CN113752297B - Industrial robot self-calibration device and method based on circumference sealing principle - Google Patents

Industrial robot self-calibration device and method based on circumference sealing principle Download PDF

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CN113752297B
CN113752297B CN202111044399.XA CN202111044399A CN113752297B CN 113752297 B CN113752297 B CN 113752297B CN 202111044399 A CN202111044399 A CN 202111044399A CN 113752297 B CN113752297 B CN 113752297B
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industrial robot
self
sensitive detector
calibration
position sensitive
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CN113752297A (en
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张恩政
李锡睿
陈本永
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Zhejiang Sci Tech University ZSTU
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Zhejiang Sci Tech University ZSTU
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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
    • 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
    • B25J19/02—Sensing devices
    • 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
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • 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
    • B25J9/1692—Calibration of manipulator

Abstract

The invention discloses an industrial robot self-calibration device and method based on a circumference sealing principle. The device comprises a circumference closed self-calibration device, a laser fixing device, a semiconductor laser, two PSD position sensitive detectors and a motor; the central point of a photosurface of one PSD position sensitive detector is positioned at the circle center of the circular closed carrier disc, and the other PSD position sensitive detector is positioned on a circle which is away from the radius R of the circular closed carrier disc; and (3) obtaining theoretical position coordinates of the central point of the photosurface of the PSD position sensitive detector according to kinematics parameter detection, performing detection for four times in each 90-degree rotation in the same direction, establishing a kinematics self-calibration equation set to solve parameter errors, updating kinematics parameters, and performing iteration step processing to obtain final parameter error compensation. The invention realizes the calibration of the robot based on the principle of circumference closure, can reduce the influence of the error of calibration equipment on the calibration precision, is suitable for the fields of precision compensation of the robot and the like, has low cost and is easy to realize.

Description

Industrial robot self-calibration device and method based on circumference sealing principle
Technical Field
The invention relates to a kinematics parameter calibration method in the technical field of industrial robots, in particular to an industrial robot self-calibration device and method based on a circumference sealing principle.
Background
Because the manufacturing error of industrial robot in the manufacturing process and the long-term wearing and tearing in the use make industrial robot theoretical model and actual motion model have certain difference, lead to industrial robot positioning accuracy lower. Firstly, an error prevention method, namely, the precision of robot processing and assembly is improved by utilizing an advanced processing and manufacturing method, but the method is easily limited by processing technology and has higher cost; and the other is an error compensation method, namely, the parameter errors of the robot are identified by using a measuring method and an identification algorithm and corrected into the robot controller.
Error compensation methods can be divided into two broad categories: the first method is a kinematic model geometric parameter calibration method, which accurately measures the pose of the tail end of an industrial robot by adopting high-precision measuring equipment to obtain pose errors and establish an error model, so that the parameter errors are identified and compensated and corrected. The high-precision measuring equipment mainly comprises a three-coordinate measuring machine, a laser tracker, vision measuring equipment and the like, but the three-coordinate measuring machine has the defects of large occupied space and narrow use range influenced by a use field during measurement; the laser tracker has the defects of high instrument price and high operation difficulty; the defects of low precision and small visual field range exist in the measurement by adopting the visual measurement equipment. The second method is a robot self-calibration method, namely, closed-loop kinematics is formed by applying constraint conditions at the tail end of an industrial robot, and constraint equation identification errors are established for compensation. The constraints may include: point constraint, surface constraint and the like, and the calibration method based on the single-point constraint condition has the defect of low global space precision; the method based on spherical constraint needs to install a high-precision measuring head and a standard part and has higher constraint conditions, which is not beneficial to the rapid online calibration of an industrial field.
Due to the fact that high-precision measuring equipment is adopted, and the problem that the existing self-calibration method reduces calibration precision due to equipment calibration errors, the measuring scheme which is low in cost and small in influence of the equipment calibration errors on the calibration precision is adopted to guarantee positioning precision of the industrial robot during working, and the method has important research significance and practical value.
