CN112476435B - Calibration method and calibration device for gravity acceleration direction and storage medium - Google Patents
Calibration method and calibration device for gravity acceleration direction and storage medium Download PDFInfo
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- CN112476435B CN112476435B CN202011346226.9A CN202011346226A CN112476435B CN 112476435 B CN112476435 B CN 112476435B CN 202011346226 A CN202011346226 A CN 202011346226A CN 112476435 B CN112476435 B CN 112476435B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
The application discloses a calibration method, a calibration device and a storage medium for gravity acceleration direction, the calibration method is applied to a robot, a calibration tool is installed on a tail end flange of the robot, and the calibration method comprises the following steps: when the robot drives the calibration tool to move until the tail end of the calibration tool touches a horizontal reference plane to form a contact point on the reference plane, recording the pose parameters of the robot; repeatedly executing the steps until a preset number of contacts are formed on the reference plane, wherein the preset number is at least three; and determining a direction vector of the gravity acceleration direction under a target coordinate system based on the recorded pose parameters and the position of the tail end of the calibration tool relative to the tail end flange. The calibration method provided by the application can simply and quickly finish the calibration of the gravity acceleration direction.
Description
Technical Field
The present disclosure relates to the field of robotics, and in particular, to a calibration method, a calibration apparatus, and a storage medium for gravitational acceleration direction.
Background
With the development of robot technology, dynamics-based related functions such as collision detection, dragging teaching and the like are widely applied, in these applications, the description of the gravity vector under a robot coordinate system needs to be set, and whether the gravity vector is set accurately or not will have a great influence on the effect of these dynamics applications, so that how to accurately measure the gravity vector is very important.
Disclosure of Invention
The technical problem mainly solved by the application is to provide a calibration method, a calibration device and a storage medium for the direction of the gravitational acceleration, which can simply and quickly complete the calibration of the direction of the gravitational acceleration.
In order to solve the technical problem, the application adopts a technical scheme that: the calibration method of the gravity acceleration direction is applied to a robot, a calibration tool is installed on a tail end flange of the robot, and the calibration method comprises the following steps: when the robot drives the calibration tool to move until the tail end of the calibration tool touches a horizontal reference plane to form a contact point on the reference plane, recording the pose parameters of the robot; repeatedly executing the steps until a preset number of contacts are formed on the reference plane, wherein the preset number is at least three; and determining a direction vector of the gravity acceleration direction under the target coordinate system based on the recorded pose parameters and the position of the tail end of the calibration tool relative to the tail end flange.
In order to solve the above technical problem, another technical solution adopted by the present application is: the calibration device for the gravitational acceleration direction utilizes a calibration tool installed on an end flange of a robot to calibrate the gravitational acceleration direction, and comprises a processor and a memory, wherein the processor is coupled with the memory, program data are stored in the memory, and the processor executes the program data in the memory to realize the steps of the method.
In order to solve the above technical problem, another technical solution adopted by the present application is: there is provided a computer readable storage medium having stored thereon a computer program executable by a processor to perform the steps of the above method.
The beneficial effect of this application is: the method can finish the calibration of the gravity acceleration direction only by utilizing the calibration tool arranged on the tail end flange, and is simple and rapid.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced 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 creative efforts. Wherein:
FIG. 1 is a schematic view of the construction of a robot according to the present application;
FIG. 2 is a schematic diagram of the construction of the marking tool of FIG. 1;
FIG. 3 is a schematic flow chart diagram illustrating an embodiment of a method for calibrating a gravitational acceleration direction according to the present application;
FIG. 4 is a schematic flowchart of step S130 in an application scenario in FIG. 3;
FIG. 5 is a schematic diagram of a D-H model;
FIG. 6 is a schematic flowchart of step S130 in FIG. 3 in another application scenario;
FIG. 7 is a schematic flowchart of step S130 in FIG. 3 in another application scenario;
FIG. 8 is a schematic structural diagram of an embodiment of a calibration apparatus for gravitational acceleration direction according to the present application;
FIG. 9 is a schematic structural diagram of an embodiment of a computer-readable storage medium according to the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The calibration method for the gravity acceleration direction is applied to a robot, and is applicable to robots with three or more axes, such as a three-axis robot and a six-axis robot.
