CN114211484A - Front-end tool pose synchronization method, electronic device and storage medium - Google Patents
Front-end tool pose synchronization method, electronic device and storage medium Download PDFInfo
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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Abstract
The application provides a front-end tool pose synchronization method, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring a transformation matrix between a mechanical arm base coordinate system and a mechanical arm flange coordinate system, and acquiring a reference posture and a registration matrix of a front-end tool in the mechanical arm base coordinate system, wherein the registration matrix is expressed as a conversion relation between the front-end tool coordinate system and the mechanical arm base coordinate system, and the front-end tool is fixed on a flange of a mechanical arm; and converting the reference posture according to the transformation matrix and the registration matrix to obtain the three-dimensional posture of the front-end tool in the mechanical arm base coordinate system. Therefore, the problem that the spatial position and the attitude of the front-end tool are synchronized in the robot base system in real time under the condition of no NDI tracking in the related art is solved.
Description
Technical Field
The present disclosure relates to the field of robot control technologies, and in particular, to a front end tool pose synchronization method, an electronic device, and a storage medium.
Background
Currently, the robot technology is widely used in the industrial and medical fields, and various surgical or industrial tasks are performed by installing different execution tools at the front end of the robot. The accuracy index of the coordinate system corresponding to the spatial position and the posture of the front end tool directly affects the operation precision.
In order to solve the problem of accurately tracking the spatial position and the attitude of the front end tool, in the related art, the front end tool is usually tracked by an NDI visual tracking system, so that the spatial position and the attitude of the front end tool are synchronized in a robot-based coordinate system in real time.
Aiming at the problem that the spatial position and the attitude of a front-end tool are synchronized in a robot base system in real time under the condition of no NDI tracking in the related art, an effective solution is not provided at present.
Disclosure of Invention
Therefore, the application provides a front-end tool pose synchronization method, electronic equipment and a storage medium, so as to solve the technical problems that in the prior art, the efficiency and the precision of synchronizing the spatial position and the posture of a front-end tool in a robot-based coordinate system in real time are low, and industrial options are few.
In order to achieve the above purpose, the present application provides the following technical solutions:
according to a first aspect of the application, a front-end tool pose synchronization method is provided, which comprises the following steps:
acquiring a transformation matrix between a mechanical arm base coordinate system and a mechanical arm flange coordinate system, and acquiring a reference posture and a registration matrix of a front-end tool in the mechanical arm base coordinate system, wherein the registration matrix is expressed as a conversion relation between the front-end tool coordinate system and the mechanical arm base coordinate system, and the front-end tool is fixed on a flange of a mechanical arm;
and in the process of controlling the movement of the mechanical arm, converting the reference posture according to the transformation matrix and the registration matrix to obtain the three-dimensional posture of the front-end tool in the mechanical arm base coordinate system.
Optionally, acquiring a reference pose of a front-end tool in the robot arm base coordinate system includes:
rigidly binding the front end tool fixed on the mechanical arm flange and an ND I calibration frame, and calibrating a position coordinate of a physical origin of the mechanical arm flange under an ND I coordinate system according to a first transformation matrix between the ND I coordinate system and a front end tool coordinate system;
controlling the ND I calibration frame to move along with the mechanical arm so as to obtain a second transformation matrix between the flange coordinate system and the ND I coordinate system of the mechanical arm through registration;
and converting the calibration position coordinates of the front end tool in the ND I coordinate system through a second transformation matrix and an inverse transformation matrix between the mechanical arm base coordinate system and the mechanical arm flange coordinate system to obtain the reference posture of the front end tool in the mechanical arm base coordinate system.
Optionally, a registration matrix is acquired, comprising:
converting the calibration position coordinates of the front-end tool in the ND I coordinate system through the first transformation matrix to obtain the registration posture of the front-end tool in the front-end tool coordinate system;
and registering the registration attitude with the reference attitude to obtain a registration matrix.
