CN111844130A - Method and device for correcting pose of robot end tool - Google Patents
Method and device for correcting pose of robot end tool Download PDFInfo
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- CN111844130A CN111844130A CN202010573624.8A CN202010573624A CN111844130A CN 111844130 A CN111844130 A CN 111844130A CN 202010573624 A CN202010573624 A CN 202010573624A CN 111844130 A CN111844130 A CN 111844130A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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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
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The application relates to the technical field of robots and provides a method and a device for correcting the pose of a robot end tool, terminal equipment and a storage medium. The method comprises the following steps: acquiring motion trail data corresponding to a motion trail generated by a tail end tool of the robot executing circular motion in a detection area of the detection device; constructing a current pose matrix of the end tool according to the motion trail data; calculating to obtain a pose compensation matrix according to the current pose matrix and a pre-constructed reference pose matrix; and correcting the pose of the end tool by adopting the pose compensation matrix. By adopting the method, the pose of the tail end tool can be automatically corrected to be the normal pose, and manpower and time resources are saved.
Description
Technical Field
The present application relates to the field of robotics, and in particular, to a method and an apparatus for correcting a pose of a robot end tool, a terminal device, and a storage medium.
Background
During the working process of the robot using the end tool, the end tool is inevitably deformed or displaced, that is, the position and orientation of the end tool are deviated, which causes an error in the running track of the product processed by the end tool, and finally causes the quality of the produced product to be degraded or the consistency to be poor.
At present, when the pose of the end tool of the robot deviates, the pose of the end tool is usually detected and adjusted manually by a worker, which consumes a lot of manpower and time resources.
Disclosure of Invention
In view of this, embodiments of the present application provide a method, an apparatus, a terminal device, and a storage medium for correcting a pose of a robot end tool, which can implement automatic correction of the pose of the robot end tool, and save manpower and time resources.
In a first aspect, an embodiment of the present application provides a method for correcting a pose of a robot end tool, including:
controlling a terminal tool of a robot to perform circular motion in a detection area of a detection device, wherein the detection device is used for detecting a motion track of the terminal tool in the detection area;
acquiring motion trajectory data of the end tool performing circular motion detected by the detection device;
constructing a current pose matrix of the end tool according to the motion trail data;
calculating to obtain a pose compensation matrix according to the current pose matrix and a pre-constructed reference pose matrix, wherein the reference pose matrix is constructed by reference track data detected when the end tool executes circular motion in the detection area under a normal pose;
And correcting the pose of the end tool by adopting the pose compensation matrix.
According to the embodiment of the application, firstly, a tail end tool of a robot is controlled to execute circular motion, and corresponding motion track data is obtained; then, constructing a current pose matrix of the end tool according to the motion trail data, and calculating to obtain a pose compensation matrix according to the current pose matrix and a pre-constructed reference pose matrix; and finally, correcting the pose of the end tool by adopting the pose compensation matrix, thereby automatically correcting the pose of the end tool to be a normal pose and saving manpower and time resources.
Further, the motion trajectory data includes a first circular trajectory formed by an end point of the end tool performing a circular motion, and a second circular trajectory formed by a target point of the end tool performing a circular motion, where the target point is any point on the end tool whose height is different from the end point, and the constructing the current pose matrix of the end tool according to the motion trajectory data includes:
constructing a current attitude vector of the end tool according to the first circular trajectory and the second circular trajectory;
And constructing a current pose matrix of the end tool based on the current attitude vector and the circle center of the first circular track.
To construct a current pose matrix of the end tool, firstly, acquiring an end point position capable of embodying the end tool, wherein the end point position can be obtained through the circle center of a first circular track; secondly, obtaining a vector capable of representing the current posture of the end tool, namely a current posture vector, wherein the current posture vector can be constructed according to the first circular track and the second circular track; and finally, constructing a current pose matrix of the end tool through the current pose vector and the circle center of the first circular track.
Further, the constructing the current pose vector of the end tool from the first circular trajectory and the second circular trajectory comprises:
acquiring a first circle center coordinate of the first circular track and a second circle center coordinate of the second circular track;
and constructing and obtaining the current attitude vector by taking the first circle center coordinate and the second circle center coordinate as end points.
Since the end point and the target point are both points on the end tool, the vector connecting the two points may represent the pose angle of the end tool. When the current attitude vector is constructed, the first circle center coordinate can be used for representing the position of an end point, the second circle center coordinate can be used for representing the position of a target point, and the current attitude vector can be constructed by taking the two coordinate points as the end points of the vector.
Further, the controlling the end tool of the robot to perform a circular motion within the detection area of the detection device includes:
controlling an end point of the end tool to perform a circular motion within a detection area of the detection device;
and after the circular motion of the end point of the end tool is finished, adjusting the height of the end tool, and controlling a target point of the end tool to execute the circular motion in the detection area of the detection device.
