CN112549085B - Mechanical arm offset detection system and method based on visual compensation - Google Patents

Mechanical arm offset detection system and method based on visual compensation Download PDF

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Publication number
CN112549085B
CN112549085B CN202110207770.3A CN202110207770A CN112549085B CN 112549085 B CN112549085 B CN 112549085B CN 202110207770 A CN202110207770 A CN 202110207770A CN 112549085 B CN112549085 B CN 112549085B
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mechanical arm
coordinate system
laser tracker
electromagnet
tail end
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CN112549085A (en
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张龙达
郭柏军
郝素丽
王云山
柳晶波
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Liaoning Medical Device Test Institute
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Liaoning Medical Device Test Institute
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic

Abstract

The invention discloses a mechanical arm offset detection system and method based on visual compensation, which comprises the following steps: the force application assembly comprises a fixedly installed electromagnet and an armature ring matched with the electromagnet, and the armature ring is fixedly installed at the tail end of the mechanical arm; the visual tracking assembly comprises a laser tracker and at least three target balls fixedly arranged on the armature ring, the distances between the target balls are unequal, and the laser tracker acquires the position information of the target balls; and the upper computer is respectively connected with the laser tracker, the electromagnet and the mechanical arm, respectively controls the movement of the mechanical arm and the electrification of the electromagnet, and acquires the position information of each target ball collected by the laser tracker. The invention can dynamically detect the stress deflection of the mechanical arm which is moving.

Description

Mechanical arm offset detection system and method based on visual compensation
Technical Field
The invention relates to the field of mechanical arm detection, in particular to a dynamic mechanical arm stress deviation detection system and method based on visual compensation.
Background
Due to the flexibility, reliability and high efficiency of the mechanical arm, the mechanical arm is widely applied to various working scenes which need repeated action, stable positioning and the like. However, in the working process of the mechanical arm, the mechanical arm is inevitably touched by an external object and causes a certain degree of deviation, and the deviation has a great influence on the realization of the expected purpose and the expected precision of the mechanical arm, so the evaluation of the mechanical arm is needed. At present, the evaluation of the mechanical arm forced deflection is only limited to static evaluation, namely, the deflection of the tail end position of the mechanical arm is evaluated after an external force is applied when the mechanical arm is still. However, in an actual application scenario, the mechanical arm is often moving when being subjected to an external force, and the moving mechanical arm does not have a static locking mechanism to help the mechanical arm to keep the pose, so that evaluation of the stress deflection condition of the dynamically moving mechanical arm is more consistent with the actual condition and is more strict.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a dynamic detection system and a dynamic detection method for mechanical arm stress deflection based on visual compensation, aiming at the defects, and the dynamic detection system and the method can be used for dynamically detecting the stress deflection of a moving mechanical arm.
The technical scheme is as follows:
a robotic arm deflection detection system based on visual compensation, comprising:
the force application assembly comprises a fixedly installed electromagnet and an armature ring matched with the electromagnet, and the armature ring is fixedly installed at the tail end of the mechanical arm;
the visual tracking assembly comprises a laser tracker and at least three target balls fixedly arranged on the armature ring, the distances between the target balls are unequal, and the laser tracker acquires the position information of the target balls;
and the upper computer is respectively connected with the laser tracker, the electromagnet and the mechanical arm, respectively controls the movement of the mechanical arm and the electrification of the electromagnet, and acquires the position information of each target ball collected by the laser tracker.