Optionally, the calibration position coordinates include a plurality of calibration position coordinates, and the plurality of calibration position coordinates are not included in the same plane.
Optionally, the controlling the ndi calibration frame to move with the robot arm to obtain a second transformation matrix between the robot arm flange coordinate system and the ND I coordinate system in registration includes:
controlling the mechanical arm to move, and recording a plurality of position coordinates of the physical origin of the mechanical arm flange under the ND I coordinate system and the mechanical arm flange coordinate system respectively;
and registering position coordinates of the mechanical arm flange physical origin under the ND I coordinate system and the mechanical arm flange coordinate system respectively to obtain the second transformation matrix between the ND I coordinate system and the mechanical arm flange coordinate system.
Optionally, the controlling the robot arm to move comprises:
and controlling the running track of the physical origin of the mechanical arm flange on the mechanical arm, so that the running tracks of the physical origin of the mechanical arm flange are not in the same plane.
According to a second aspect of the present application, there is provided a front end tool attitude synchronization apparatus, the apparatus including:
the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring a transformation matrix between a mechanical arm base coordinate system and a mechanical arm flange coordinate system and acquiring a reference posture and a registration matrix of a front end tool in the mechanical arm base coordinate system, the registration matrix is expressed as a conversion relation between the front end tool coordinate system and the mechanical arm base coordinate system, and the front end tool is fixed on a flange of a mechanical arm;
and the pose determining module is used for converting the reference pose according to the transformation matrix and the registration matrix in the process of controlling the movement of the mechanical arm to obtain the three-dimensional pose of the front-end tool in the mechanical arm base coordinate system.
Optionally, the method further comprises:
the calibration module is used for rigidly binding a front end tool fixed on a flange of the mechanical arm and the ND I calibration frame and calibrating the position coordinate of the physical origin of the flange of the mechanical arm under the ND I coordinate system according to a first transformation matrix between the ND I coordinate system and the front end tool coordinate system;
the first registration module is used for controlling the ND I calibration frame to move along with the mechanical arm so as to obtain a second transformation matrix between the flange coordinate system and the ND I coordinate system of the mechanical arm through registration;
the first conversion module is used for converting the calibration position coordinates of the front end tool in the ND I coordinate system through a second transformation matrix and an inverse transformation matrix between the mechanical arm base coordinate system and the mechanical arm flange coordinate system to obtain the reference posture of the front end tool in the mechanical arm base coordinate system;
the second conversion module is used for converting the calibration position coordinates of the front end tool in the ND I coordinate system through the first transformation matrix to obtain the registration posture of the front end tool in the front end tool coordinate system;
and the second registration module is used for registering the registration posture with the reference posture to obtain a registration matrix.
According to a third aspect of the present application, there is provided an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the front-end tool pose synchronization method according to the first aspect of the present application when executing the computer program.
According to a fourth aspect of the present application, there is also provided a non-transitory computer readable storage medium having stored thereon a computer program which, when executed, implements the steps of the front-end tool pose synchronization method according to the first aspect of the present application.
The application has the following beneficial effects: the method comprises the steps of obtaining a transformation matrix between a mechanical arm base coordinate system and a mechanical arm flange coordinate system, and obtaining a reference posture and a registration matrix of a front end tool in the mechanical arm base coordinate system, wherein the registration matrix is expressed as a conversion relation between the front end tool coordinate system and the mechanical arm base coordinate system, and the front end tool is fixed on a flange of a mechanical arm; and converting the reference posture and the registration matrix according to the transformation matrix to obtain the three-dimensional posture of the front-end tool in the mechanical arm base coordinate system. Therefore, the front end tool is fixed on the mechanical arm flange, the front end tool moves along with the mechanical arm flange, the transformation relation between the mechanical arm flange coordinate system and the mechanical arm base coordinate system is changed along with the movement of the mechanical arm flange, the fixed reference posture and the fixed registration matrix of the front end tool in the mechanical arm base coordinate system are converted through the transformation matrix which can be obtained in real time between the mechanical arm base coordinate system and the mechanical arm flange coordinate system on the basis of the transformation matrix, and the three-dimensional posture of the front end tool in the mechanical arm base coordinate system can be obtained, so that the aim of synchronizing the space position and the posture of the front end tool in the robot base coordinate system in real time under the condition of no NDI tracking is fulfilled.