Disclosure of Invention
In order to solve the technical problems of overhigh cost and calibration precision reduction caused by calibration equipment errors in the calibration method technology, the invention aims to provide an industrial robot self-calibration device and method based on the circumference sealing principle, which solve the problems and improve the positioning precision of the robot.
The technical scheme adopted by the invention for solving the technical problems is as follows:
1. an industrial robot self calibration device based on a circumference sealing principle comprises:
the device comprises an industrial robot and a circumferential closed self-calibration device; the semiconductor laser is fixed on the end face of the industrial robot end effector through a laser fixing device; the circumference sealing self-calibration device comprises a laser fixing device, a semiconductor laser, a PSD position sensitive detector I, a PSD position sensitive detector II, a circumference sealing carrier disc, a motor, a coupler and a gear transmission device; the motor is connected with a gear transmission device through a coupler, the gear transmission device is coaxially connected with the circular closed carrier disc, and the second PSD position sensitive detector is fixedly arranged in the middle of the circular closed carrier disc through a second PSD fixed connection device, so that the center point of a photosensitive surface of the second PSD position sensitive detector is positioned in the circle center of the circular closed carrier disc; and the first PSD position sensitive detector is fixedly arranged in the middle of the circular closed carrier disc through the first PSD fixed connecting device, so that the center point of the light sensing surface of the first PSD position sensitive detector is positioned on a circle with the radius R away from the circle center of the circular closed carrier disc.
And a second PSD fixing cover plate device is arranged on the second PSD position sensitive detector.
And a first PSD fixing cover plate device is arranged on the first PSD position sensitive detector.
The industrial robot is a serial industrial mechanical arm.
The method comprises the steps of detecting the position of a central point of a photosensitive surface by irradiating a laser beam onto a PSD position sensitive detector, establishing a constraint equation to solve parameter errors of a robot model and compensate by combining the position of the PSD position sensitive detector on a circular closed carrier disc, and realizing self calibration of the robot.
2. The whole process of the method is mainly divided into the following steps:
step 1) installing the circumference sealing self-calibration device;
step 2) respectively detecting and obtaining theoretical position coordinates of central points of photosensitive surfaces of the first PSD position sensitive detector and the second PSD position sensitive detector according to the kinematic parameters;
step 3) rotating the gear transmission device in the same direction for four times at 90 degrees each time, and repeatedly operating the step 2) each time, and storing the data;
step 4) establishing a kinematic self-calibration equation set to solve parameter errors, and updating kinematic parameters;
and 5) continuously iterating the step 2) to the step 4), and compensating the final parameter error obtained by processing.
The step 1) is specifically as follows: the industrial robot end effector is connected with the laser fixing device, the semiconductor laser is placed in the laser fixing device and is parallel to a Z-axis coordinate system at the end of the industrial robot, the PSD position sensitive detector I and the PSD position sensitive detector II are fixedly installed on a circular closed carrier disc, and the circular closed carrier disc drives the gear transmission device to rotate through the motor to move.
The step 2) is specifically as follows:
for the first PSD position sensitive detector and the second PSD position sensitive detector, the following steps are processed:
2.1 Driving the industrial robot to move at different poses, projecting laser beams emitted by semiconductor lasers arranged at the tail end of the industrial robot at the two different poses to the central point of a photosensitive surface of a PSD position sensitive detector, and recording joint angle readings and position readings of the industrial robot when the laser beams are emitted at each pose;
2.2 The theoretical position coordinate of the central point of the photosensitive surface of the PSD position sensitive detector is obtained by the laser linear equation of two laser beams under the basic coordinate of the industrial robot under two different poses according to the pose reading obtained by inputting the kinematic parameters of the industrial robot into the joint angle reading of the industrial robot:
specifically, a laser linear equation is established according to the obtained position and posture reading of the industrial robot to solve the theoretical position coordinate of the central point of the photosensitive surface of the PSD position sensitive detector, and the obtained joint angle reading of the industrial robot is used for solving and identifying the Jacobian matrix.