When the detection area of the detection device is small and the movement tracks of the endpoint and the target point of the end tool cannot be detected simultaneously, a separate detection mode can be adopted. That is, the end point of the end tool is controlled to perform circular motion in the detection area of the detection device, and the motion track of the end point is detected at the moment; then, the height of the end tool is adjusted, and the target point of the end tool is controlled to perform circular motion in the detection area of the detection device, at which time the motion trajectory of the target point is detected.
Further, the reference trajectory data includes a third circular trajectory formed by an end point of the end tool performing a circular motion, and a fourth circular trajectory formed by a target point of the end tool performing a circular motion, the target point being any point on the end tool whose height is different from the end point, and the reference pose matrix is constructed by:
Constructing a reference attitude vector of the end tool according to the third circular trajectory and the fourth circular trajectory;
and constructing a reference pose matrix of the end tool based on the reference attitude vector and the circle center of the third circular track.
The construction principle of the reference pose matrix is similar to that of the current pose matrix, and the difference is that the motion trail data adopted by the reference pose matrix during construction is acquired by the end tool under the condition of a normal pose. The reference pose matrix records the pose parameters of the end tool in the normal pose, and the current pose matrix is compared with the reference pose matrix to determine the deviation between the current pose parameters and the normal values of the end tool, so that a pose compensation matrix can be calculated.
Further, the correcting the pose of the end tool by using the pose compensation matrix comprises:
calculating to obtain a pose compensation value according to the pose compensation matrix;
and replacing the current pose parameter of the terminal tool with the pose compensation value to finish pose correction of the terminal tool.
And calculating a pose compensation value through a pose compensation matrix, replacing the current pose parameter of the terminal tool with the pose compensation value, and adjusting the current pose parameter of the terminal tool to the pose parameter under the normal pose to finish pose correction of the terminal tool.
Further, before the end tool of the robot is controlled to perform circular motion in the detection area of the detection device, the method further comprises the following steps:
controlling the detection device to detect whether the current pose parameters of the end tool are deviated or not;
and if the current pose parameters of the end tool deviate, executing a step of controlling the end tool of the robot to execute circular motion in a detection area of the detection device and the subsequent steps.
In the actual operation process, only the end tool with the deviated pose needs to execute the pose correction operation. Therefore, before executing the pose correction operation, whether the current pose parameter of the end tool has deviation or not can be detected, and the subsequent pose correction operation is executed only when the current pose parameter has deviation, so that unnecessary pose correction operation can be avoided.
In a second aspect, an embodiment of the present application provides an apparatus for correcting a pose of a robot end tool, including:
the robot comprises a motion track detection module, a motion detection module and a control module, wherein the motion track detection module is used for controlling a tail end tool of the robot to execute circular motion in a detection area of a detection device, and the detection device is used for detecting a motion track of the tail end tool in the detection area;
A trajectory data acquisition module for acquiring motion trajectory data of the end tool performing the circular motion detected by the detection device;
the pose matrix construction module is used for constructing a current pose matrix of the end tool according to the motion trail data;
the compensation matrix calculation module is used for calculating a pose compensation matrix according to the current pose matrix and a pre-constructed reference pose matrix, and the reference pose matrix is constructed by reference track data detected when the terminal tool executes circular motion in the detection area under a normal pose;
and the pose correction module is used for correcting the pose of the end tool by adopting the pose compensation matrix.
In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor, when executing the computer program, implements the method for correcting the pose of the end tool of the robot as set forth in the first aspect of the embodiment of the present application.
In a fourth aspect, the present application provides a computer-readable storage medium, where a computer program is stored, and the computer program, when executed by a processor, implements the method for correcting the pose of the end-of-robot tool as set forth in the first aspect of the present application.
Compared with the prior art, the embodiment of the application has the advantages that: the pose of the robot end tool can be automatically corrected, and manpower and time resources are saved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a robot to which a method for correcting a pose of an end-of-robot tool according to an embodiment of the present application is applied;
fig. 2 is a flowchart of a method for correcting a pose of a robot end-point tool according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a detection apparatus including two pairs of laser detectors according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a circular trajectory obtained when a tip tool with a deviated pose performs a circular motion according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a circular trajectory obtained when a tip tool with an undistorted pose performs a circular motion according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of the rigid body rotating about a spatially-fixed axis according to an embodiment of the present application;
fig. 7 is a structural diagram of an apparatus for correcting a pose of an end-of-robot tool according to an embodiment of the present disclosure;
fig. 8 is a schematic diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular device structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
The terminology used in the following examples is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of this application and the appended claims, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, such as "one or more", unless the context clearly indicates otherwise. It should also be understood that in the embodiments of the present application, "one or more" means one, two, or more than two; "and/or" describes the association relationship of the associated objects, indicating that three relationships may exist; for example, a and/or B, may represent: a alone, both A and B, and B alone, where A, B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
An industrial robot is an automated device that simulates the movements of a human hand and arm, and grips and carries a workpiece or an operating tool according to a predetermined program, trajectory, and other requirements. Referring to fig. 1, a robot structure for the method for correcting the pose of the end tool of the robot according to the present invention is schematically shown, and the robot includes a base 101, an arm 102, a wrist 103, and an end effector 104, where the end effector 104 is a special tool, such as a welding gun, a spray gun, an electric drill, a screw, etc., and the special tool is the end tool of the present invention. When the robot uses the end tool for operation, the end tool is inevitably displaced, so that errors are easily generated on the running track during the operation of the end tool, and finally the quality of the produced product is reduced or the consistency is poor. In the prior art, the pose of the end tool is manually adjusted, so that time and labor are consumed, and the correction accuracy is low; by adopting the method provided by the application, the pose of the robot end tool can be automatically corrected, the operation quality of the robot end tool is improved, and the labor and the time are saved.