The upper computer controls the mechanical arm to move to a plurality of different positions, the positions of the target balls at different positions collected by the laser tracker are obtained, and the conversion relation between the coordinate system of the laser tracker and the coordinate system of the mechanical arm is obtained through calculation according to the installation parameters between the target balls and the tail end of the mechanical armRT；
The upper computer controls the mechanical arm to move along the Z-axis direction of the mechanical arm coordinate system, and the movement track isL 1And according to the transformation relation between the coordinate system of the laser tracker and the coordinate system of the mechanical armRTCalculating to obtain the motion track of the mechanical arm under the coordinate system of the laser trackerL 2Thereby calculating the motion track under the coordinate system of the laser trackerL 2The position coordinates of each target ball at a plurality of positionsK（k 1 ,k 2 ,…,k n ) Wherein, in the step (A),nrepresenting the movement trackL 2The number of positions at which the selected robot arm is located,k n representing the movement trackL 2Position ofnPosition coordinates of each target ball;
the upper computer controls the electromagnet to be electrified, so that electromagnetic force is applied to the tail end of the mechanical arm, and the upper computer obtains the motion trail of the tail end of the mechanical arm after deviation through the laser trackerL 2', and calculating a motion trajectory based thereonL 2' position coordinates of the target ball in the laser tracker at the corresponding positionK'（k 1', k 2',…, k n ') whereink n ' means motion trajectoryL 2' position onnPosition coordinates of each target ball and motion tracksL 2The position coordinates of the target ball at the corresponding position are solved by a least square method to obtain the transformation relation between the position coordinates and the target ballMFinally, the pose offset of the tail end of the mechanical arm subjected to the external force is obtained through calculationRT*M。
After the electromagnetic force exceeds an external force critical value, the armature ring at the tail end of the mechanical arm moves under the action of the electromagnetic force, so that the motion track of the target ball on the armature ring can deviate from an actually planned track, and the maximum deviation stress value and the corresponding deviation direction of the tail end of the mechanical arm are calculated according to the external force critical value.
The force application assembly further comprises a support, a guide rail is arranged on the support, and the electromagnet is slidably mounted on the guide rail;
the upper computer is connected with the guide rail and controls the guide rail and the mechanical arm to move synchronously, so that the electromagnet and the mechanical arm move synchronously, and the electromagnetic force between the electromagnet and the armature ring is adjusted through the current of the electromagnet.
A mechanical arm offset detection method based on visual compensation comprises the following steps:
(1) installing a laser tracker and a mechanical arm, controlling the mechanical arm to move to a plurality of different positions, and acquiring the positions of all target balls at different positions under a coordinate system of the laser tracker;
(2) determining the Y axis by taking the motion direction of the tail end of the mechanical arm as the Z axis and the horizontal direction vertical to the Z axis as the X axis, and establishing a mechanical arm coordinate systemW 2(ii) a Calculating the positions of all the target balls at different positions in a mechanical arm coordinate system according to the mounting parameters between the target balls and the tail end of the mechanical arm;
(3) calculating according to the step (1) and the step (2) to obtain a coordinate system of the laser trackerW 1And a robot arm coordinate systemW 2Change relationship between themRT；
(4) Controlling the mechanical arm to move along the Z-axis direction of the mechanical arm coordinate system, wherein the movement track route isL 1Calculating according to the step (3) to obtain the motion track of the mechanical arm under the coordinate system of the laser trackerL 2 =L 1*RTAnd obtaining the motion trackL 2Position coordinates of target ball at several positionsK（k 1 ,k 2 ,…,k n ) Wherein, in the step (A),nrepresenting the movement trackL 2The number of positions at which the selected robot arm is located,k n representing the movement trackL 2Position ofnPosition coordinates of each target ball;