2.2.1 Establishment of a laser line equation of the laser beam in the base coordinates of the industrial robot as L i ＝(p xi ,p yi ,p zi ,α i ,β i ,γ i ) Wherein (p) xi ,p yi ,p zi ) Is the three-dimensional position of the laser linear equation under the industrial robot base coordinate system (alpha) i ,β i ,γ i ) The direction vector of the laser linear equation under the industrial robot base coordinate system is shown;
the axial direction of the semiconductor laser is parallel and consistent with the Z-axis direction of the end coordinate system of the industrial robot, so that the direction vector of the laser linear equation under the base coordinate system of the industrial robot is (a) x ,a y ,a z )。
2.2.2 Solving intersection point coordinates of laser beams of two different poses at the position of the PSD position sensitive detector to serve as position coordinates of a photosensitive surface central point of the PSD position sensitive detector under an industrial robot base coordinate system, and establishing expressions of laser linear equations under the two different poses under the industrial robot base coordinate system as follows:
Figure BDA0003250691800000031
wherein (p) x1 ,p y1 ,p z1 ) Representing the position of the first laser linear equation under the industrial robot base coordinate system, (a) x1 ,a y1 ,a z1 ) Representing the direction vector of the first laser linear equation under the industrial robot base coordinate system, (p) x2 ,p y2 ,p z2 ) Representing the position of a second laser linear equation in the industrial robot base coordinate system, (a) x2 ,a y2 ,a z2 ) And (4) representing a direction vector of a second laser linear equation under the industrial robot base coordinate system, and (x, y, z) representing the position coordinate of the intersection point of two intersecting laser linear equations under the industrial robot base coordinate system.
And solving the theoretical position coordinate of the photosensitive surface central point of the PSD position sensitive detector under the industrial robot base coordinate according to the combination of the two laser linear equation expressions.
The step 4) is specifically as follows:
4.1 Continuously repeating the step 2) and the step 3) for a plurality of times of measurement to obtain the circular center theoretical position coordinate of the central point of the photosurface of the PSD position sensitive detector II on the circular closed carrier disc
Figure BDA0003250691800000032
And the central point of the photosensitive surface of the PSD position sensitive detector I is in the condition of four rotating anglesThe theoretical position coordinates of
Figure BDA0003250691800000033
As measurement data, i represents the ith measurement data, k represents the number of times of rotation of the circular closed carrier disc, and j represents the jth iteration;
4.2 From the measurement data obtained for each measurement, the following set of kinematic self-calibration equations is constructed:
Figure BDA0003250691800000041
wherein the content of the first and second substances,
Figure BDA0003250691800000042
is the position deviation value of the k-th rotation of the circumferential closed carrier disk in the j-th iteration,
Figure BDA0003250691800000043
is the identification Jacobian matrix, delta, corresponding to the kinematic parameters when the k-th rotation of the circular closed carrier disk is performed during the j-th iteration j The motion parameter error vector is the motion parameter error vector in the jth iteration processing; delta. For the preparation of a coating j Is the kinematic parameter of the j-th iteration.
Under the condition that the joint angle of the industrial robot is not changed, the actual position coordinate of the central point of the photosensitive surface of the PSD position sensitive detector is recorded as
Figure BDA0003250691800000044
The theoretical position coordinate of the light beam of the laser projected to the center point of the light-sensitive surface of the PSD position sensitive detector is recorded as
Figure BDA0003250691800000045
Calculating the position deviation of the central point of the photosensitive surface of the PSD position sensitive detector as the parameter error of the kinematic parameters of the robot:
Figure BDA0003250691800000046
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003250691800000047
is a value of a deviation of the position,
Figure BDA0003250691800000048
is an identification Jacobian matrix corresponding to the kinematic parameters, delta j Is the kinematic parameter error vector to be identified.
