CN113340285B - Method and device for detecting terminal pose of main mechanical arm based on cooperative mechanical arm - Google Patents
Method and device for detecting terminal pose of main mechanical arm based on cooperative mechanical arm Download PDFInfo
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- CN113340285B CN113340285B CN202110676885.7A CN202110676885A CN113340285B CN 113340285 B CN113340285 B CN 113340285B CN 202110676885 A CN202110676885 A CN 202110676885A CN 113340285 B CN113340285 B CN 113340285B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
The invention provides a method and a device for detecting the end pose of a main mechanical arm based on a cooperative mechanical arm, which comprises the following steps: the method comprises the following steps that firstly, a first prism is installed on a cooperative mechanical arm, a second prism, a third prism and a fourth prism are installed on a base of a main mechanical arm, and the second prism, the third prism and the fourth prism are located at non-collinear positions; adjusting the position of the cooperative mechanical arm, enabling the first prism to be respectively arranged at a first position, a second position and a third position which are not collinear, and respectively calculating the coordinate of the first prism in a coordinate system at the tail end of the main mechanical arm; measuring coordinates of the first prism, the second prism, the third prism and the fourth prism in a coordinate system of the total station by using the total station; and fourthly, calculating the pose of the tail end of the main mechanical arm in a base coordinate system of the main mechanical arm according to the coordinate transformation relation. The invention can detect the pose of the tail end of the main mechanical arm so as to improve the precision and efficiency of establishing the error compensation model of the main mechanical arm.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a device for detecting the end pose of a main mechanical arm based on a cooperative mechanical arm.
Background
Mechanical arms used in engineering machinery are generally large mechanical arms, and in order to realize automatic control of the large mechanical arms, various error compensation is generally performed before the engineering machinery leaves a factory. The detection of the pose of the tail end is an important part in the error compensation process of the large mechanical arm, and the detection directly influences the precision and the efficiency of an error compensation model.
The traditional large-scale mechanical arm tail end detection device can only detect the position of the tail end generally, and processes the gesture rarely.
Disclosure of Invention
The invention provides a method and a device for detecting the tail end pose of a main mechanical arm based on a cooperative mechanical arm, and aims to achieve the purpose of detecting the tail end pose.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for detecting the end pose of a main mechanical arm based on a cooperative mechanical arm comprises the following steps: the method comprises the following steps that firstly, a first prism is installed on a cooperative mechanical arm, a second prism, a third prism and a fourth prism are installed on a base of a main mechanical arm, and the second prism, the third prism and the fourth prism are located at non-collinear positions; adjusting the position of the cooperative mechanical arm, enabling the first prism to be respectively arranged at a first position, a second position and a third position which are not collinear, and respectively calculating the coordinate of the first prism in a coordinate system at the tail end of the main mechanical arm; measuring coordinates of the first prism, the second prism, the third prism and the fourth prism in a coordinate system of the total station by using the total station; and fourthly, calculating the pose of the tail end of the main mechanical arm in a base coordinate system of the main mechanical arm according to the coordinate transformation relation.
Further, the second step comprises: an angle sensor is arranged on each movable joint of the cooperative mechanical arm, and the coordinates of the first prism in a coordinate system at the tail end of the main mechanical arm are calculated in real time through the reading of the angle sensor.
Further, the fourth step includes: and acquiring the pose of the base coordinate system relative to the total station coordinate system by utilizing coordinate transformation.
Further, the pose of the base coordinate system relative to the total station coordinate system may be obtained by calculation according to the installation positions of the second prism, the third prism, and the fourth prism, and the coordinates of the second prism, the third prism, and the fourth prism in the total station coordinate system.
Further, the fourth step further comprises: and acquiring the pose of the terminal coordinate system of the main mechanical arm relative to the coordinate system of the total station by utilizing coordinate transformation.