Fig. 2 shows a flowchart of a method for correcting a pose of a robot end-of-tool provided by the present application, including:
201. Controlling a terminal tool of a robot to perform circular motion in a detection area of a detection device, wherein the detection device is used for detecting a motion track of the terminal tool in the detection area;
first, the end tool of the robot is controlled to perform a circular motion within a detection area of a preset one of the detection devices.
In one embodiment, the detection means may comprise two or more pairs of laser detectors, each pair of laser detectors comprising an emitter and a receiver, the emitter and receiver being arranged relative to each other so as to ensure that laser light emitted by the emitter is received by the receiver. When multiple pairs of laser detectors are provided, all the emitted laser beams intersect at a detection point 302, where the detection point 302 is the position of the end point of the end tool where no deviation occurs. The detection area may be an area enclosed by the positions where the transmitter and the receiver are arranged, and particularly referring to fig. 3, fig. 3 shows a schematic structural diagram of a detection device including two pairs of laser detectors. As shown, the two pairs of laser detectors are arranged perpendicular to each other, and the detection area is a rectangular detection area 301.
In one embodiment, because the robot is in different working environments, the diameter range (minimum diameter to large diameter) for executing circular motion can be set according to the specific working space of the end tool of the robot; the maximum value of the circular motion diameter is controlled to avoid that the tail end tool exceeds the detectable range of the detection device when executing motion and touches the detection device to cause secondary deviation of the pose of the tail end tool; the minimum value of the circular motion diameter is controlled to facilitate more accurate detection of the motion trajectory data of the end tool, and if the range is too small, the difference between trajectory data points is small and error interference increases. The direction can be unified while the end tool performs a circular motion. For example, in one deviation detection, all movements performed are clockwise or all movements performed are counterclockwise, which may reduce detection errors. Meanwhile, in order to acquire more accurate data, the average value of the motion trajectory data can be calculated after the end tool performs 3-5 circular motions, so that the accidental error caused by too few motion times can be avoided; of course, the number of movements should not be too large, which may increase the accumulated error of the robot. In addition to controlling the number of times the end tool performs a circular motion to increase the accuracy of data acquisition, the accuracy of data acquisition may also be increased by increasing the number of trajectory data points acquired in a single circular motion. Since the number of trajectory data points that can be acquired per circular movement of the end tool is related to the logarithm of the detection means, the logarithm of the laser detector can be increased. Assuming that the laser detector pair number of the detection device is N, the number of trajectory data points that can be obtained by one motion is 2N, and the larger N is, the more data points are acquired by a single circular motion. Specifically, when the detection apparatus shown in fig. 3 is used, 4 trajectory data points can be obtained by performing one circular motion of the end tool. The trajectory data points are obtained under a base coordinate system of the robot, wherein the base coordinate system is a coordinate system of a reference robot base and is a common reference coordinate system of each movable rod piece and each hand part of the robot. The capture of the motion track is the coordinate moving track in the machine base coordinate system when a certain point on the end tool moves.
In the actual operation process, only the end tool with the deviated pose needs to execute the pose correction operation. Therefore, before executing the pose correction operation, whether the current pose parameter of the end tool has deviation or not can be detected, and the subsequent pose correction operation is executed under the condition that the current pose parameter has deviation. That is, before step 201, the method may further include:
(1) controlling the detection device to detect whether the current pose parameters of the end tool are deviated or not;
(2) if the current pose parameter of the end tool deviates, step 201 and 205 are executed.
(3) And if the current pose parameters of the terminal tool do not deviate, the robot can be directly controlled to operate.
The pose of the end tool refers to the position and the attitude of the end tool, wherein the position can be represented by detecting the coordinate value of the end point of the end tool under the machine base coordinate system, and the attitude can be represented by two points on the end tool. Therefore, to detect whether or not the pose of the end tool deviates, at least two points on the end tool need to be detected. When only two points are detected, one of the points is an end point of the end tool and the other point is a target point on the end tool, the target point may be any point on the end tool having a different height from the end point. Aiming at different working environments of the robot, two detection methods can be selected, one is that aiming at a detection device with a smaller detection area, the height of the end tool needs to be adjusted to respectively detect the deviation conditions of the end point and the target point of the end tool; another detection device with a large enough detection area can simultaneously detect the deviation of the end point and the target point on the end tool at one time.
