CN113580141B - Pose solving method for 6-axis mechanical arm - Google Patents

Pose solving method for 6-axis mechanical arm Download PDF

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CN113580141B
CN113580141B CN202110948119.1A CN202110948119A CN113580141B CN 113580141 B CN113580141 B CN 113580141B CN 202110948119 A CN202110948119 A CN 202110948119A CN 113580141 B CN113580141 B CN 113580141B
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mechanical arm
pose
coordinate system
joint
axis
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CN113580141A (en
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龚肖
王�锋
周宁玲
张龙
薛琪
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Tuodao Medical Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed

Abstract

The invention discloses a 6-axis mechanical arm pose solving method, which comprises the following steps: step 1, a tracker is arranged on a patient, a guider is arranged on an end effector, and a transformation relation between an image coordinate system and a tracker coordinate system is obtained through registration; step 2, calculating all poses of the guide in a tracker coordinate system according to the target poses of the execution channels and the kinematic parameters of the end effector; step 3, selecting a plurality of poses with the smallest included angle between the normal direction of the guider and the normal direction of the optical tracking system as candidate poses, and calculating according to the candidate poses to obtain the target poses of the tail end of the corresponding mechanical arm under the coordinate system of the tracker; and 4, converting the corresponding pose of the end target of the mechanical arm to the position under the corresponding mechanical arm base, performing inverse kinematics solution to obtain 8 groups of solutions, and obtaining the pose of the 6-axis mechanical arm by combining the position requirements of each joint of the mechanical arm. According to the invention, the joints are restrained by the positions of all the joints of the mechanical arm, so that the accurate pose of the mechanical arm is solved, and the collision of surrounding objects can be avoided.