Further, the pose of the terminal coordinate system of the main mechanical arm relative to the coordinate system of the total station can be obtained by calculating the coordinates of the first prism in the coordinate system of the total station when the terminal coordinate system of the main mechanical arm is at the first position, the second position and the third position, and then the pose of the terminal of the main mechanical arm in the base coordinate system of the main mechanical arm is calculated.
The invention also provides a device for detecting the pose of the tail end of the mechanical arm based on the cooperative mechanical arm, which is used for implementing the method for detecting the pose of the tail end of the main mechanical arm based on the cooperative mechanical arm, and the device for detecting the pose of the tail end of the mechanical arm based on the cooperative mechanical arm comprises the following components: a main mechanical arm; and the cooperative mechanical arm is arranged at one end of the main mechanical arm and can move relative to the main mechanical arm.
Further, the mechanical arm end pose detection device based on the cooperative mechanical arm further comprises a first prism, the first prism is arranged at one end, far away from the main mechanical arm, of the cooperative mechanical arm, and the first prism can move relative to the main mechanical arm along with the cooperative mechanical arm.
Further, the first prism has a first position, a second position and a third position, and the first position, the second position and the third position are not located on the same straight line.
Further, terminal position appearance detection device of arm based on cooperation arm still includes second prism, third prism and fourth prism, and second prism, third prism and fourth prism all set up on the base of host computer arm, and second prism, third prism and fourth prism are not located same straight line.
The method has the advantages that the pose of the tail end of the main mechanical arm can be detected by the method for detecting the pose of the tail end of the main mechanical arm based on the cooperative mechanical arm, so that the accuracy and the efficiency of establishing an error compensation model of the main mechanical arm are improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of coordinate transformation according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a main robot arm end pose detection apparatus based on a cooperative robot arm in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a first prism in a first position;
FIG. 4 is a schematic diagram of the first prism in a second position;
fig. 5 is a schematic structural diagram of the first prism at the third position.
Reference numbers in the figures: 1. a main mechanical arm; 2. a cooperating robotic arm; 3. a first prism.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, the invention provides a method for detecting the end pose of a main mechanical arm based on a cooperative mechanical arm, which comprises the following steps:
the method comprises the following steps that firstly, a first prism is installed on a cooperative mechanical arm, a second prism, a third prism and a fourth prism are installed on a base of a main mechanical arm, and the second prism, the third prism and the fourth prism are located at non-collinear positions;
adjusting the position of the cooperative mechanical arm, enabling the first prism to be respectively arranged at a first position, a second position and a third position which are not collinear, and respectively calculating the coordinate of the first prism in a coordinate system at the tail end of the main mechanical arm when the first position, the second position and the third position are arranged;
measuring coordinates of the first prism, the second prism, the third prism and the fourth prism in a coordinate system of the total station by using the total station;
and fourthly, calculating the pose of the tail end of the main mechanical arm in a base coordinate system of the main mechanical arm according to the coordinate transformation relation.
The method for detecting the end pose of the main mechanical arm based on the cooperative mechanical arm can detect the end pose of the main mechanical arm so as to improve the precision and efficiency of establishing an error compensation model of the main mechanical arm.
Specifically, the second step comprises: and each movable joint of the cooperative mechanical arm is provided with an angle sensor, and the coordinate of the first prism in the coordinate system { R } at the tail end of the main mechanical arm is calculated in real time through the reading of the angle sensor and the joint angle of the cooperative mechanical arm. Obtaining the pose of the ith joint of the cooperative mechanical arm in the ith-1 joint coordinate system according to the structural parameters of the cooperative mechanical arm, and expressing the pose in a homogeneous transformation matrix
The position and attitude of the 0 th joint of the cooperative mechanical arm in the coordinate system at the tail end of the main mechanical arm are obtained from the installation position of the cooperative mechanical arm and are expressed as
Coordinates in a 6 th joint coordinate system of a cooperative mechanical arm in combination with a first prism 6 P, calculating the coordinate of the first prism in the coordinate system { R } of the end of the main mechanical arm
The second step is a front step and can provide data support for subsequent pose calculation.