Drawings
In order to clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced, and the structure, the proportion, the size and the like shown in the description are only used for matching with the disclosure of the specification, so that those skilled in the art can understand and read the modification of any structure, the change of the proportion matrix or the adjustment of the size, without affecting the efficacy and the achievable purpose of the present application, and still fall within the scope of the technical contents disclosed in the present application.
Fig. 1 is a flowchart of a front-end tool pose synchronization method according to an embodiment of the present disclosure.
Fig. 2 is a flowchart of another front-end tool pose synchronization method according to an embodiment of the present application.
Fig. 3 is a flowchart of another front-end tool pose synchronization method according to an embodiment of the present application.
Fig. 4 is a schematic diagram of an initial rigid body STL coordinate system of a front-end tool according to an embodiment of the present disclosure.
Fig. 5 is a schematic diagram of a point set when a flange origin of a robot arm is calibrated in a front-end tool pose synchronization method according to an embodiment of the present disclosure.
Fig. 6 is a schematic reference pose diagram of a front-end tool in a front-end tool pose synchronization method according to an embodiment of the present application.
Fig. 7 is a three-dimensional pose diagram obtained by transforming a matrix for a front-end tool in the front-end tool pose synchronization method according to the embodiment of the present application.
Fig. 8 is a schematic structural diagram of a front-end tool posture synchronization device according to an embodiment of the present application.
Fig. 9 is a schematic structural diagram of another front-end tool posture synchronization device according to an embodiment of the present application.
Fig. 10 is a schematic physical structure diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the related art, the ND I vision tracking system is usually used to track the front end tool, so as to synchronize the spatial position and posture of the front end tool in the robot-based coordinate system in real time, but in some scenarios, when ND I is not available, the spatial position and posture of the front end tool also need to be tracked in real time.
To this end, the present application provides a front end tool pose synchronization method, and fig. 1 is a flowchart of a front end tool pose synchronization method provided in an embodiment of the present application, and as shown in fig. 1, the method includes the following steps 100 and 200:
100, acquiring a transformation matrix between a mechanical arm base coordinate system and a mechanical arm flange coordinate system, and acquiring a reference posture and a registration matrix of a front end tool in the mechanical arm base coordinate system, wherein the registration matrix is expressed as a conversion relation between the front end tool coordinate system and the mechanical arm base coordinate system, and the front end tool is fixed on a flange of a mechanical arm.
When the mechanical arm moves, a control system corresponding to the mechanical arm can acquire translation parameters and rotation parameters of the mechanical arm flange in real time, and then the transformation matrix between the mechanical arm flange coordinate system and the mechanical arm base coordinate system is calculated according to the translation parameters and the rotation parameters. The front end tool is fixed on the flange of the mechanical arm, so that the conversion relation between the front end tool coordinate system and the flange coordinate system of the mechanical arm can be obtained according to the fixed relation between the front end tool and the flange of the mechanical arm, and the conversion relation between the flange coordinate system of the mechanical arm and the base coordinate system of the mechanical arm can be directly read, so that the initial posture of the front end tool in the base coordinate system of the mechanical arm and the conversion relation between the front end tool coordinate system and the base coordinate system of the mechanical arm can be measured or calculated.
200, in the process of controlling the motion of the mechanical arm, converting the reference posture according to the transformation matrix and the registration matrix to obtain the three-dimensional posture of the front-end tool in the mechanical arm base coordinate system.