(5) controlling the mechanical arm to move at a constant speed along the Z-axis direction of the mechanical arm coordinate system, controlling the electromagnet to be electrified to apply electromagnetic force to the tail end of the mechanical arm, and acquiring the motion track of the mechanical arm after deviation through the laser trackerL 2' and obtaining the motion trackL 2' position coordinates of target ball at corresponding position onK'（k 1', k 2',…, k n ') whereink n ' means motion trajectoryL 2' position onnPosition coordinates of each target ball;
(6) obtaining the following transformation matrix according to the step (5):
k j *M j = k j '
whereinM j A 4 x 4 transformation matrix is used,k j is a motion trackL 2To go tojThe position coordinates of the individual positions are,k j is a motion trackL 2' to abovejPosition coordinates of the individual locations;
solved by least square method to obtainMAnd according to the laser tracker coordinate systemW 1And a robot arm coordinate systemW 2Change relationship between themRTCalculating to obtain the pose offset of the tail end of the mechanical arm under the external forceRT*M。
Calculating a coordinate system of the laser tracker in the step (3)W 1And a robot arm coordinate systemW 2Change relationship between themRTThe method comprises the following specific steps:
according to the position of all target balls in the laser tracker coordinate system at different positionsPAnd all the target balls are positioned in the coordinate system of the mechanical arm at different positionsQObtaining the conversion relation between the corresponding target balls at the corresponding positionsR i T i And then obtaining:
p i *R i T i = q i
wherein the content of the first and second substances,p i is composed ofiThe position of the point under the laser tracker coordinate system,q i is composed ofiThe position of the point under the mechanical arm coordinate system;
will be provided withPAndQall the points in the process can obtain the point with the minimum error by using a least square methodRTI.e. byW 1*RT = W 2。
The method also comprises the step of calculating the stress deflection of the mechanical arm in different directions: and calculating to obtain the maximum external force borne by the mechanical arm in each direction and the pose offset after stress by changing the motion direction of the mechanical arm.
Has the advantages that: the invention realizes the dynamic detection of the mechanical arm stress deflection by adopting visual compensation, can accurately control the magnitude and the direction of the force used in the test, and can accurately obtain the external force critical value for deflecting the mechanical arm.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a view showing the structure of an armature ring of the present invention.
Wherein, 1 is a bracket, 11 is a guide rail, 12 is an electromagnet, 2 is a laser tracker, 3 is a mechanical arm, 4 is an armature ring, and 41 is a target ball.
Detailed Description
The invention is further elucidated with reference to the drawings and the embodiments.
FIG. 1 is a schematic structural diagram of the present invention. As shown in FIG. 1, the mechanical arm offset detection system based on visual compensation comprises a force application assembly, a visual tracking assembly and an upper computer.
The force application assembly comprises a bracket 1, a guide rail 11 arranged on the bracket 1 and an electromagnet 12 arranged on the guide rail 11 in a sliding manner. In the invention, because the electromagnet 12 can not be attracted all the time in the test process, in order to avoid heating and keep the attraction constant, a direct current electromagnet is adopted in the design. An armature ring 4 which is matched with the electromagnet 12 is fixedly arranged at the Tool Central Point (TCP) at the tail end of the mechanical arm.
The visual tracking assembly comprises a laser tracker 2 and at least three target balls 41, the target balls 41 are fixedly arranged on the armature ring 4 and face the end face of the laser tracker 2 respectively, as shown in fig. 2, and the distances among the target balls 41 are unequal; the laser tracker 2 collects position information of each target ball 41.