Although there are two detection methods, the detection principle is that when the end tool has no deviation, the end point of the end tool and the position of the target point are the intersection point of the laser ray, and the laser ray emitted by the emitter can be completely shielded from being received by the receiver; once the deviation occurs, the receiver can receive the laser beam. For example, during detection, after the emitter emits laser rays, the deviation conditions of the end point and the target point are detected respectively or simultaneously, and if all the laser rays are blocked, that is, the receiver does not receive the laser rays, it can be judged that the pose of the end tool does not deviate; and after the emitter emits laser rays, respectively or simultaneously detecting the deviation conditions of the end point and the target point, and if the end point or the target point does not block all the laser rays, namely the receiver receives the laser rays, judging that the pose of the end tool has deviation.
For better understanding of the above two detection methods, the following description will be made by examples.
In one embodiment, the detection device shown in fig. 3 is used for detecting a small detection area formed by the detection device. The step of controlling the detection device to detect whether the current pose parameter of the end tool is deviated comprises the following steps: starting the detection device to form a rectangular detection area 301 as shown in fig. 3, and when the end tool of the robot is in a normal posture without deviation, the end point of the end tool will block all laser rays emitted by the laser detector; after the height of the tail end tool of the robot is adjusted, the target point of the tail end tool is detected, and all laser rays emitted by the laser detector can be shielded; at this time, the robot is directly controlled to perform the work. However, if the end point or the target point of the end tool does not block all the laser rays emitted from the emitter, it indicates that the current pose parameter of the end tool has a deviation, and step 201 and step 205 need to be performed to complete the correction of the deviation.
In the above embodiment, it is obviously inconvenient that whether the current pose parameter of the end tool deviates or not needs to be detected at two heights. Therefore, in one embodiment, another detection device is used for detection in case that the detection area formed by the detection device is large enough. The detection device comprises more than four pairs of laser detectors. The detection device is exemplified by a four-pair laser detector, wherein two pairs of laser detectors are arranged in the same manner as the laser detectors shown in fig. 3, and the other two pairs of laser detectors are arranged to differ only in height from the first two pairs of laser detectors. Assuming that there are one set of two pairs of vertically disposed laser detectors, then the first set of laser detectors is positioned to detect whether the end point of the end tool has shifted; and the other set is set at a preset height for detecting whether the target point of the end tool deviates. Therefore, when the detection device is controlled to detect whether the current pose parameter of the end tool has the deviation, only the detection device needs to be started, and whether the end point and the target point of the end tool completely shield all laser rays emitted by the emitter can be detected at one time, so that whether the step 201 and the step 205 are executed to finish the correction of the deviation is determined, the detection time is effectively shortened, and the detection efficiency and the practicability of the detection device are improved.
202. Acquiring motion trajectory data of the end tool performing circular motion detected by the detection device;
after the end tool of the robot is controlled to perform the circular motion within the detection area of the detection device, the motion trajectory data of the end tool performing the circular motion detected by the detection device may be acquired. Specifically, the motion trajectory data may include a first circular trajectory formed by an end point of the end tool performing a circular motion, and a second circular trajectory formed by a target point of the end tool performing a circular motion, the target point being any point on the end tool whose height is different from the end point. When the second detection device is used, the target point is the point where the laser ray emitted by the second group of laser detectors meets the end tool.
203. Constructing a current pose matrix of the end tool according to the motion trail data;
according to the information contained in the motion trail data, a current pose matrix of the end tool can be constructed. The current pose matrix includes current pose parameters of the end tool, such as end point position and pose of the end tool in the base coordinate system. The positions of the end points are known as robot TCP positions; the pose of the end tool, i.e. the robot TCP pose.
Therefore, in one embodiment, to construct the current pose matrix, the endpoint position and the pose of the end-point tool are obtained, which specifically includes:
(1) constructing a current attitude vector of the end tool according to the first circular trajectory and the second circular trajectory;
(2) and constructing a current pose matrix of the end tool based on the current attitude vector and the circle center of the first circular track.
For step (1), first, to construct the current attitude vector, it is necessary to first obtain a first circular trajectory and a second circular trajectory, in this embodiment, the circular motion is obtained by controlling the end tool of the robot to perform in the detection area of the detection device, and there are two ways similar to the obtaining method of the two circular trajectories and the detection method of whether the end tool deviates.
For a detection device with a small detection area, in one embodiment, the detection device shown in fig. 3 is used for detection, and the controlling the end tool of the robot to perform circular motion in the detection area of the detection device includes: controlling an end point of the end tool to perform a circular motion within a detection area of the detection device; and after the circular motion of the end point of the end tool is finished, adjusting the height of the end tool, and controlling a target point of the end tool to execute the circular motion in the detection area of the detection device. When the detection area is limited, the first circular track and the second circular track can be respectively obtained by adjusting the height of the end tool, so that the practicability of the detection method in the embodiment is improved, and the detection method is suitable for more working scenes.