And step three, specifically, measuring the coordinates of the first prism, the second prism, the third prism and the fourth prism in a coordinate system { C } of the total station by using the total station.
A Total Station, i.e. a Total Station type Electronic distance meter (Electronic Total Station), is a high-tech measuring instrument integrating light collection, mechanical measurement and electrical measurement, and is a surveying instrument system integrating horizontal angle, vertical angle, distance (slant distance, horizontal distance) and height difference measurement functions. Compared with the optical theodolite, the electronic theodolite changes the optical scale into the photoelectric scanning scale, and replaces the manual optical micrometering reading with automatic recording and displaying reading, so that the angle measuring operation is simplified, and the reading error can be avoided. The coordinates of the first prism, the second prism, the third prism and the fourth prism in a coordinate system { C } of the total station can be directly obtained through measurement by the total station.
Referring to fig. 1, step four includes: the pose of the base coordinate system { B } relative to the total station coordinate system { C } is obtained by coordinate transformation, namely expressed as
Further, the fourth step is specifically that the pose of the base coordinate system { B } relative to the total station coordinate system { C } is obtained through calculation according to the installation positions of the second prism, the third prism and the fourth prism and the coordinates of the second prism, the third prism and the fourth prism in the total station coordinate system.
The fourth step in the embodiment of the present invention further includes: the pose of the coordinate system { R } of the tail end of the main mechanical arm relative to the coordinate system { C } of the total station is obtained by coordinate transformation, namely the pose is expressed as
As shown in fig. 1.
Specifically, the pose of the terminal coordinate system { R } of the main mechanical arm relative to the coordinate system { C } of the total station may be obtained by calculating the coordinates of the first prism in the coordinate system of the total station when the terminal coordinate system of the main mechanical arm is at the first position, the second position and the third position, so as to calculate the pose of the terminal of the main mechanical arm in the base coordinate system { B } of the main mechanical arm.
When the method is applied to the detection of the pose of the tail end of the large mechanical arm, the measurement can be carried out only by arranging the cooperative mechanical arm to the pose convenient for the total station to measure, so that the method has the advantages of high measurement efficiency and wide applicability.
As shown in fig. 2 to 5, the present invention further provides a robot arm end pose detection apparatus based on a cooperative robot arm, for implementing the above-mentioned method for detecting an end pose of a main robot arm based on a cooperative robot arm, where the robot arm end pose detection apparatus based on a cooperative robot arm includes: a main robot arm 1 and a cooperating robot arm 2;
the cooperative arm 2 is mounted on one end of the main arm 1, and the cooperative arm 2 is movable relative to the main arm 1.
The main mechanical arm 1 and the cooperative mechanical arm 2 can be used for installing a first prism, a second prism, a third prism and a fourth prism, so that the purpose of facilitating measurement of the total station is achieved.
Specifically, as shown in fig. 2 to 5, the robot arm end pose detection apparatus based on the cooperative robot arm further includes a first prism 3 that is provided at an end of the cooperative robot arm 2 away from the main robot arm 1, and the first prism 3 is movable together with the cooperative robot arm 2 relative to the main robot arm 1.
As shown in FIGS. 3 to 4, the first prism 3 has a first position, a second position and a third position, which are not located on the same line, and changing the position of the first prism 3 can obtain the coordinate of the first prism 3 located in the end coordinate system { R } of the master arm at the above-mentioned position
Preferably, the mechanical arm end pose detection device based on the cooperative mechanical arm further comprises a second prism, a third prism and a fourth prism, the second prism, the third prism and the fourth prism are all arranged on the base of the main mechanical arm 1, and the second prism, the third prism and the fourth prism are not located on the same straight line.