As shown in fig. 1 and 2, a calibration tool 110 is mounted on the end flange 101 of the robot 100, the calibration tool 110 includes a mounting plate 111 and a calibration rod 112, wherein an end of the calibration rod 112 abuts against a disk surface of the mounting plate 111, a mounting hole 1111 is formed in the mounting plate 111, a locking member passes through the mounting hole 1111 to fix the calibration tool 110 and the end flange 101, and in an application scenario, the calibration rod 112 is vertically disposed on the mounting plate 111.
Meanwhile, the execution main body of the calibration method for the gravity acceleration direction is a calibration device (hereinafter referred to as a calibration device) for the gravity acceleration direction, and the calibration device can be independent of the robot or integrated on the robot, and is not limited herein.
Referring to fig. 3, the calibration method of the gravity acceleration direction includes:
s110: when the robot 100 drives the calibration tool 110 to move until the end of the calibration tool 110 touches a horizontal reference plane to form a contact point on the reference plane, the pose parameters of the robot 100 are recorded.
Specifically, the user can manipulate the robot 100 by the teach pendant so that the tip of the calibration tool 110 touches a horizontal reference plane to form a touch point on the reference plane, and the calibration device records the pose parameter of the robot 100 when the tip of the calibration tool 110 touches the reference plane to form the touch point.
The pose parameters of the robot 100, which may be the rotation angle and the displacement distance of each joint of the robot 100, are obtained through encoders or rotary transformers installed at each joint of the robot 100.
In the present embodiment, the posture parameter is a rotation angle of each joint of the robot 100, that is, the posture parameter is a rotation angle of each axis of the robot 100.
S120: it is determined whether a preset number of contacts have been formed on the reference plane, wherein the preset number is at least three.
If yes, go to step S130, otherwise, go back to step S110.
Specifically, step S110 is performed a plurality of times until the end of the calibration tool 110 forms a preset number of touch points on the reference plane, the preset number being at least three, for example, three, five or more, and in an application scenario, the preset number being three.
For convenience of explanation, the following description will be made with a preset number of three.
S130: based on the recorded pose parameters and the position of the tip of the calibration tool 110 relative to the tip flange 101, a direction vector of the gravitational acceleration direction in the target coordinate system is determined.
Specifically, the target coordinate system is a fixed coordinate system, that is, the origin, the X-axis direction, the Y-axis direction, and the Z-axis direction of the target coordinate system are fixed, wherein the target coordinate system may be a base coordinate system, a workpiece coordinate system, a user coordinate system, a world coordinate system, or a joint coordinate system of the robot 100, and is not limited herein.
In an application scenario, as shown in fig. 4, step S130 specifically includes:
s131: based on the pose parameters and the position of the tip of the calibration tool 110 relative to the tip flange 101, the coordinates of the corresponding contact in the base coordinate system are calculated.
Firstly, a transformation matrix of a flange coordinate system corresponding to the contact point relative to a base coordinate system is calculated according to the pose parameters, wherein the flange coordinate system is an axis coordinate system of a tail end axis of the robot 100.
Specifically, the flange coordinate system is an axis coordinate system of the end axis of the robot 100, the origin of the axis coordinate system is located at the center of the disc surface of the end flange 101, the X axis and the Y axis rotate along with the rotation of the end axis of the robot 100, and the Z axis is perpendicular to the end flange 101 and faces outwards, it can be understood that the positions of the end axis of the robot 100 are different, the contact points formed on the reference plane by the end of the calibration tool 110 are different, and the corresponding flange coordinate systems are also different. The base coordinate system is a coordinate system unique to the robot 100, and the base coordinate system does not change as long as the mounting position of the robot 100 does not change based on the base setting of the robot 100.
Wherein a kinematics forward solution algorithm can be used to calculate a transformation matrix of the flange coordinate system corresponding to the contact with respect to the base coordinate system.
The kinematic forward solution algorithm is described below:
the kinematics forward solution algorithm of the robot refers to a process of solving the pose of the end effector of the robot by giving the structural parameters of each rod piece and the motion parameters of each joint of the robot. At present, a robot kinematics model widely applied in a robot kinematics forward solution algorithm is a delavirt-Hartenberg (D-H) model, a joint coordinate system is fixed on each connecting rod of a robot according to a certain rule, and each connecting rod is connected with an adjacent connecting rod through a homogeneous transformation matrix.