The upper computer is respectively connected with the laser tracker 2, the electromagnet 12 and the mechanical arm, respectively controls the movement of the mechanical arm and the electrification of the electromagnet 12, and acquires the position information of the target ball 41 acquired by the laser tracker 2;
the upper computer controls the mechanical arm to move to a plurality of different positions, the positions of the target balls 41 on the armature ring 4 at different positions collected by the laser tracker 2 are obtained, and then the transformation relation between the coordinate system of the laser tracker and the coordinate system of the mechanical arm is obtained through calculation according to the installation parameters between the target balls 41 and the tail end of the mechanical arm;
the upper computer controls the mechanical arm to move along the Z-axis direction of the mechanical arm coordinate system, and the movement track isL 1And calculating to obtain the motion track of the mechanical arm under the coordinate system of the laser tracker according to the transformation relation between the coordinate system of the laser tracker and the coordinate system of the mechanical armL 2Thereby calculating the motion track under the coordinate system of the laser trackerL 2The position coordinates of each target ball 41 on the armature ring 4 at the upper positions { (A 1,B 1,C 1），（A 2,B 2,C 2），…,（A n ,B n ,C n ) And (c) the step of (c) in which,nis shown in the motion trackL 2The number of positions of the selected mechanical arms is increased;
the upper computer controls the electromagnet 12 to be electrified to apply electromagnetic force to the tail end of the mechanical arm, when the electromagnetic force reaches an external force critical value, the armature ring 4 at the tail end of the mechanical arm can move under the action of the electromagnetic force after the external force critical value is exceeded, so that the movement track of the target ball 41 on the armature ring can deviate from an actually planned track, and then the maximum deviation stress value and the corresponding deviation direction of the tail end of the mechanical arm can be calculated according to the external force critical value. The upper computer obtains the motion trail of the tail end of the mechanical arm after the deviation through the laser tracker 2L 2', and calculating a motion trajectory based thereonL 2' position coordinates of the target ball 41 at the upper corresponding position in the laser tracker 2 { (A 1',B 1',C 1'），（A 2',B 2',C 2'）,…,（A n ',B n ',C n ') } and combining the motion tracksL 2The position coordinates of the target ball 41 at the upper corresponding position are solved by a least square method to obtain the transformation relation between the twoMThen the pose offset of the mechanical arm tail end subjected to the external force can be calculatedRT*M。
In the invention, an upper computer is connected with a guide rail 11 and controls the guide rail 11 and the mechanical arm to move synchronously, so that the electromagnet 12 and the mechanical arm move synchronously, and the current passing through the electromagnet 12 is adjusted to adjust the electromagnetic force between the electromagnet 12 and the armature ring 4, so that the tail end of the mechanical arm can be deviated.
In the present invention, the electromagnet 12 may be fixed on the guide rail, and the current passing through the electromagnet 12 is adjusted to adjust the electromagnetic force between the electromagnet 12 and the armature ring 4, so that the magnitude and direction of the electromagnetic force between the electromagnet 12 and the armature ring 4 change along with the motion of the mechanical arm, and when the maximum value of the electromagnetic force between the electromagnet 12 and the armature ring 4 at the end of the mechanical arm reaches the external force critical value, the end of the mechanical arm may be deviated.
The invention also provides a mechanical arm offset detection method based on visual compensation, which comprises the following steps:
(1) after the laser tracker 2 and the mechanical arm are fixed respectively, the mechanical arm is controlled to move to 20 different positions in the visual field of the laser tracker 2 at the tail end of the mechanical arm, and the positions of all target balls 41 on the armature ring 4 fixed at the tail end of the mechanical arm under the coordinate system of the laser tracker at the 20 different positions are acquired by the laser tracker 2P{ p 1,p 2,…,p 60}；
(2) The movement direction of the tail end of the mechanical arm is taken as a Z axis, the horizontal direction vertical to the Z axis is taken as an X axis, the Y axis can be determined, and a mechanical arm coordinate system is establishedW 2(ii) a Meanwhile, because the target balls 41 are arranged at the tail end of the mechanical arm, namely the positions of all the target balls 41 in the coordinate system of the mechanical arm at 20 different positions can be known according to the installation parameters between the target balls 41 and the tail end of the mechanical armQ{q 1,q 2,…,q 60And then calculating to obtain a coordinate system of the laser trackerW 1And a robot arm coordinate systemW 2Change relationship between themRTThe calculation process is as follows:
according to the positions of all the target balls 41 in the laser tracker coordinate system at 20 different positions and the positions of all the target balls 41 in the laser tracker coordinate system at 20 different positionsCan obtain the transformation relation between each corresponding position and each corresponding target ballR i T i And then obtaining:
p i *R i T i = q i
wherein the content of the first and second substances,p i is composed ofiThe position of the point under the laser tracker coordinate system,q i is composed ofiThe position of the point under the mechanical arm coordinate system;