For a detection device with a large detection area, in an embodiment, another detection device may be adopted, and the structures of the detection device and the devices used in detecting the pose parameters of the end tool are the same, which is not described herein again. The terminal tool of the control robot executes circular motion in the detection area of the detection device only once, so that a first circular track formed by the end point of the terminal tool and a second circular track formed by the target point can be obtained, secondary detection is performed without adjusting the height of the terminal tool, the practicability of the detection device is improved, and the detection time is effectively shortened.
Secondly, the current attitude vector can be composed of any two points of which the slope after the connection on the two circular tracks is the same as the slope after the connection of the centers of the two circular tracks. Preferably, in one embodiment, the constructing the current pose vector of the end tool from the first circular trajectory and the second circular trajectory includes: acquiring a first circle center coordinate of the first circular track and a second circle center coordinate of the second circular track; and constructing and obtaining the current attitude vector by taking the first circle center coordinate and the second circle center coordinate as end points. The real posture of the tail end tool can be more accurately represented by acquiring the coordinates of the centers of circles of the two circular tracks as two end points of the current posture vector. For convenience of description, in the following examples, two circle centers are connected to form the current attitude vector for illustration.
In order to more intuitively understand the obtained first circular trajectory and the second circular trajectory, referring to fig. 4, fig. 4 is a schematic circular trajectory diagram formed by circular trajectory data obtained by detection after the end tool in the current state (with a shifted pose) performs circular motion in the detection area of the detection device. Wherein C is10The coordinate value represents the center coordinate of the first circular track, namely the endpoint position coordinate of the end tool; c11The coordinate value represents a center coordinate of the second circular trajectory, which is a position coordinate of a target point of the end tool. The current attitude vector can be constructed by two circle center coordinates
For step (2), two main pieces of information for constructing the current pose matrix, namely the end point position coordinates C of the end tool10And current attitude vector
For constructing a current pose vector of the end tool. Since the construction of the current pose matrix is linked to the construction of the reference pose matrix, the specific construction steps are described after the construction of the reference pose matrix in step 204.
204. Calculating to obtain a pose compensation matrix according to the current pose matrix and a pre-constructed reference pose matrix, wherein the reference pose matrix is constructed by reference track data detected when the end tool executes circular motion in the detection area under a normal pose;
To reset the deviated end tool, a pose matrix in a normal posture needs to be constructed in advance to be used as a reference for detecting deviation, namely a reference pose matrix is constructed in advance. Two pieces of information required for constructing the reference pose matrix are similar to those required for constructing the current pose matrix, and can be constructed by reference trajectory data detected when the end tool performs circular motion in the detection area in a normal pose, wherein the reference trajectory data includes a third circular trajectory formed by an end point of the end tool performing circular motion, and a fourth circular trajectory formed by a target point of the end tool performing circular motion, the target point being any point on the end tool whose height is different from the end point, and the reference pose matrix is constructed by the following steps:
constructing a reference attitude vector of the end tool according to the third circular trajectory and the fourth circular trajectory;
and constructing a reference pose matrix of the end tool based on the reference attitude vector and the circle center of the third circular track.
The third circular track and the fourth circular track may also be detected and obtained by two detection devices, and the method is the same as the method for obtaining the first circular track and the second circular track in step 203, and is not described herein again.
For a more intuitive understanding of the obtained third circular trajectory and fourth circular trajectory, refer to fig. 5. Fig. 5 shows a schematic diagram of a circular trajectory obtained by the tip tool performing a circular motion in a normal posture state. Wherein C is00The coordinate value represents the center coordinate of the third circular track, namely the endpoint position coordinate of the end tool; c01The coordinate value represents a center coordinate of the fourth circular trajectory, which is a position coordinate of a target point of the end tool. The reference attitude vector can be constructed by two circle center coordinates
In one embodiment, the step of constructing a reference pose matrix comprises: firstly, obtaining the coordinate C of the end point of the end tool under the normal pose00Let C be00Has a coordinate value of (X)0，Y0，Z0) Mixing C with00The coordinate values of (a) are converted into a reference position matrix. Second, a current attitude vector is obtained
And the current attitude vector
And converting the direction cosine of the three coordinate axes of the machine base coordinate system. Because direct conversion is difficult, a reference coordinate system can be constructed at the end point of the end tool, and conversion can be realized based on the orthogonal relation between the reference coordinate system constructed under the normal pose and the base coordinate system; obtaining a reference attitude vector
After the direction of three coordinate axes of the engine base coordinate system is cosine, a reference attitude matrix can be obtained; and finally, constructing a reference pose matrix by using the reference position matrix and the reference pose matrix, wherein the reference pose matrix is a homogeneous matrix.