In order to model a robot using a D-H model, a local reference coordinate system needs to be assigned to each joint of the robot, and for each joint, a Z-axis and an X-axis must be assigned. Wherein, when a Z axis is designated, if the joint is rotated, the Z axis is positioned in the direction of rotation according to the right-hand rule; the angle of rotation about the Z axis is a joint variable; if the joint is sliding, the Z axis is along the direction of linear motion; the link length d along the Z-axis is the joint variable. When the two joints are not parallel or intersecting, the Z-axis is usually a diagonal, but there is always a common perpendicular line with the shortest distance, orthogonal to any two diagonal lines, that defines the X-axis of the local reference coordinate system in the direction of the common perpendicular line. It should be noted that when the Z axes of the two joints are parallel, there are a myriad of common perpendicular lines, and one of the common perpendicular lines collinear with the previous joint can be selected as the X axis to simplify the model; when the Z axes of the two joints intersect, there is no common perpendicular line (or the distance between the common perpendicular lines is zero), and then a straight line perpendicular to a plane formed by the two axes can be defined as an X axis (which is equivalent to selecting a cross product direction of the two Z axes as the X axis), and the model can also be simplified.
In the D-H model shown in FIG. 5, a joint n and a joint n +1 of the robot are connected by a link n, and a joint n +1 and a joint n +2 are connected by a link n + 1. Wherein the subscript of Z axis at joint n is n-1, i.e. Zn-1Similarly, the Z axis of the joint n +1 is ZnThe Z axis of the joint n +2 is Zn+1(ii) a Theta denotes the angle of rotation about the Z axis, i.e. thetanIs zn-1Angle of rotation of the shaft, thetan+1Is znAngle of rotation of the shaft, thetan+2Is zn+1The angle of rotation of the shaft; the angle alpha represents the angle between two adjacent Z axes, i.e. alphanIs znShaft and z'n-1Angle between the axes, z'n-1Axis and zn-1The axes are parallel, and an+1Is zn+1Shaft and z'nAngle between the axes, z'nAxis and znThe axes are parallel; a represents the length of the common perpendicular line, i.e. anDenotes zn-1Axis and znLength of common perpendicular between axes, an+1Denotes znAxis and zn+1The length of the common perpendicular between the shafts; d represents the distance between two adjacent common perpendicular lines on the Z axis, i.e. dn+1Is represented by znAxially adjacent xnAxis and xn+1Distance between the common perpendicular lines in the axial direction. And the coordinate system o-xyz in fig. 4 is the reference coordinate system, which may be the world coordinate system.
Based on the D-H model, in FIG. 5, zn+1Axis relative to znThe relative coordinate system of the reference coordinate system on the axis can be expressed by the following formula:
in the above-mentioned formula, the compound has the following structure,nTn+1represents znAxial coordinate system and zn+1A homogeneous transformation matrix of coordinate system conversion between the axis coordinate systems; a. then+1Represents zn+1A homogeneous transformation matrix of the axis coordinate system; rot (z, theta)n+1) Is wound around znAxis of rotation thetan+1A rotation matrix of the angle; tran (0, 0, d)n+1) Is along znAxial movement dn+1A displacement matrix of distances; tran (a)n+10, 0) is along xn+1Axial movement an+1A displacement matrix of distances; rot (x, alpha)n+1) Is wound around zn+1Rotation of the shaft alphan+1A rotation matrix of the angle. And in the above formula, C θn+1Represents Cos θn+1，Sθn+1Represents Sin thetan+1。
And the transformation matrix T of the flange coordinate system corresponding to the contact point relative to the base coordinate system1＝A1A2A3A4A5A6Wherein A is1～A6See the above process for the calculation process, and will not be detailed here.
According to the method, the transformation matrix of the flange coordinate system corresponding to each of the three contacts relative to the base coordinate system can be calculated.
After a transformation matrix of the flange coordinate system corresponding to the contact point relative to the base coordinate system is calculated according to the pose parameters, the coordinates of the tail end of the calibration tool 110 on the flange coordinate system are determined. It will be appreciated that when the calibration rod 112 is positioned perpendicular to the mounting plate 111, the end of the calibration tool 110 has coordinates (0, 0, L) on the flange coordinate system, where L is the sum of the thickness of the mounting plate 111 and the length of the calibration rod 112.
Finally, calculating the coordinate of the corresponding contact under the base coordinate system according to the following formula I;
the formula I is as follows:
wherein, T1Is a contact pointA corresponding transformation matrix of the flange coordinate system relative to the base coordinate system,
xtfor the component, y, of the tip of the calibration tool 110 on the x-axis of the flange coordinate systemtFor the component of the tip of the calibration tool 110 in the y-axis of the flange coordinate system, ztIs the component of the tip of the calibration tool 110 on the z-axis of the flange coordinate system, R is the rotation matrix of the pose of the tip of the calibration tool 110 with respect to the base coordinate system, and p is the coordinate of the contact point on the base coordinate system.