will be provided withPAndQall the points in the process can obtain the point with the minimum error by using a least square methodRTI.e. byW 1*RT = W 2；
(3) Controlling the mechanical arm to move along the Z-axis direction of the mechanical arm coordinate system, wherein the movement track route isL 1Then, thenL 2For the path of movement of the arm in the coordinate system of the laser tracker, i.e.L 2 =L 1*RTCan be obtained in the motion trackL 2Position coordinates of three target balls at the upper positions { (A 1,B 1,C 1），（A 2,B 2,C 2），…,（A n ,B n ,C n ) In which (are)A n ,B n ,C n ) Representing the movement trackL 2Position ofnPosition coordinates of three target balls;
(4) controlling the mechanical arm to move at a constant speed along the Z-axis direction of the mechanical arm coordinate system, and controlling the electromagnet to be electrified by the upper computer to apply an electromagnetic force to the tail end of the mechanical arm; in the invention, the electromagnetic force can be adjusted, and is continuously increased from 0 upwards, the mechanical arm is controlled to move at a constant speed along the Z-axis direction of the mechanical arm coordinate system after the electromagnetic force is adjusted every time, and the upper computer controls the electromagnet to be electrified to apply an electromagnetic force to the tail end of the mechanical arm; when the external electromagnetic force applied to the mechanical arm is increased continuously, the critical value of the external force applied to the mechanical arm is reached, and after the critical value of the external force is exceeded, the armature ring 4 at the tail end of the mechanical arm moves under the action of the electromagnetic force, so that the movement track of the target ball 41 on the armature ring can deviate from the actually planned track, and the maximum deviation force value and the corresponding deviation direction of the tail end of the mechanical arm can be calculated according to the critical value of the external force;
in the invention, an upper computer is connected with a guide rail 11 and controls the guide rail 11 and a mechanical arm to move synchronously, so that the electromagnet 12 and the mechanical arm move synchronously, and the current passing through the electromagnet 12 is adjusted to adjust the electromagnetic force between the electromagnet 12 and an armature ring 4; the electromagnetic force can cause the end of the mechanical arm to deflect when the external force reaches the critical value.
In the present invention, the electromagnet 12 may be fixed on the guide rail, and the current passing through the electromagnet 12 is adjusted to adjust the electromagnetic force between the electromagnet 12 and the armature ring 4, so that the magnitude and direction of the electromagnetic force between the electromagnet 12 and the armature ring 4 change along with the motion of the mechanical arm, and when the maximum value of the electromagnetic force between the electromagnet 12 and the armature ring 4 at the end of the mechanical arm reaches the aforementioned external force threshold value, the end of the mechanical arm may be deviated, and the maximum value of the electromagnetic force between the electromagnet 12 and the armature ring 4 at the end of the mechanical arm is at the nearest distance from the electromagnet 12 and the armature ring 4 at the end of the mechanical arm.
At the moment, the mechanical arm can generate deviation due to the magnetic force action between the electromagnet 12 and the armature ring 4, so that a new motion trail can be generated at the tail end of the mechanical arm in motionL 2', recording the movement trackL 2' position coordinates of three target balls 41 on the armature ring 4 at the end of the robot arm at the upper corresponding position in the laser tracker 2 { (A 1',B 1',C 1'），（A 2',B 2',C 2'）,…,（A n ',B n ',C n ') }, wherein (A n ',B n ',C n ') indicates the movement locusL 2' position onnTo three targetsPosition coordinates of the ball; three equations can be obtained:
A j *M j = A j '
B j *M j = B j '
C j *M j = C j '
whereinM j A 4 x 4 transformation matrix, (A j ,B j ,C j ) Is a motion trackL 2To go tojPosition coordinates of the individual positions: (A j ',B j ',C j ') is a motion trackL 2' to abovejPosition coordinates of the individual locations;
then can be solved by the least square methodMSince the robot coordinate system is known, thenRT*MThe attitude offset of the end of the robot arm due to the external force: (x,y,zTranslational offset and offset direction on the shaft);
(5) the invention can also calculate the mechanical arm stress deviation in different directions, particularly change the motion direction of the mechanical arm, and the upper computer controls the electrification of the electromagnet to apply an electromagnetic force to the tail end of the mechanical arm, wherein the electromagnetic force can be adjusted and continuously increased from 0; when the external electromagnetic force is continuously increased, the critical value of the external force applied to the mechanical arm is reached, and after the critical value of the external force is exceeded, the armature ring 4 at the tail end of the mechanical arm can move under the action of the electromagnetic force, so that the movement track of the target ball 41 on the armature ring can deviate from the actually planned track, the maximum deviation stress value and the corresponding deviation direction at the tail end of the mechanical arm can be calculated according to the critical value of the external force, and the maximum force applied to the movement of the mechanical arm in all directions and the tail end deviation amount after the stress are calculated.