After the reference pose matrix is constructed, a current pose matrix can be constructed, and in one embodiment, when the current pose matrix of the end tool is constructed, firstly, the current position coordinates C of the end point of the end tool are obtained10Let C be10Has a coordinate value of (X)1，Y1，Z1) Mixing C with10The coordinate values of (2) are converted into a current position matrix. Secondly, obtaining the current attitude vector
Due to the current attitude vector
For convenience of representation, a first coordinate system can be constructed by an end point of the end tool. Because the coordinate system in the current state can not be directly converted into the machine base coordinate system, the current attitude vector can be converted into the current attitude vector
And a reference attitude vector
And performing cross multiplication to construct a second coordinate system which is orthogonal to the first coordinate system and the reference coordinate system. By conversion between orthogonal coordinate systemsCurrent attitude vector
Expressing the direction cosine on three coordinate axes of the engine base coordinate system, and obtaining a current attitude matrix; and finally, constructing a current pose matrix according to the current position matrix and the current pose matrix, wherein the current pose matrix is also a homogeneous matrix.
After the reference pose matrix and the current pose matrix are constructed, a pose compensation matrix can be obtained by calculating according to a pose compensation model formula. The pose compensation model used in the application is a compensation model based on POE (exponential product), so the pose of the robot end tool is corrected by adopting the POE compensation model, because the D-H model adopted in the prior art can be singular when two continuous joint axes of the robot are parallel or approximately parallel, but the POE model can be adopted to avoid the situation. For the sake of understanding, the pose compensation model will be briefly described and derived below.
The pose of the end tool of the robot is described with reference to rigid body motion rotating about a fixed axis of space, and in particular with reference to fig. 6, which is a schematic representation of rigid body motion rotating about a fixed axis of space. Rigid body motion corresponds to motion with a passing point q ═ 0, l1And, 0) is the zero pitch rotation of the shaft (0, 0, 1). Corresponding rotational amount of movement is
In the form of matrix index
When a point is described by homogeneous coordinates, the matrix gives the transformation from the starting coordinate of a point on the rigid body with respect to the a-system (θ ═ 0) to the coordinate after the point has been rotated around the axis by an angle θ.
Rigid body transformations (also describing the bits of the rigid body) that transform the coordinates of a point in the B system to the coordinates in the A systemPosture) of
Wherein
By exponential form and matrix multiplication
To make the pose description of the end tool of the robot more concise, a unit matrix is first defined as a unit element, with matrix multiplication as the rotating group of the algorithm:
SO(3)＝{R∈R3×3|RTR＝I，detR＝1}
the rotation group SO (3) is a direction cosine of the attitude of the end tool in three axes of the base coordinate system, and has a mass of 1. Then to facilitate the detection of the end-point position of the end-tool, an anti-symmetric vector space so (3) is defined:
Where ω is used to represent the position matrix into which the end point positions of the end tool are translated. Next, an operator ^:
^R3→so(3)，
the operator exp is then defined:
exp：so(3)→SO(3)，
where "→" denotes a mapping. The conversion operation is realized by using an exponential product operation formula.
Defining a pose matrix SE (3) of the robot system:
defining:
defining:
^:R6→se(3)，
wherein v ═ ω × q
ξ refers to the axis of rotation that each joint of the robot establishes the coordinate system.
So far, a POE formula is introduced into a pose expression of a robot end tool. The conversion operation of the matrix realized by using the exponential product operation formula is the process of converting the vorticity xi into the SO (3) matrix. The physical meaning of the spin ξ is: the robot joint comprises two parts, wherein v is-omega × q, and omega is a three-dimensional vector of a rotating shaft of the robot joint under a robot base coordinate system; and q is also a three-dimensional vector and represents the position coordinates of the origin of a coordinate system established by the rotating shaft of the joint on the robot under the coordinate system of the base of the robot.
The following transformation is defined to represent the transformation of the spin ξ:
Ad:SE(3)→R6×6，
based on the aforementioned mathematical basis of an industrial robot, the forward kinematics of the robot is described as follows:
and g is a pose matrix of the robot end tool, and represents the coordinate transformation relation among all joints. Therefore, a pose compensation model of the end tool based on the exponential product and the robot rotation model can be constructed:
Wherein the content of the first and second substances,
in order to form a pose compensation matrix,
is a matrix of the front position and posture,
is a reference pose matrix.
After a pose compensation model is deduced, the constructed current pose matrix can be used
And a reference pose matrix
Solving a pose compensation matrix by substituting the pose compensation matrix into the terminal tool compensation model
For subsequent correction.
205. And correcting the pose of the end tool by adopting the pose compensation matrix.
Finally, the pose compensation matrix is adopted to correct the pose of the end tool, and the specific correction mode can include: calculating to obtain a pose compensation value according to the pose compensation matrix; and replacing the current pose parameter of the terminal tool with the pose compensation value to finish pose correction of the terminal tool. Postulated derived pose compensation matrix
One of P representing the position deviation1Matrix sum R representing attitude deviation1A matrix, wherein,
p is above1Matrix sum R1The matrix can be converted to an attitude vector:
further solving pose compensation values (x, y, z, alpha, beta, gamma), wherein (x, y, z) represents the position deviation amount of the end point of the end tool, and (alpha, beta, gamma) represents the attitude deviation amount of the end tool. And then, replacing the pose compensation value into the current pose parameter of the end tool, so as to realize automatic compensation and correction of the pose of the end tool.