Through the above steps, the coordinates of all the contact points in the base coordinate system can be calculated.
S132: and determining a direction vector of the gravity acceleration direction under the base coordinate system according to the coordinates of the at least three contact points.
Specifically, a direction vector of the gravity acceleration direction in the base coordinate system is calculated according to the following formula two:
the formula II is as follows:
wherein, P is the direction vector of the gravity acceleration direction under the base coordinate system, P1、p2And p3Respectively the coordinates of three of the contacts in the base coordinates,
is a cross-product sign.
S133: and the direction vector of the gravity acceleration direction under the base coordinate system is obtained by multiplying the direction vector of the gravity acceleration direction under the base coordinate system by the rotation matrix of the posture of the target coordinate system relative to the base coordinate system.
Specifically, a rotation matrix of the posture of the target coordinate system relative to the base coordinate system can be calculated by using a robot kinematics forward solution algorithm, and then a direction vector of the gravitational acceleration direction under the base coordinate system is subjected to left multiplication on the calculated rotation matrix to obtain a direction vector of the gravitational acceleration direction under the target coordinate system.
It is understood that if the target coordinate system is the base coordinate system, the direction vector of the gravitational acceleration direction under the base coordinate system can be determined after step S132 is performed, and if the target coordinate system is not the base coordinate system, step S133 needs to be performed.
In another application scenario, as shown in fig. 6, step S130 specifically includes:
s134: based on the pose parameters and the position of the tip of the calibration tool 110 relative to the tip flange 101, the coordinates of the corresponding contact in the target coordinate system are calculated.
S135: and determining a direction vector of the gravity acceleration direction in the target coordinate system according to the coordinates of the at least three contact points.
Unlike the previously calculated coordinates of the corresponding touch point in the base coordinate system, the coordinates of the corresponding touch point in the target coordinate system are calculated in the present application scenario.
Specifically, calculating the coordinates of the corresponding touch point in the target coordinate system includes: firstly, calculating a transformation matrix of a flange coordinate system corresponding to the contact point relative to a target coordinate system according to the pose parameters, and then determining the coordinates of the tail end of the calibration tool 110 on the flange coordinate system (the specific process is the same as the related process, and the details can be referred to above, and the details are not repeated here); then, calculating the coordinate of the corresponding contact under the target coordinate system according to the following formula III;
the formula III is as follows:
wherein, T3Is a transformation matrix of the flange coordinate system corresponding to the contact point with respect to the target coordinate system,
xufor the component, y, of the tip of the calibration tool 110 on the x-axis of the flange coordinate systemuFor the component of the tip of the calibration tool 110 on the y-axis of the flange coordinate system, zuIs the component of the tip of the calibration tool 110 on the z-axis of the flange coordinate system, S is the rotation matrix of the pose of the tip of the calibration tool 110 with respect to the target coordinate system, and q is the contact point at the target coordinate systemThe coordinates of the system are determined by the coordinate system,
is a cross-product sign.
The process of calculating the transformation matrix of the flange coordinate system corresponding to the contact point relative to the target coordinate system according to the pose parameters comprises the following steps: calculating a transformation matrix of a flange coordinate system corresponding to the contact relative to a base coordinate system according to the pose parameters; and the conversion matrix of the flange coordinate system corresponding to the contact relative to the base coordinate system is multiplied by the conversion matrix of the base coordinate system relative to the target coordinate system to obtain the conversion matrix of the flange coordinate system corresponding to the contact relative to the target coordinate system.
Specifically, the process of calculating the transformation matrix of the flange coordinate system corresponding to the contact point relative to the base coordinate system according to the pose parameters is the same as the related contents, and the details can be referred to the above contents, and are not repeated herein. And meanwhile, a transformation matrix of the base coordinate system relative to the target coordinate system can be calculated by a robot kinematics forward solution algorithm.
The process of step S135 is similar to the process of step S132, and only p in formula two is required1、p2And p3The coordinates of the three contact points in the target coordinate system can be replaced respectively, and the description is omitted here.
In another application scenario, referring to fig. 7, step S130 includes:
s136: and calculating the coordinates of the corresponding contact in the base coordinate system based on the pose parameters and the position of the tail end of the calibration tool relative to the tail end flange.