The invention realizes the dynamic detection of the mechanical arm stress deflection by adopting the visual compensation, can accurately control the magnitude and the direction of the force used in the test, and can accurately obtain the external force critical value for deflecting the mechanical arm.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the foregoing embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the technical spirit of the present invention, and these equivalent changes are all within the protection scope of the present invention.

Claims (6)

1. The utility model provides a arm skew detecting system based on visual compensation which characterized in that: the method comprises the following steps:
the force application assembly comprises a fixedly installed electromagnet and an armature ring matched with the electromagnet, and the armature ring is fixedly installed at the tail end of the mechanical arm;
the visual tracking assembly comprises a laser tracker and at least three target balls fixedly arranged on the armature ring, the distances between the target balls are unequal, and the laser tracker acquires the position information of the target balls;
the upper computer is respectively connected with the laser tracker, the electromagnet and the mechanical arm, respectively controls the movement of the mechanical arm and the electrification of the electromagnet, and acquires the position information of each target ball collected by the laser tracker;
the upper computer controls the mechanical arm to move to a plurality of different positions, the positions of the target balls at different positions collected by the laser tracker are obtained, and the conversion relation between the coordinate system of the laser tracker and the coordinate system of the mechanical arm is obtained through calculation according to the installation parameters between the target balls and the tail end of the mechanical armRT；
The upper computer controls the mechanical arm to move along the Z-axis direction of the mechanical arm coordinate system, and the movement track isL 1And according to the transformation relation between the coordinate system of the laser tracker and the coordinate system of the mechanical armRTCalculating to obtain the motion track of the mechanical arm under the coordinate system of the laser trackerL 2Thereby calculating the motion track under the coordinate system of the laser trackerL 2The position coordinates of each target ball at a plurality of positionsK（k 1 ,k 2 ,…,k n ) Wherein, in the step (A),nrepresenting the movement trackL 2The number of positions at which the selected robot arm is located,k n representing the movement trackL 2Position ofnPosition coordinates of each target ball;
the upper computer controls the electromagnet to be electrified, so that electromagnetic force is applied to the tail end of the mechanical arm, and the upper computer obtains the motion trail of the tail end of the mechanical arm after deviation through the laser trackerL 2', and calculating a motion trajectory based thereonL 2' position coordinates of the target ball in the laser tracker at the corresponding position K'（k 1', k 2',…, k n ') whereink n ' means motion trajectoryL 2' position onnPosition coordinates of each target ball and motion tracksL 2The position coordinates of the target ball at the corresponding position are solved by a least square method to obtain the transformation relation between the position coordinates and the target ballMFinally, the pose offset of the tail end of the mechanical arm subjected to the external force is obtained through calculationRT*M。
2. The robotic arm deflection detection system according to claim 1, wherein: after the electromagnetic force exceeds an external force critical value, the armature ring at the tail end of the mechanical arm moves under the action of the electromagnetic force, so that the motion track of the target ball on the armature ring can deviate from an actually planned track, and the maximum deviation stress value and the corresponding deviation direction of the tail end of the mechanical arm are calculated according to the external force critical value.