Description

Pose solving method for 6-axis mechanical arm
Technical Field
The invention relates to the technical field of robots, in particular to a 6-axis mechanical arm pose solving method.
Background
The mechanical arm is indispensable equipment in a medical scene, and plays a main role in replacing a doctor to operate. The existing medical scenes mainly comprise two types of mechanical arms, one type is customized in some scenes, and the universality is poor; the other type is a 6-degree-of-freedom mechanical arm with strong universality, the range which can be achieved is wide due to the joints with 6 degrees of freedom, but the control on the 6-degree-of-freedom mechanical arm is complex, and particularly in a medical scene, the collision of surrounding objects is avoided, and the collision of doctors and patients is avoided. Therefore, it is necessary to provide a method for calculating the pose of the robot arm accurately in real time to control the robot arm to avoid the above problems.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems, the invention provides a 6-axis mechanical arm pose solving method, which can avoid collision of surrounding objects and can also avoid collision of doctors and patients to solve the accurate mechanical arm pose.
The technical scheme is as follows:
a6-axis mechanical arm pose solving method comprises the following steps:
step 1, a tracker is arranged on a patient, a guider is arranged on an end effector, and a transformation relation between an image coordinate system and a tracker coordinate system is obtained through registration;
step 2, calculating according to the target pose of the execution channel and the kinematic parameters of the end effector in combination with the step 1 to obtain all poses of the guide in a tracker coordinate system;
step 3, selecting a plurality of poses with the smallest included angle between the normal direction of the guider and the normal direction of the optical tracking system as candidate poses, and calculating according to the candidate poses to obtain the target poses of the tail end of the corresponding mechanical arm under the coordinate system of the tracker;
and 4, converting the corresponding pose of the end target of the mechanical arm to the position under the corresponding mechanical arm base, performing inverse kinematics solution according to the kinematics parameters to obtain 8 groups of solutions, and obtaining a final solution by combining the position requirements of each joint of the mechanical arm so as to obtain the pose of the 6-axis mechanical arm.
The step 2 specifically comprises the following steps:
1) Obtaining a pose transformation relation between the execution channel and the tail end of the mechanical arm according to the installation parameters of the end effector, and calculating the pose of the execution channel in the image coordinate system according to the pose of the tail end of the mechanical arm in the image coordinate system;
2) Calculating according to the step 1 to obtain the pose of the execution channel in the tracker coordinate system;
3) And calculating the pose of the guider under the tracker coordinate system according to the design parameters of the end effector.
In the step 2, all the poses of the end effector under the tracker coordinate system are obtained by combining the calculation in the step 1, specifically, any pose when the target pose axis of the execution channel is taken as an axis and rotates around the axis is taken as an axis.
In the step 3, selecting a plurality of poses having the smallest included angle between the normal direction of the guider and the normal direction of the optical tracking system as candidate poses specifically includes:
the target pose axis of the execution channel is taken as an axis, the traversal range is 0-360 degrees, the step length is 2 degrees, namely, the normal included angle theta between the guider and the optical tracking system is calculated every 2 degrees from 0 degree i Corresponding position of the guide is
Figure BDA0003217568320000021
Will theta i Sorting from small to large, selecting the first 20 theta i The corresponding director pose serves as a candidate pose.
The step 4 of converting the tail end of the target mechanical arm to the current mechanical arm base coordinate system specifically comprises the following steps:
according to the positions of the guider and the tracker identified by the optical tracking system, the position of the corresponding mechanical arm base under the tracker coordinate system is obtained through inverse kinematics calculation; and the target pose of the tail end of the corresponding mechanical arm under the corresponding mechanical arm base is obtained through inverse kinematics calculation.
The final solution obtained by combining the requirements of the positions of all joints of the mechanical arm in the step 4 is as follows:
in the 8 groups of solutions, the joint 1 has two solutions, namely the mechanical arm base has two orientation choices, and the joint 3 and the joint 5 respectively have two solutions;
1) Removing solutions with larger angle difference compared with the current orientation of the mechanical arm base from the two orientation selections of the mechanical arm base, thereby removing four groups of solutions related to the solutions and remaining 4 groups of solutions;
2) Removing the solution with the height lower than that of the joint 2 from the two solutions of the joint 3, and further removing 2 groups of solutions related to the solutions;
3) And removing the solution which is higher than the joint 4 in height and has the distance from the mechanical arm base not larger than the distance from the joint 4 to the mechanical arm base from the two solutions of the joint 5 to obtain a final solution.
And taking the height difference between the joint 4 and the joint 5 as an evaluation factor, and solving the solution with the minimum evaluation factor in all candidate poses as a target solution so as to obtain the optimal pose of each joint of the 6-axis mechanical arm.
Has the advantages that: according to the invention, the accurate pose of the mechanical arm is obtained through the position constraint requirements of all joints of the mechanical arm, so that the collision of surrounding objects can be avoided, and the collision of doctors and patients can also be avoided.
Drawings
FIG. 1 is a schematic diagram of a 6-axis robotic arm performing operations;
fig. 2 is a schematic view of the present invention.
Wherein, 1 to 6 are joints 1 to 6 respectively;
10 is an operating table, 20 is a mechanical arm, 30 is an optical tracking system, and 40 is a die body (or a patient);
21 is the tail end of the mechanical arm, 22 is an end effector, and 23 is an executive component; reference numeral 41 denotes a tracker.
Detailed Description
The invention is further elucidated with reference to the drawings and the embodiments.
FIG. 1 is a schematic diagram of the operation performed by a 6-axis mechanical arm, when an actuator is arranged at the tail end of the 6-axis mechanical arm to perform the operation, joints 1-6 are defined as joints from the robot to the tail end of the mechanical arm in sequence, then as shown in FIG. 1, the position of the joint 6 is determined by the position of the end actuator, a joint 4 is above a joint 5, otherwise the joint 4 touches a patient, the height of the joint 3 must be greater than that of the joint 2, otherwise the joint is pressed to an operation table; the poses of the joints are obtained by tracking the pose of the end effector, converting the pose of the end effector into the pose of the tail end of the mechanical arm and then performing inverse kinematics solution.