Specifically, the step is the same as the step S131, and for details, reference may be made to the above embodiment, which is not described herein again.
S137: and the coordinates of the contact in the base coordinate system are obtained by multiplying the coordinates of the contact in the base coordinate system by the rotation matrix of the posture of the target coordinate system relative to the base coordinate system.
Specifically, a rotation matrix of the pose of the target coordinate system relative to the base coordinate system may be calculated using a robot kinematics forward solution algorithm.
S138: and determining a direction vector of the gravity acceleration direction under the target coordinate according to the coordinates of the at least three contact points under the target coordinate system.
Specifically, the step is the same as the step S135, and reference may be made to the above embodiment for details, which are not repeated herein.
From the above, it can be seen that the method of the present application can complete the calibration of the gravity acceleration direction only by using the calibration tool 110 mounted on the end flange 101, which is simple and fast.
Referring to fig. 8, fig. 8 is a schematic structural diagram of an embodiment of the present invention of a calibration apparatus for gravitational acceleration direction, the calibration apparatus 200 utilizes a calibration tool mounted on an end flange of a robot to calibrate the gravitational acceleration direction, and includes a processor 210 and a memory 220, the processor 210 is coupled to the memory 220, and the processor 210 controls itself and the memory 220 to implement the steps of any one of the above methods when operating, wherein detailed steps can be referred to the above embodiment and are not described herein again.
Referring to fig. 9, fig. 9 is a schematic structural diagram of an embodiment of a computer-readable storage medium according to the present application. The computer-readable storage medium 300 stores a computer program 310, the computer program 310 being executable by a processor to implement the steps of any of the methods described above.
The computer-readable storage medium 300 may be a device that can store the computer program 310, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, or may be a server that stores the computer program 310, and the server can send the stored computer program 310 to another device for operation, or can self-operate the stored computer program 310.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (8)
1. A calibration method for gravity acceleration direction is characterized in that the calibration method is applied to a robot, a calibration tool is installed on a tail end flange of the robot, and the calibration method comprises the following steps:
when the robot drives the calibration tool to move until the tail end of the calibration tool touches a horizontal reference plane to form a contact point on the reference plane, recording the pose parameters of the robot;
repeatedly executing the steps until a preset number of the contacts are formed on the reference plane, wherein the preset number is at least three;
determining a direction vector of the gravity acceleration direction under a target coordinate system based on the recorded pose parameters and the position of the tail end of the calibration tool relative to the tail end flange;
wherein the step of determining a direction vector of the gravitational acceleration direction in a target coordinate system based on the recorded pose parameters and the position of the tip of the calibration tool relative to the tip flange comprises:
calculating the coordinates of the corresponding contact in a base coordinate system based on the pose parameters and the position of the tail end of the calibration tool relative to the tail end flange;
determining a direction vector of the gravity acceleration direction under the base coordinate system according to the following formula:
and the direction vector of the gravitational acceleration direction under the base coordinate system is multiplied by the rotation matrix of the posture of the target coordinate system relative to the base coordinate system to obtain the direction vector of the gravitational acceleration direction under the target coordinate system.
2. The method according to claim 1, wherein the step of calculating coordinates of the corresponding contact point in a base coordinate system based on the pose parameters and the position of the tip of the calibration tool relative to the tip flange comprises:
calculating a transformation matrix of a flange coordinate system corresponding to the contact relative to the base coordinate system according to the pose parameters, wherein the flange coordinate system is an axis coordinate system of the robot tail end axis;
determining the coordinates of the end of the calibration tool on the flange coordinate system;
calculating the coordinates of the corresponding contact in the base coordinate system according to the following formula I;
the formula I is as follows:
wherein, in the step (A),
is a transformation matrix of the flange coordinate system corresponding to the contact with respect to the base coordinate system,
，xtfor the division of the end of the calibration tool on the x-axis of the flange coordinate systemAmount, ytIs the component of the end of the calibration tool on the y-axis of the flange coordinate system, ztThe component of the tail end of the calibration tool on the z axis of the flange coordinate system is shown, R is a rotation matrix of the posture of the tail end of the calibration tool relative to the base coordinate system, and p is the coordinate of the contact point on the base coordinate system.