4.3 The kinematic self-calibration equation set established by the measured data of all the times is solved simultaneously to obtain the parameter error of the kinematic parameter of the robot as the parameter error of the current iteration, the parameter error delta obtained from each iteration j Kinematic parameter delta from last iteration j Adding to obtain new kinematic parameter delta of next iteration j+1 I.e. delta j+1 ＝Δδ j +δ j J = 1.. N, according to the kinematic parameter δ j+1 Inputting the joint angle reading of the industrial robot to obtain a new pose reading, and recalculating by repeating the steps 2) and 3)
Figure BDA0003250691800000049
Deviation value of position
Figure BDA00032506918000000410
And identifying the Jacobian matrix
Figure BDA00032506918000000411
Substituting the obtained new kinematic self-calibration equation set into the kinematic self-calibration equation set to perform simultaneous solution again to obtain the parameter error delta of the kinematic parameters of the robot j ；
In the 4.3), the kinematic self-calibration equation set is specifically arranged into A.delta.delta. j In the form of = B, the iterative initial value of the identification parameter is a vector delta consisting of nominal values of the parameter to be calibrated 1 Iterative identification is carried out through an improved least square method, namely an LM algorithm, and the calculation iterative expression is as follows:
Δδ j ＝(A T ·A+μI) -1 ·A T ·B
Figure BDA00032506918000000412
Figure BDA0003250691800000051
where μ is the iterative equation combining coefficient, I represents the identity matrix, and the elements of the main diagonal are all 1, except that all are 0, t represents the matrix transposition, and-1 represents the matrix inversion.
In the step 5), until the parameter error delta is reached j Stopping iteration when the error reaches a value smaller than a preset iteration threshold value, and obtaining a parameter error delta in the last iteration j And compensating as a final parameter error, and compensating the final parameter error into the industrial robot controller to realize a kinematics parameter self-calibration technology of the industrial robot.
The initial kinematic parameters are set as factory parameters.
The kinematic parameters are D-H parameters.
The invention has the beneficial effects that:
(1) The invention adopts the mode of combining the semiconductor laser and the PSD position sensitive detector to carry out the calibration compensation of the robot, and has low cost compared with the traditional mode of using a laser tracker to carry out calibration.
(2) Compared with the conventional robot self-calibration method, the invention calibrates the robot by using the circumference sealing self-calibration device developed by the circumference sealing principle, and can reduce the influence of the error of calibration equipment on the calibration precision.
(3) The invention relates to an industrial robot self-calibration device and method based on the principle of circumference sealing, wherein a constraint equation is established to solve and compensate robot model parameter errors by detecting the position of a photosurface center point on a PSD position sensitive detector and combining the position of the PSD position sensitive detector on a circumference sealing carrier disc, so that the calibration of self-calibration model parameters of a robot is realized, and the device has a simple structure and is easy to realize.
(4) The industrial robot self-calibration device and method based on the circumference sealing principle can be used in the fields of calibration and calibration of robots and the like, and can be used for identifying and compensating model parameters of the robots and improving the accuracy of the robots.
In summary, the invention realizes the calibration of the robot based on the principle of circumference closure, can reduce the influence of the error of the calibration equipment on the calibration precision, is suitable for the precision compensation and other fields of the robot, and has low cost and easy realization.
Drawings
FIG. 1 is a diagram of a self-calibration system of an industrial robot based on the principle of circumferential confinement;
FIG. 2 is a diagram of the composition of the lower layer of the circumferentially enclosed self-calibrating device;
FIG. 3 is a graph of simulation results for an embodiment of the present invention.
In the figure: 1. the device comprises an industrial robot, 2, a laser fixing device, 3, a semiconductor laser, 4, a PSD position sensitive detector I, 5, a PSD fixed connecting device I, 6, a PSD fixed cover plate device I, 7, a PSD position sensitive detector II, 8, a PSD fixed connecting device II, 9, a PSD fixed cover plate device II, 10, a circumference closed carrier disc, 11, a motor, 12, a coupler, 13 and a gear transmission device.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
The embodiments of the invention are as follows:
the specific implementation system is shown in FIG. 1 and comprises an industrial robot 1 and a circumferential closed self-calibration device;
in the circumferential closed self-calibration device, a semiconductor laser 3 is fixed on the end face of an end effector of an industrial robot 1 through a laser fixing device 2; specifically, the end effector of the industrial robot 1 is connected with the laser fixing device 2 through a threaded hole, the semiconductor laser 3 is mounted in the laser fixing device 2, a screw fixes the position of the semiconductor laser 3 in the laser fixing device 2 through a fixing threaded hole, and a power connection line of the semiconductor laser 3 is led out from the laser fixing device 2 through a notch.