3. The robotic arm deflection detection system according to claim 1, wherein: the force application assembly further comprises a support, a guide rail is arranged on the support, and the electromagnet is slidably mounted on the guide rail;
the upper computer is connected with the guide rail and controls the guide rail and the mechanical arm to move synchronously, so that the electromagnet and the mechanical arm move synchronously, and the electromagnetic force between the electromagnet and the armature ring is adjusted through the current of the electromagnet.
4. A method for detecting the mechanical arm offset based on visual compensation by using the mechanical arm offset detection system according to any one of claims 1 to 3, wherein the method comprises the following steps: the method comprises the following steps:
(1) installing a laser tracker and a mechanical arm, controlling the mechanical arm to move to a plurality of different positions, and acquiring the positions of all target balls at different positions under a coordinate system of the laser tracker;
(2) determining the Y axis by taking the motion direction of the tail end of the mechanical arm as the Z axis and the horizontal direction vertical to the Z axis as the X axis, and establishing a mechanical arm coordinate systemW 2(ii) a Calculating the positions of all the target balls at different positions in a mechanical arm coordinate system according to the mounting parameters between the target balls and the tail end of the mechanical arm;
(3) calculating according to the step (1) and the step (2) to obtain a coordinate system of the laser trackerW 1And a robot arm coordinate systemW 2Change relationship between themRT；
(4) Controlling the mechanical arm to move along the Z-axis direction of the mechanical arm coordinate system, wherein the movement track route isL 1Calculating according to the step (3) to obtain the motion track of the mechanical arm under the coordinate system of the laser trackerL 2 =L 1*RTAnd obtaining the motion trackL 2Position coordinates of target ball at several positionsK（k 1 ,k 2 ,…,k n ) Wherein, in the step (A),nrepresenting the movement trackL 2The number of positions at which the selected robot arm is located,k n representing the movement trackL 2Position ofnPosition coordinates of each target ball;
(5) controlling the mechanical arm to move at a uniform speed along the Z-axis direction of the mechanical arm coordinate systemAnd controlling the electromagnet to be electrified to apply electromagnetic force to the tail end of the mechanical arm, and acquiring the motion track of the mechanical arm after deviation through the laser trackerL 2' and obtaining the motion trackL 2' position coordinates of target ball at corresponding position onK'（k 1', k 2',…, k n ') whereink n ' means motion trajectoryL 2' position onnPosition coordinates of each target ball;
(6) obtaining the following transformation matrix according to the step (5):
k j *M j = k j '
whereinM j A 4 x 4 transformation matrix is used,k j is a motion trackL 2To go tojThe position coordinates of the individual positions are,k j is a motion trackL 2' to abovejPosition coordinates of the individual locations;
solved by least square method to obtainMAnd according to the laser tracker coordinate systemW 1And a robot arm coordinate systemW 2Change relationship between themRTCalculating to obtain the pose offset of the tail end of the mechanical arm under the external forceRT*M。
5. The mechanical arm displacement detection method according to claim 4, characterized in that: calculating a coordinate system of the laser tracker in the step (3)W 1And a robot arm coordinate systemW 2Change relationship between themRTThe method comprises the following specific steps:
according to the position of all target balls in the laser tracker coordinate system at different positionsPAnd all the target balls are positioned in the coordinate system of the mechanical arm at different positionsQObtaining the conversion relation between the corresponding target balls at the corresponding positionsR i T i And then obtaining:
p i *R i T i = q i
wherein the content of the first and second substances,p i is composed ofiThe position of the point under the laser tracker coordinate system,q i is composed ofiThe position of the point under the mechanical arm coordinate system;
will be provided withPAndQall the points in the process can obtain the point with the minimum error by using a least square methodRTI.e. byW 1*RT = W 2。
6. The mechanical arm displacement detection method according to claim 4, characterized in that: the method also comprises the step of calculating the stress deflection of the mechanical arm in different directions: and calculating to obtain the maximum external force borne by the mechanical arm in each direction and the pose offset after stress by changing the motion direction of the mechanical arm.
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