Specifically, because the front end tool is fixed on the mechanical arm flange, the front end tool moves along with the mechanical arm flange, and the transformation relation between the mechanical arm flange coordinate system and the mechanical arm base coordinate system changes along with the movement of the mechanical arm flange in the movement process, the three-dimensional pose of the front end tool in the mechanical arm base coordinate system can be obtained by converting the reference pose and the registration matrix of the front end tool in the mechanical arm base coordinate system, which are fixed and unchangeable, through a transformation matrix between the mechanical arm base coordinate system and the mechanical arm flange coordinate system, as shown in fig. 7, so that the purpose of synchronizing the spatial position and the pose of the front end tool in the mechanical arm base coordinate system in real time without ND I tracking is achieved. To sum up, the conversion formula of the three-dimensional pose of the front-end tool can be as follows:
and (3) three-dimensional pose of the front-end tool is a transformation matrix and a registration matrix and a reference pose.
Optionally, fig. 2 is a flowchart of another front end tool pose synchronization method provided in the embodiment of the present application, and as shown in fig. 2, acquiring a reference pose of a front end tool in a robot arm base coordinate system includes the following steps 010 to 030:
010, rigidly binding the front end tool fixed on the flange of the mechanical arm and an ND I calibration frame, and calibrating the position coordinate of the physical origin of the flange of the mechanical arm under an ND I coordinate system according to a first transformation matrix between the ND I coordinate system and the front end tool coordinate system;
the ND I calibration frame can be a rigid support which is obtained or manufactured in advance and has any regular or irregular polygonal shape, and the ND I calibration frame is provided with a connecting point and a connecting rod which are in rigid binding connection with a front end tool of a mechanical arm. In this embodiment, the ND I calibration frame preferably adopts a steel body bracket in a trapezoid shape, which includes four end points, as shown in fig. 4, and in the process of advanced hardware design, the relative position relationship between each end point and the calibration reference point has been measured and set in advance, that is, each end point and the calibration reference point have a preset relative position relationship. And an ND I coordinate system is established in advance according to the position coordinates of the four end points, and the establishment of the ND I coordinate system accords with the right-hand rule.
Rigidly binding a front-end tool of a mechanical arm and the ND I calibration frame to obtain a rigid binding body, or to enable the rigid binding body and the ND I calibration frame to keep complete synchronous motion, and determining a coordinate transformation relation between the ND I coordinate system and a pre-established front-end tool coordinate system, namely a first transformation matrix, according to a rigid binding model of the rigid binding body corresponding to the front-end tool coordinate system (also called a rigid STL coordinate system). It will also be understood that the tool and the ndi frame of the robot arm are integral, repeatedly detachable components, and a STL rigid binding model in the STL coordinate system is obtained in advance, so that the specific spatial position of the tool can be deduced reversely as long as the spatial position of the ndi frame is obtained in the ndi coordinate system, and the essence of the method is to apply the coordinate transformation relationship between the ndi coordinate system and the tool coordinate system.
Controlling the rigid binding body to automatically rotate by taking the physical origin of the flange of the mechanical arm as the origin, and obtaining a calibration reference point set containing a plurality of position coordinates of the calibration reference point under an ND I coordinate system in the rotation process, as shown in FIG. 5; and determining the position coordinates of the physical origin of the flange of the mechanical arm under an ND I coordinate system according to a plurality of position coordinates of the calibration reference point in the calibration reference point set. And obtaining the position coordinates of the physical origin of the flange of the mechanical arm under the front end tool coordinate system and the ND I coordinate system based on the coordinate transformation relation.
020, controlling the ND I calibration frame to move along with the mechanical arm so as to obtain a second transformation matrix between the flange coordinate system and the ND I coordinate system of the mechanical arm through registration.
Specifically, the ND I calibration frame is fixed on the front end tool, the front end tool is fixed on the mechanical arm flange, and when the mechanical arm moves, the ND I calibration frame moves along with the mechanical arm, so that the position coordinates of the origin of the mechanical arm flange on the mechanical arm flange coordinate system and the ND I coordinate system can be registered to obtain a second transformation matrix between the mechanical arm flange coordinate system and the ND I coordinate system.