The circumference sealing self-calibration device comprises a laser fixing device 2, a semiconductor laser 3, a PSD position sensitive detector I4, a PSD position sensitive detector II 7, a circumference sealing carrier disc 10, a motor 11, a coupler 12 and a gear transmission device 13;
as shown in fig. 2, in the circular enclosed self-calibration device, a motor 11 is connected with a gear transmission device 13 through a coupler 12, the gear transmission device 13 is coaxially connected with a circular enclosed carrier disc 10 through nine central threaded holes, and a PSD position sensitive detector two 7 is fixedly installed in the middle of the circular enclosed carrier disc 10 through a PSD fixed connection device two 8, so that the center point of a photosensitive surface of the PSD position sensitive detector two 7 is located at the center of the circular enclosed carrier disc 10; the PSD position sensitive detector I4 is fixedly arranged in the middle of the circular closed carrier disc 10 through a PSD fixed connecting device I5, so that the center point of a light sensing surface of the PSD position sensitive detector I4 is positioned on a circle with the radius R away from the circle center of the circular closed carrier disc 10.
In specific implementation, a second PSD fixing cover plate device 9 is placed on the second PSD position sensitive detector 7, and the second PSD fixing cover plate device 9 is used for stabilizing the second PSD position sensitive detector 7 to prevent the second PSD position sensitive detector 7 from loosening. A PSD fixing cover plate device I6 is placed on the PSD position sensitive detector I4, and the PSD fixing cover plate device I6 is used for stabilizing the PSD position sensitive detector I4 to prevent the PSD position sensitive detector I4 from loosening.
In the example of the invention, the industrial robot 1 is an Efft ER3B-C30 type six-degree-of-freedom industrial robot, the effective working range is 593mm, the effective load is 3kg, and the repeated positioning precision is 0.02mm. The semiconductor laser 3 is a deep radium X650N5 type laser with a wavelength of 650nm. The PSD position sensitive detector I4 and the PSD position sensitive detector II 7 are Soranbo PDP90A transverse effect position sensors, the resolution is as high as 0.75 mu m, and the effective surface size is 9 multiplied by 9mm. The motor 11 is a Jimeikang 40JASM501230K type 220V alternating current servo motor, the rated power of the motor is 100W, and the rated rotating speed is 3000r/min. The coupling 12 is an aluminum alloy elastic diaphragm coupling. The gear transmission device 13 is a Pediowei PX110-100 type worm gear rotating table, the size is 100mm, and the repeated positioning precision is 0.005mm.
As shown in fig. 1, the specific implementation process of the embodiment of the present invention is as follows:
1) An end effector of an industrial robot 1 is connected with a laser fixing device 2, a semiconductor laser 3 is placed in the laser fixing device 2 and is parallel to a Z-axis coordinate system at the end of the industrial robot 1, a PSD position sensitive detector I4 and a PSD position sensitive detector II 7 are fixedly connected to a circular closed carrier disc 10, and the circular closed carrier disc 10 drives a gear transmission device 13 to rotate through a motor 11 so as to move;
2) Driving an industrial robot 1 to move in different poses to enable laser beams emitted by a semiconductor laser 3 installed at the tail end to be respectively projected to the central points of photosensitive surfaces of a PSD position sensitive detector I4 and a PSD position sensitive detector II 7, recording joint angle reading and position reading of the industrial robot 1, solving the theoretical position coordinates of the central points of the photosensitive surfaces of the PSD position sensitive detector I4 and the PSD position sensitive detector II 7 by using a linear equation of any two laser beams under a base coordinate of the industrial robot 1, taking the intersection coordinates of the laser beams in the same position of the PSD position sensitive detector I4 and the same position of the PSD position sensitive detector II 7 as the position coordinates of the central points of the photosensitive surfaces of the PSD position sensitive detector I4 and the PSD position sensitive detector II 7 under the base coordinate of the industrial robot 1 according to the principle that two intersected linear lines in space have one intersection, solving the intersection position coordinates of the PSD position sensitive detector I4 and the PSD position sensitive detector II 7 by establishing an equation, and calculating a jacobble matrix of the intersection coordinates;
