMAGE012
。S500, calculate the TCP through the principle of the four-point method, and the position of the TCP point of the hollow tubular tool is on the axis inside the hollow tubular tool, and the distance between the position of the TCP point of the hollow tubular tool and the top surface of the hollow tubular tool is
Figure 351975DEST_PATH_IMAGE012
. 2.如权利要求1所述的中空管状工具的TCP标定方法，其特征在于，所述S400步骤中，重复S300步骤3次，4次的方向依次垂直且不相同。2 . The method for calibrating the TCP of 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 . 3.如权利要求1-2任一项所述的中空管状工具的TCP标定方法，其特征在于，所述刚性球体的材料为不锈钢、陶瓷或石材。3 . The TCP calibration method for a hollow tubular tool according to claim 1 , wherein the rigid sphere is made of stainless steel, ceramics or stone. 4 .
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