Fig. 2 is a schematic view of a surgical procedure, which includes an optical tracking system 30 (binocular tracking system), an operating table 10, a phantom 40, a tracker 41, a mechanical arm 20, and an end effector 22, wherein the phantom 40 is placed on the operating table 10, the tracker 41 is mounted on the phantom 40 (or a patient), the end effector 22 is provided with a guide and an execution passage, and the execution passage is provided with an execution piece 23; the binocular tracking system 30 is placed at a position where the tracker 41 and the guide on the end effector 22 can be seen at the same time, so that the robot arm 20 can be guided to move, and the robot arm 20 is controlled to perform corresponding operations only after the pose of the robot arm 20 is solved to meet the scene.
Wherein the tracker 41 and the director are each designed as at least three coplanar non-collinear light-reflecting spheres for constituting the tracer.
The pose solving method of the 6-axis mechanical arm comprises the following steps:
step 1, before the operation of the mechanical arm, registration is carried outOperating, namely registering the image data and the tracking tracer by using the registration plate to obtain an image coordinate system T i And tracking tracer coordinate system T p The transformation relationship of (1);
step 2, planning a channel in the image to obtain the pose of the planned channel in a tracker coordinate system (namely the target pose of the execution channel), and calculating to obtain the pose T of the guide in the tracker coordinate system according to the design parameters of the end effector and the kinematic parameters of the planned channel and the end effector (namely the installation parameters, the pose transformation relation from the execution channel to the tail end of the mechanical arm measured after the end effector is installed at the tail end of the mechanical arm), wherein the kinematic parameters of the planned channel and the end effector are the kinematic parameters of the end effector e ；
The tracker coordinate system can use the normal direction of the tracking plane as an X axis, the connecting line of two reflecting balls is a Z axis, and the Y axis can be obtained by the axis orthogonality, so that the tracker coordinate system W is constructed;
step 3, because the target pose of the execution channel is known, the target pose of the end effector can be any pose when the target pose axis of the execution channel is taken as an axis and rotates around the axis, when the target pose of the guide tracer is solved, traversal operation is carried out on the possible poses of all the end effectors, the pose with a small included angle between the normal direction of the guide and the normal direction of the binocular tracking system is found and obtained as the candidate pose of the end effector, and the candidate pose of the guide is obtained through transformation, and the method specifically comprises the following steps:
the axis of the target pose of the execution channel is taken as an axis, the traversal range is 0-360 degrees, the step length is 2 degrees, namely, the normal included angle theta between the guider and the binocular tracking system is calculated every 2 degrees from 0 degree i Corresponding position of the guide is
Figure BDA0003217568320000041
There will be a total of 180 θ i And T corresponding thereto e Will theta i Sorting from small to large, selecting the top 20 theta i Corresponding T e As candidate pose
Figure BDA0003217568320000042
And 4, selecting one candidate pose as a target pose of the guide, calculating to obtain a target pose of the tail end of the mechanical arm according to design parameters and kinematic parameters of the end effector after the binocular tracking system simultaneously sees the guide and the tracker, and further calculating to obtain the pose of the current mechanical arm base under a tracker coordinate system through inverse kinematics
Figure BDA0003217568320000043
Because the current pose of the mechanical arm base and the target pose of the mechanical arm tail end are both poses under the tracker coordinate system, the target pose of the mechanical arm tail end under the current mechanical arm base is calculated to be
Figure BDA0003217568320000044
Step 5, the pose of the end target of the mechanical arm under the current mechanical arm base is
Figure BDA0003217568320000045
Has been found out, based on the pair of kinematic parameters
Figure BDA0003217568320000046
Inverse kinematics solution is performed, and 8 sets of solutions A under the coordinate system of the mechanical arm base can be obtained:
Figure BDA0003217568320000047
wherein j represents the j-th group of solutions, j =1,2, …,8; the joint 1 has two solutions, namely the mechanical arm base has two orientation choices; there are also two solutions for joint 3 and joint 5, respectively;
step 6, finding the most suitable group of solutions from the 8 groups of solutions;
1) Generating larger motion solution removal for the mechanical arm base, namely selectively removing the solution with larger angle difference compared with the current orientation of the mechanical arm base from the two orientations of the mechanical arm base, thereby removing four groups of solutions related to the solution and leaving 4 groups of solutions;
2) According to the aforementioned requirements, the joint 3 must be higher than the joint 2,namely, it is
Figure BDA0003217568320000048
The 2 sets of solutions associated therewith may be eliminated, wherein,
Figure BDA0003217568320000051
which represents the height of the joint 3 and,
Figure BDA0003217568320000052
represents the height of the joint 2;
3) The distance between the joint 4 and the joint 1 is d1, the distance between the joint 5 and the joint 1 is d2, and d2 is required to prevent the mechanical arm joint 4 and the joint 5 from colliding with a connecting rod between the joint 3 and the joint 4 when the mechanical arm joint 4 and the joint 5 are selected and released>d1, while the joint 4 must be above the joint 5, then
Figure BDA0003217568320000053
I.e. one solution is removed to obtain the final solution
Figure BDA0003217568320000054
Wherein the content of the first and second substances,
Figure BDA0003217568320000055
which represents the height of the joint 4 and,
Figure BDA0003217568320000056
represents the height of the joint 5;
step 7 of evaluating the difference in height between the joints 4 and 5 as a solution
Figure BDA0003217568320000057
Repeating the steps 4 to 6 for different
Figure BDA0003217568320000058
Will find a set of solutions
Figure BDA0003217568320000059
And corresponding evaluation factors s, sorting 20 groups of s from small to large, and selecting a group of solutions with the minimum s
Figure BDA00032175683200000510
And (5) obtaining the pose of each joint of the 6-axis mechanical arm as a target solution.
In the present invention, the coordinate system of the binocular tracking system may be directly used as the base coordinate system, and in the foregoing embodiment, the coordinate system of the binocular tracking system is transformed into the coordinate system of the tracker according to the transformation relationship between the coordinate system of the binocular tracking system and the coordinate system of the tracker, that is, the coordinate system of the tracker is used as the base coordinate system.
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 (7)