2) Driving an industrial robot 1 to move at different poses so that laser beams emitted by a semiconductor laser 3 mounted at the tail end are projected to the central point of a photosensitive surface of a PSD position sensitive detector I4, recording joint angle reading and pose reading of the industrial robot 1, establishing a laser linear equation according to the pose reading, taking intersection coordinates of two laser beams at different poses at the position of the same PSD position sensitive detector I4 as position coordinates of the central point of the photosensitive surface of the PSD position sensitive detector I4 under a base coordinate of the industrial robot 1, solving the intersection coordinates of the laser beams through simultaneous two laser linear equations, and calculating an identification Jacobian matrix according to the joint angle reading;
similarly, the industrial robot 1 is driven to move in different poses to enable laser beams emitted by the semiconductor laser 3 mounted at the tail end to project to the center point of the photosensitive surface of the PSD position sensitive detector II 7, joint angle reading and pose reading of the industrial robot 1 are recorded, a laser linear equation is established according to the pose reading, intersection coordinates of two laser beams in different poses at the position of the same PSD position sensitive detector II 7 are used as position coordinates of the center point of the photosensitive surface of the PSD position sensitive detector II 7 under the base coordinate of the industrial robot 1, the intersection coordinates of the laser beams are obtained by combining the two laser linear equations, and the Jacobian matrix is calculated according to the joint angle reading.
3) The gear assembly 13 is set to rotate 90 degrees each time, rotate clockwise (counterclockwise) 4 times in sequence, repeat the operations in step 2) each time it rotates once, and save the measured data.
4) According to the principle of natural sealing that the central angle between every two adjacent equal division points is equal to 90 degrees, the sum of the central angles is equal to 360 degrees and the sum of errors of all included angles is equal to zero, and the central point theoretical position coordinates of the photosensitive surface of the PSD position sensitive detector I4 are recorded
Figure BDA0003250691800000072
And the central point theoretical position coordinates of the photosensitive surface of the PSD position sensitive detector II 7
Figure BDA0003250691800000071
Identifying the jacobian matrix to establish a kinematic self-calibration equation set of the industrial robot 1:
Figure BDA0003250691800000081
and solving a kinematics self-calibration equation set by an improved least square method (LM algorithm) to obtain a kinematics parameter error value, stopping iteration until the parameter error reaches a value smaller than a preset iteration threshold value, compensating by taking the parameter error obtained by the last iteration as a final parameter error, bringing the final parameter error into a kinematics parameter nominal value for correction to obtain a calibrated kinematics parameter accurate value, and compensating the calibrated kinematics parameter accurate value into a controller of the industrial robot 1 to realize the kinematics parameter self-calibration technology of the industrial robot 1.
In the embodiment, simulation verification is performed on the industrial robot self-calibration method based on the circumferential sealing principle, the simulation result is shown in fig. 3, and the obtained result data is shown in the following table.
Figure BDA0003250691800000082
The comparison result shows that the maximum distance error after compensation is reduced by 60.6% compared with the maximum distance error before compensation and the average distance error is reduced by 60.4% compared with the average distance error before compensation by adopting the industrial robot self-calibration method based on the circumferential sealing principle, and the feasibility and the effectiveness of the industrial robot self-calibration device and the method based on the circumferential sealing principle, which are provided by the invention, on the aspect of improving the positioning accuracy of the industrial robot are verified.
The foregoing detailed description is intended to illustrate and not limit the invention, which is intended to be within the spirit and scope of the appended claims, and any changes and modifications that fall within the true spirit and scope of the invention are intended to be covered by the following claims.