According to the method and the device, the pose compensation matrix is solved and converted into the pose compensation value, the current pose parameter of the end tool is replaced, and pose correction of the end tool is completed. The pose of the robot end tool can be automatically corrected, and manpower and time resources are saved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 7 shows a block diagram of a structure of an apparatus for correcting a pose of an end-of-robot tool according to an embodiment of the present application, and only a part related to the embodiment of the present application is shown for convenience of description.
Referring to fig. 7, the apparatus includes:
a motion track detection module 401, configured to control a terminal tool of the robot to perform circular motion in a detection area of a detection device, where the detection device is configured to detect a motion track of the terminal tool in the detection area;
a trajectory data acquisition module 402 for acquiring motion trajectory data of the end tool performing circular motion detected by the detection device;
A pose matrix construction module 403, configured to construct a current pose matrix of the end tool according to the motion trajectory data;
a compensation matrix calculation module 404, configured to calculate a pose compensation matrix according to the current pose matrix and a pre-constructed reference pose matrix, where the reference pose matrix is constructed from reference trajectory data detected when the end tool performs circular motion in the detection area under a normal pose;
and a pose correction module 405, configured to correct the pose of the end-point tool by using the pose compensation matrix.
Further, the motion trajectory data includes a first circular trajectory formed by an end point of the end tool performing a circular motion, and a second circular trajectory formed by a target point of the end tool performing a circular motion, where the target point is any point on the end tool with a height different from the end point, and the pose matrix building module 403 may include:
a current attitude vector construction unit, configured to construct a current attitude vector of the end tool according to the first circular trajectory and the second circular trajectory;
and the current pose matrix constructing unit is used for constructing a current pose matrix of the end tool based on the current attitude vector and the circle center of the first circular track.
Further, the current pose vector construction unit may include:
the circle center coordinate acquiring subunit is used for acquiring a first circle center coordinate of the first circular track and a second circle center coordinate of the second circular track;
and the current attitude vector construction subunit is used for constructing and obtaining the current attitude vector by taking the first circle center coordinate and the second circle center coordinate as end points.
Further, the motion trajectory detection module 401 may further include:
a first circular track detection unit for controlling an end point of the end tool to perform a circular motion in a detection area of the detection device;
and the second circular track detection unit is used for adjusting the height of the end tool and controlling a target point of the end tool to execute circular motion in a detection area of the detection device after the circular motion of the end point of the end tool is finished.
Further, the reference trajectory data includes a third circular trajectory formed by an end point of the end tool performing a circular motion, and a fourth circular trajectory formed by a target point of the end tool performing a circular motion, where the target point is any point on the end tool with a height different from the end point, and the compensation matrix calculation module 404 may further include:
A reference attitude vector construction unit configured to construct a reference attitude vector of the end tool from the third circular trajectory and the fourth circular trajectory;
and the reference pose matrix construction unit is used for constructing a reference pose matrix of the end tool based on the reference attitude vector and the circle center of the third circular track.
Further, the pose correction module 405 may further include:
the pose compensation value calculation unit is used for calculating a pose compensation value according to the pose compensation matrix;
and the pose correction unit is used for replacing the current pose parameter of the end tool by the pose compensation value to finish pose correction of the end tool.
Further, the apparatus for correcting the pose of the robot end-point tool may further include:
the pose deviation detection module is used for controlling the detection device to detect whether the current pose parameters of the end tool deviate or not; and if the current pose parameters of the end tool deviate, executing a step of controlling the end tool of the robot to execute circular motion in a detection area of the detection device and the subsequent steps.
The embodiment of the present application further provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the methods for correcting the pose of the robot end tool as proposed in the present application when executing the computer program.
Embodiments of the present application also provide a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the method for correcting the pose of the robot end tool as proposed in the present application.
The embodiment of the present application further provides a computer program product, which when running on a terminal device, causes the terminal device to execute the steps of the method for correcting the pose of the end-of-robot tool proposed in the present application.
Fig. 8 is a schematic structural diagram of a terminal device according to an embodiment of the present application. As shown in fig. 8, the terminal device 5 of this embodiment includes: at least one processor 50 (only one shown), a memory 51, and a computer program 52 stored in the memory 51 and executable on the at least one processor 50, the processor 50 implementing the steps in any of the above-described embodiments of a method of correcting pose of an end-of-robot-tool when executing the computer program 52.
The terminal device 5 may be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices, and a smart watch, a smart bracelet and other wearable devices. The terminal device may include, but is not limited to, a processor 50, a memory 51. Those skilled in the art will appreciate that fig. 8 is merely an example of the terminal device 5, and does not constitute a limitation of the terminal device 5, and may include more or less components than those shown, or combine some components, or different components, such as an input-output device, a network access device, and the like.