The first position, the second position and the third position are not collinear, the second prism, the third prism and the fourth prism are not collinear, the same explanation is given, taking the first position, the second position and the third position as an example, the connecting line of the first position and the second position has an included angle with the connecting line of the second position and the third position which is greater than 0 degree and less than 180 degrees (not equal to 0 degree and not equal to 180 degrees), and the connecting line of the second position and the third position has an included angle with the connecting line of the first position and the third position which is greater than 0 degree and less than 180 degrees (not equal to 0 degree and not equal to 180 degrees).
The mounted position of above-mentioned first prism 3, second prism, third prism and fourth prism all is provided with convenient to detach's installation department in this embodiment, reaches the purpose of being convenient for dismantle fast and install first prism 3, second prism, third prism and fourth prism.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects: the method for detecting the end pose of the main mechanical arm based on the cooperative mechanical arm can detect the end pose of the main mechanical arm so as to improve the precision and efficiency of establishing an error compensation model of the main mechanical arm.
The above description is only exemplary of the invention and should not be taken as limiting the scope of the invention, so that the invention is intended to cover all modifications and equivalents of the embodiments described herein. In addition, the technical features, the technical schemes and the technical schemes can be freely combined and used.
Claims (5)
1. A method for detecting the end pose of a main mechanical arm based on a cooperative mechanical arm is characterized by comprising the following steps:
the method comprises the following steps that firstly, a first prism is installed on a cooperative mechanical arm, a second prism, a third prism and a fourth prism are installed on a base of a main mechanical arm, and the second prism, the third prism and the fourth prism are located at non-collinear positions;
adjusting the position of the cooperative mechanical arm, enabling the first prism to be respectively arranged at a first position, a second position and a third position which are not collinear, arranging an angle sensor on each movable joint of the cooperative mechanical arm, and calculating the coordinate of the first prism in a coordinate system at the tail end of the main mechanical arm in real time through the reading of the angle sensors;
measuring coordinates of the first prism, the second prism, the third prism and the fourth prism in a total station coordinate system by using a total station;
acquiring the pose of the base coordinate system relative to the total station coordinate system by utilizing coordinate transformation; acquiring the pose of the terminal coordinate system of the main mechanical arm relative to the coordinate system of the total station by using coordinate transformation; wherein the pose of the base coordinate system relative to the total station coordinate system is obtained by calculating the installation positions of the second prism, the third prism and the fourth prism and the coordinates of the second prism, the third prism and the fourth prism in the total station coordinate system; the pose of the end coordinate system of the main mechanical arm relative to the total station coordinate system is obtained by calculating the coordinates of the first prism in the total station coordinate system when the main mechanical arm end coordinate system is at the first position, the second position and the third position, and then the pose of the end of the main mechanical arm in the base coordinate system of the main mechanical arm is calculated.
2. A cooperative-robot-arm-based end-of-arm pose detection apparatus for implementing the cooperative-robot-arm-based main robot arm end pose detection method according to any one of claim 1, wherein the cooperative-robot-arm-based end-of-arm pose detection apparatus comprises:
a main robot arm (1);
and the cooperative mechanical arm (2) is arranged at one end of the main mechanical arm (1), and the cooperative mechanical arm (2) can move relative to the main mechanical arm (1).
3. The cooperative arm-based end-of-arm pose detection apparatus according to claim 2, further comprising a first prism (3) disposed at an end of the cooperative arm (2) remote from the main arm (1), wherein the first prism (3) is movable with the cooperative arm (2) relative to the main arm (1).
4. The cooperative mechanical arm-based end pose detecting apparatus according to claim 3, wherein the first prism (3) has a first position, a second position and a third position, and the first position, the second position and the third position are not located on the same line.
5. The end-of-arm pose detection apparatus based on a cooperative mechanical arm according to claim 4, further comprising a second prism, a third prism and a fourth prism, wherein the second prism, the third prism and the fourth prism are all arranged on the base of the main mechanical arm (1), and the second prism, the third prism and the fourth prism are not located on the same straight line.
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