Claims (10)

1. An industrial robot self calibration device based on circumference seals principle which characterized in that: comprises an industrial robot (1) and a circumferential closed self-calibration device; the semiconductor laser (3) is fixed on the end face of an end effector of the industrial robot (1) through a laser fixing device (2); the circumference closed self-calibration device comprises a laser fixing device (2), a semiconductor laser (3), a PSD position sensitive detector I (4), a PSD position sensitive detector II (7), a circumference closed carrier disc (10), a motor (11), a coupler (12) and a gear transmission device (13); the motor (11) is connected with a gear transmission device (13) through a coupler (12), the gear transmission device (13) is coaxially connected with the circular closed carrier disc (10), and the PSD position sensitive detector II (7) is fixedly installed in the middle of the circular closed carrier disc (10) through a PSD fixed connection device II (8), so that the center point of a photosurface of the PSD position sensitive detector II (7) is located in the circle center of the circular closed carrier disc (10); the PSD position sensitive detector I (4) is fixedly arranged in the middle of the circular closed carrier disc (10) through a PSD fixed connecting device I (5), so that the center point of a photosensitive surface of the PSD position sensitive detector I (4) is positioned on a circle with the radius R away from the circle center of the circular closed carrier disc (10).
2. An industrial robot self-calibration device based on the principle of circumference closure as claimed in claim 1, characterized in that: and a second PSD fixing cover plate device (9) is arranged on the second PSD position sensitive detector (7).
3. An industrial robot self-calibration device based on the principle of circumference closure as claimed in claim 1, characterized in that: and a first PSD fixing cover plate device (6) is arranged on the first PSD position sensitive detector (4).
4. An industrial robot self-calibration device based on the principle of circumference closure as claimed in claim 1, characterized in that: the industrial robot is a serial industrial mechanical arm.
5. An industrial robot self-calibration method applied to the industrial robot self-calibration device of claim 1, characterized in that: the method comprises the steps of irradiating a laser beam onto a PSD position sensitive detector to detect the position of a central point of a photosensitive surface, establishing a constraint equation to solve parameter errors of a robot model and compensate by combining the position of the PSD position sensitive detector on a circular closed carrier disc, and realizing self calibration of the robot.
6. An industrial robot self-calibration method of an industrial robot self-calibration device according to claim 5, characterized in that: the whole method process mainly comprises the following steps:
step 1) installing the circumference sealing self-calibration device;
step 2) respectively detecting and obtaining theoretical position coordinates of central points of photosensitive surfaces of the first PSD position sensitive detector and the second PSD position sensitive detector according to the kinematic parameters;
step 3) rotating the gear transmission device in the same direction for four times at 90 degrees each time, and repeatedly operating the step 2) each time, and storing the data;
step 4) establishing a kinematic self-calibration equation set to solve parameter errors, and updating kinematic parameters;
and 5) continuously iterating the step 2) to the step 4), and compensating the final parameter error obtained by processing.
7. An industrial robot self-calibration method of an industrial robot self-calibration device according to claim 6, characterized in that: the step 1) is specifically as follows: the industrial robot end effector is connected with the laser fixing device, the semiconductor laser (3) is placed in the laser fixing device and is parallel to a Z-axis coordinate system at the industrial robot end, the PSD position sensitive detector I and the PSD position sensitive detector II are fixedly installed on the circular closed carrier disc, and the circular closed carrier disc drives the gear transmission device to rotate through the motor to move.