The processor 50 may be a Central Processing Unit (CPU), and the processor 50 may be other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may in some embodiments be an internal storage unit of the terminal device 5, such as a hard disk or a memory of the terminal device 5. The memory 51 may also be an external storage device of the terminal device 5 in other embodiments, such as a plug-in hard disk, a smart card (SMC), a Secure Digital (SD) card, a flash card (FlashCard), and the like, which are provided on the terminal device 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the terminal device 5. The memory 51 is used for storing operating means, applications, bootloaders (bootloaders), data and other programs, such as program codes of the computer programs, etc. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the above-mentioned apparatus may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical functional division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another device, 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, devices or units, and may be in an electrical, mechanical 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 network 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 application 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 storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or apparatus capable of carrying computer program code to a terminal device, recording medium, computer memory, Read-only memory (ROM), random-access memory (RAM), electrical carrier wave signals, telecommunications signals, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A method of correcting a pose of an end-of-tool of a robot, comprising:
controlling a terminal tool of a robot to perform circular motion in a detection area of a detection device, wherein the detection device is used for detecting a motion track of the terminal tool in the detection area;
acquiring motion trajectory data of the end tool performing circular motion detected by the detection device;
constructing a current pose matrix of the end tool according to the motion trail data;
calculating to obtain a pose compensation matrix according to the current pose matrix and a pre-constructed reference pose matrix, wherein the reference pose matrix is constructed by reference track data detected when the end tool executes circular motion in the detection area under a normal pose;
And correcting the pose of the end tool by adopting the pose compensation matrix.
2. The method of correcting the pose of an end tool of a robot according to claim 1, wherein the motion trajectory data includes a first circular trajectory formed by end points of the end tool performing a circular motion and a second circular trajectory formed by target points of the end tool performing a circular motion, the target points being any points on the end tool having a different height from the end points, and the constructing the current pose matrix of the end tool from the motion trajectory data includes:
constructing a current attitude vector of the end tool according to the first circular trajectory and the second circular trajectory;
and constructing a current pose matrix of the end tool based on the current attitude vector and the circle center of the first circular track.
3. The method of revising robot end-tool pose as recited in claim 2, wherein said constructing the current pose vector of the end-tool from the first circular trajectory and the second circular trajectory comprises:
acquiring a first circle center coordinate of the first circular track and a second circle center coordinate of the second circular track;
And constructing and obtaining the current attitude vector by taking the first circle center coordinate and the second circle center coordinate as end points.
4. The method of correcting the pose of an end tool of a robot according to claim 2, wherein said controlling the end tool of the robot to perform a circular motion within a detection area of a detection device comprises:
controlling an end point of the end tool to perform a circular motion within a detection area of the detection device;
and after the circular motion of the end point of the end tool is finished, adjusting the height of the end tool, and controlling a target point of the end tool to execute the circular motion in the detection area of the detection device.
5. The method of correcting the pose of an end tool of a robot according to claim 1, wherein the reference trajectory data includes a third circular trajectory formed by an end point of the end tool performing a circular motion and a fourth circular trajectory formed by a target point of the end tool performing a circular motion, the target point being any point on the end tool different in height from the end point, the reference pose matrix is constructed by:
constructing a reference attitude vector of the end tool according to the third circular trajectory and the fourth circular trajectory;
And constructing a reference pose matrix of the end tool based on the reference attitude vector and the circle center of the third circular track.
6. The method of correcting the pose of a robotic end tool of claim 1, wherein said correcting the pose of the end tool with the pose compensation matrix comprises:
calculating to obtain a pose compensation value according to the pose compensation matrix;
and replacing the current pose parameter of the terminal tool with the pose compensation value to finish pose correction of the terminal tool.
7. The method of correcting the pose of an end tool of a robot according to any one of claims 1 to 6, further comprising, before controlling the end tool of the robot to perform a circular motion within a detection area of a detection device:
controlling the detection device to detect whether the current pose parameters of the end tool are deviated or not;
and if the current pose parameters of the end tool deviate, executing a step of controlling the end tool of the robot to execute circular motion in a detection area of the detection device and the subsequent steps.
8. An apparatus for correcting a pose of an end-point tool of a robot, comprising:
The robot comprises a motion track detection module, a motion detection module and a control module, wherein the motion track detection module is used for controlling a tail end tool of the robot to execute circular motion in a detection area of a detection device, and the detection device is used for detecting a motion track of the tail end tool in the detection area;
a trajectory data acquisition module for acquiring motion trajectory data of the end tool performing the circular motion detected by the detection device;
the pose matrix construction module is used for constructing a current pose matrix of the end tool according to the motion trail data;
the compensation matrix calculation module is used for calculating a pose compensation matrix according to the current pose matrix and a pre-constructed reference pose matrix, and the reference pose matrix is constructed by reference track data detected when the terminal tool executes circular motion in the detection area under a normal pose;
and the pose correction module is used for correcting the pose of the end tool by adopting the pose compensation matrix.
9. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method of correcting the pose of a robot end-tool according to any one of claims 1 to 7.
10. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the method of correcting the pose of an end-of-robot tool according to any one of claims 1 to 7.
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