1. A6-axis mechanical arm pose solving method is characterized by comprising the following steps: the method comprises the following steps:
step 1, a tracker is arranged on a patient, a guider is arranged on an end effector, and a transformation relation between an image coordinate system and a tracker coordinate system is obtained through registration;
step 2, calculating according to the target pose of the execution channel and the kinematic parameters of the end effector and combining the step 1 to obtain all poses of the guide in a tracker coordinate system;
step 3, selecting a plurality of poses with the smallest included angle between the normal direction of the guider and the normal direction of the optical tracking system as candidate poses, and calculating according to the candidate poses to obtain the target poses of the tail end of the corresponding mechanical arm under the coordinate system of the tracker;
and 4, converting the corresponding pose of the end target of the mechanical arm to the corresponding coordinate system of the mechanical arm base, performing inverse kinematics solution according to the kinematics parameters to obtain 8 groups of solutions, and obtaining a final solution according to the position requirements of each joint of the mechanical arm to further obtain the pose of the 6-axis mechanical arm.
2. The pose solving method for the 6-axis mechanical arm according to claim 1, characterized in that: the step 2 specifically comprises the following steps:
1) Obtaining a pose transformation relation between the execution channel and the tail end of the mechanical arm according to the installation parameters of the end effector, and calculating the pose of the execution channel in the image coordinate system according to the pose of the tail end of the mechanical arm in the image coordinate system;
2) Calculating according to the step 1 to obtain the pose of the execution channel in the tracker coordinate system;
3) And calculating the pose of the guider under the tracker coordinate system according to the design parameters of the end effector.
3. The pose solving method for the 6-axis mechanical arm according to claim 1, characterized in that: in the step 2, all the poses of the guide under the tracker coordinate system are obtained by combining the calculation in the step 1, specifically, any pose when the target pose axis of the execution channel is taken as an axis and rotates around the axis is taken as an axis.
4. The pose solving method for the 6-axis mechanical arm according to claim 1, characterized in that: in the step 3, selecting a plurality of poses having the smallest included angle between the normal direction of the guider and the normal direction of the optical tracking system as candidate poses specifically includes:
the target pose axis of the execution channel is taken as an axis, the traversal range is 0-360 degrees, the step length is 2 degrees, namely, the normal included angle theta between the guider and the optical tracking system is calculated every 2 degrees from 0 degree i Corresponding position of the guide is
Figure FDA0003887215990000011
Will theta i Sorting from small to large, selecting the first 20 theta i The corresponding director pose serves as a candidate pose.
5. The pose solution method for the 6-axis robot arm according to claim 1, characterized in that: the step 4 of converting the pose of the corresponding end target of the mechanical arm to the current mechanical arm base coordinate system specifically comprises the following steps:
according to the positions of the guider and the tracker identified by the optical tracking system, the position of the corresponding mechanical arm base under the tracker coordinate system is obtained through inverse kinematics calculation; and the target pose of the tail end of the corresponding mechanical arm under the corresponding mechanical arm base coordinate system is obtained through inverse kinematics calculation.
6. The pose solving method for the 6-axis mechanical arm according to claim 1, characterized in that: the final solution obtained by combining the requirements of the positions of all joints of the mechanical arm in the step 4 is as follows:
in the 8 groups of solutions, the joint 1 has two solutions, namely the mechanical arm base has two orientation choices, and the joint 3 and the joint 5 respectively have two solutions;
1) Removing solutions with larger angle difference compared with the current orientation of the mechanical arm base from the two orientation selections of the mechanical arm base, thereby removing four groups of solutions related to the solutions and remaining 4 groups of solutions;
2) Removing the solution with the height lower than that of the joint 2 from the two solutions of the joint 3, and further removing 2 groups of solutions related to the solutions;
3) And removing the solution which is higher than the joint 4 and has the distance from the mechanical arm base not more than the distance from the joint 4 to the mechanical arm base from the two solutions of the joint 5 to obtain a final solution.
7. The pose solving method for the 6-axis mechanical arm according to claim 6, characterized in that: and taking the height difference between the joint 4 and the joint 5 as an evaluation factor, and solving the solution with the minimum evaluation factor in all candidate poses as a target solution so as to obtain the optimal pose of each joint of the 6-axis mechanical arm.
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