8. An industrial robot self-calibration method of an industrial robot self-calibration device according to claim 6, characterized in that: the step 2) is specifically as follows:
for the first PSD position sensitive detector and the second PSD position sensitive detector, the following steps are processed:
2.1 Driving the industrial robot to move at different poses, projecting laser beams emitted by semiconductor lasers arranged at the tail end of the industrial robot at the two different poses to the central point of a photosensitive surface of a PSD position sensitive detector, and recording joint angle readings and position readings of the industrial robot when the laser beams are emitted at each pose;
2.2 The theoretical position coordinate of the center point of the photosensitive surface of the PSD position sensitive detector is obtained by a laser linear equation of two laser beams under two different poses under the basic coordinate of the industrial robot according to the pose reading obtained by inputting the joint angle reading of the industrial robot according to the kinematic parameters of the industrial robot:
2.2.1 Establishment of a laser line equation of the laser beam in the base coordinates of the industrial robot as L i ＝(p xi ,p yi ,p zi ,α i ,β i ,γ i ) Wherein (p) xi ,p yi ,p zi ) Is the three-dimensional position of the laser linear equation under the industrial robot base coordinate system (alpha) i ,β i ,γ i ) The direction vector of the laser linear equation under the industrial robot base coordinate system is obtained;
2.2.2 Establishing expressions of laser linear equations in two different poses in the industrial robot base coordinate system as follows:
Figure FDA0003993921350000021
wherein (p) x1 ,p y1 ,p z1 ) Representing the position of the first laser linear equation under the industrial robot base coordinate system, (a) x1 ,a y1 ,a z1 ) Representing the direction vector of the first laser linear equation under the industrial robot base coordinate system, (p) x2 ,p y2 ,p z2 ) Representing the position of a second laser linear equation in the industrial robot base coordinate system, (a) x2 ,a y2 ,a z2 ) Expressing a direction vector of a second laser linear equation under the industrial robot base coordinate system, and (x, y, z) expressing the position coordinates of the intersection point of two intersecting laser linear equations under the industrial robot base coordinate system;
and solving the theoretical position coordinate of the photosensitive surface central point of the PSD position sensitive detector under the industrial robot base coordinate according to the combination of the two laser linear equation expressions.
9. An industrial robot self-calibration method of an industrial robot self-calibration device according to claim 6, characterized in that:
the step 4) is specifically as follows:
4.1 Am of No.)Repeatedly carrying out the step 2) and the step 3) for a plurality of times of measurement to obtain the center point of the photosensitive surface of the PSD position sensitive detector II at the center theoretical position coordinate of the circle center of the circular closed carrier disc
Figure FDA0003993921350000031
The theoretical position coordinates of the central point of the light sensing surface of the PSD position sensitive detector I under the condition of four rotation angles are respectively
Figure FDA0003993921350000032
As measurement data, i represents the ith measurement data, k represents the number of times of rotation of the circular closed carrier disc, and j represents the jth iteration;
4.2 From the measurement data obtained for each measurement, the following set of kinematic self-calibration equations is constructed:
Figure FDA0003993921350000033
wherein the content of the first and second substances,
Figure FDA0003993921350000034
is the position deviation value of the k-th rotation of the circumferential closed carrier disk in the j-th iteration process,
Figure FDA0003993921350000035
is the identification Jacobian matrix, delta, corresponding to the kinematic parameters when the k-th rotation of the circular closed carrier disk is performed during the j-th iteration j The motion parameter error vector is the motion parameter error vector in the j iteration processing; delta. For the preparation of a coating j The motion parameters are the motion parameters in the j iteration processing;
4.3 The kinematic self-calibration equation set established by the measured data of all the times is solved simultaneously to obtain the parameter error of the kinematic parameter of the robot as the parameter error of the current iteration, the parameter error delta obtained from each iteration j Kinematic parameter delta from last iteration j Adding to obtain new operation of next iterationKinetic parameter delta j+1 I.e. delta j+1 ＝Δδ j +δ j J = 1.. N, according to the kinematic parameter δ j+1 Inputting the joint angle reading of the industrial robot to obtain a new pose reading, and recalculating by repeating the steps 2) and 3)
Figure FDA0003993921350000036
Deviation value of position
Figure FDA0003993921350000037
And identifying the Jacobian matrix
Figure FDA0003993921350000038
Substituting the equation into a kinematic self-calibration equation set to obtain a new kinematic self-calibration equation set and then carrying out simultaneous solution to obtain the parameter error delta of the kinematic parameters of the robot j 。
10. An industrial robot self-calibration method of an industrial robot self-calibration device according to claim 9, characterized in that:
in the step 5), until the parameter error delta j Stopping the iteration when the value is less than the preset iteration threshold value, parameter error delta obtained in the last iteration j And compensating the final parameter error into the industrial robot controller as the final parameter error, so as to realize the self calibration of the kinematic parameters of the industrial robot.
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