3. A calibration method for the direction of gravitational acceleration is characterized in that the calibration method is applied to a robot, a calibration tool is installed on a tail end flange of the robot, and the calibration method comprises the following steps:
when the robot drives the calibration tool to move until the tail end of the calibration tool touches a horizontal reference plane to form a contact point on the reference plane, recording the pose parameters of the robot;
repeatedly executing the steps until a preset number of the contacts are formed on the reference plane, wherein the preset number is at least three;
determining a direction vector of the gravity acceleration direction under a target coordinate system based on the recorded pose parameters and the position of the tail end of the calibration tool relative to the tail end flange;
wherein the step of determining a direction vector of the gravitational acceleration direction in a target coordinate system based on the recorded pose parameters and the position of the tip of the calibration tool relative to the tip flange comprises:
calculating coordinates of the corresponding contact in the target coordinate system based on the pose parameters and the position of the tail end of the calibration tool relative to the tail end flange;
determining a direction vector of the gravity acceleration direction under the target coordinate system according to the following formula:
4. The method according to claim 3, wherein the step of calculating coordinates of the corresponding contact point in the target coordinate system based on the pose parameters and the position of the tip of the calibration tool relative to the tip flange comprises:
calculating a transformation matrix of a flange coordinate system corresponding to the contact relative to the target coordinate system according to the pose parameters, wherein the flange coordinate system is an axis coordinate system of the robot tail end axis;
determining the coordinates of the end of the calibration tool on the flange coordinate system;
calculating the coordinates of the corresponding contact in the target coordinate system according to the following formula III;
the formula III is as follows:
wherein, in the step (A),
is a transformation matrix of the flange coordinate system corresponding to the contact points with respect to the target coordinate system,
，xuis the component of the end of the calibration tool on the x-axis of the flange coordinate system, yuFor the component of the end of the calibration tool in the y-axis of the flange coordinate system, zuThe component of the tail end of the calibration tool on the z axis of the flange coordinate system is S is a rotation matrix of the posture of the tail end of the calibration tool relative to the target coordinate system, and q is the coordinate of the contact point under the target coordinate system.
5. The method according to claim 4, wherein the step of calculating a transformation matrix of the flange coordinate system corresponding to the contact point with respect to the target coordinate system according to the pose parameters comprises:
calculating a transformation matrix of the flange coordinate system corresponding to the contact relative to a base coordinate system according to the pose parameters;
and the conversion matrix of the flange coordinate system relative to the base coordinate system is multiplied by the conversion matrix of the base coordinate system relative to the target coordinate system to obtain the conversion matrix of the flange coordinate system relative to the target coordinate system.
6. A calibration method for gravity acceleration direction is characterized in that the calibration method is applied to a robot, a calibration tool is installed on a tail end flange of the robot, and the calibration method comprises the following steps:
when the robot drives the calibration tool to move until the tail end of the calibration tool touches a horizontal reference plane to form a contact point on the reference plane, recording the pose parameters of the robot;
repeatedly executing the steps until a preset number of the contacts are formed on the reference plane, wherein the preset number is at least three;
determining a direction vector of the gravity acceleration direction under a target coordinate system based on the recorded pose parameters and the position of the tail end of the calibration tool relative to the tail end flange;
wherein the step of determining a direction vector of the gravitational acceleration direction in a target coordinate system based on the recorded pose parameters and the position of the tip of the calibration tool relative to the tip flange comprises:
calculating the coordinates of the corresponding contact in a base coordinate system based on the pose parameters and the position of the tail end of the calibration tool relative to the tail end flange;
multiplying the coordinates of the contact under the base coordinate system by the rotation matrix of the posture of the target coordinate system relative to the base coordinate system to obtain the coordinates of the contact under the target coordinate system;
determining a direction vector of the gravity acceleration direction under the target coordinate system according to the following formula:
7. Calibration arrangement for the direction of gravitational acceleration, characterized in that the direction of gravitational acceleration is calibrated with a calibration tool mounted on an end flange of a robot, comprising a processor coupled to a memory, in which memory program data are stored, and a memory, in which the processor implements the steps of the method according to any of claims 1-6 by executing the program data in the memory.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which is executable by a processor to implement the steps in the method according to any one of claims 1-6.
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| US5239855A (en) * | 1991-07-12 | 1993-08-31 | Hewlett-Packard Company | Positional calibration of robotic arm joints relative to the gravity vector |
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| CN110238848B (en) * | 2019-05-30 | 2022-07-05 | 埃夫特智能装备股份有限公司 | Method for calculating gravity vector under robot coordinate system |
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