030, converting the calibration position coordinates of the front end tool in the ND I coordinate system through a second transformation matrix and an inverse transformation matrix between the mechanical arm base coordinate system and the mechanical arm flange coordinate system to obtain the reference posture of the front end tool in the mechanical arm base coordinate system.
The calibration positions of the front end tool can be some end points or selected points arranged on the front end tool and the ND I calibration frame.
Specifically, the inverse transformation matrix between the robot arm base coordinate system and the robot arm flange coordinate system may be directly read by the robot arm control system, and the calibration position coordinates of the front end tool in the ND I coordinate system may be directly obtained by the ND I system, so that the calibration position coordinates of the front end tool in the ND I coordinate system may be sequentially converted by the second transformation matrix and the inverse transformation matrix, and the reference posture of the front end tool in the robot arm base coordinate system may be obtained, as shown in fig. 6, where the calibration position coordinates of the front end tool are several, so as to conveniently indicate the posture of the front end tool. Whenever we know the transformation matrix between the robot arm base coordinate system and the robot arm flange coordinate system, we can synchronize the transformation of the transformation matrix to the robot arm flange position by transforming the reference attitude of the front-end tool.
Optionally, fig. 3 is a flowchart of another front-end tool pose synchronization method provided in the embodiment of the present application, and as shown in fig. 3, acquiring a registration matrix includes the following steps 040 and 050:
040, converting the calibration position coordinate of the front-end tool in the ND I coordinate system through the first transformation matrix to obtain the registration posture of the front-end tool in the front-end tool coordinate system;
050, registering the registration posture with the reference posture to obtain a registration matrix.
Optionally, the calibration position coordinates include a plurality of calibration position coordinates, and the plurality of calibration position coordinates are not included in the same plane.
The calibration positions may be some calibration positions on the front end tool and some calibration positions on the ND I calibration frame, for example, as shown in fig. 4, 6 and 7, the calibration position on the front end tool is ABCD and the calibration position on the ND I calibration frame is EFGHK.
Specifically, the coordinate of the calibration position of the front end tool in the ND I coordinate system may be projected into the front end tool coordinate system through the first transformation matrix, so as to obtain a registration posture of the front end tool in the front end tool coordinate system, and the registration posture is registered with the reference posture to obtain a registration matrix.
Optionally, in step 020, the controlling the ND I calibration frame to move along with the robot arm to obtain a second transformation matrix between the flange coordinate system and the ND I coordinate system of the robot arm in registration, which specifically includes:
controlling the mechanical arm to move, and recording a plurality of position coordinates of the physical origin of the mechanical arm flange under the ND I coordinate system and the mechanical arm flange coordinate system respectively;
and registering position coordinates of the mechanical arm flange physical origin under the ND I coordinate system and the mechanical arm flange coordinate system respectively to obtain the second transformation matrix between the ND I coordinate system and the mechanical arm flange coordinate system.
Specifically, after the mechanical arm is controlled to move, the coordinate of the physical origin of the mechanical arm flange in the ND I coordinate system can be acquired through the ND I system, the coordinate of the physical origin of the mechanical arm flange in the mechanical arm flange coordinate system can be acquired through the control system of the mechanical arm, and then the position coordinates of the physical origin of the mechanical arm flange under the ND I coordinate system and the position coordinates of the physical origin of the mechanical arm flange in the mechanical arm flange coordinate system are registered to obtain a second transformation matrix.
Wherein, in order to prevent the problem that the registration cannot be completed when the movement locus of the physical origin of the flange of the mechanical arm is in the same plane, the controlling the movement of the mechanical arm comprises:
and controlling the running track of the physical origin of the mechanical arm flange on the mechanical arm, so that the running tracks of the physical origin of the mechanical arm flange are not in the same plane.
Wherein, the control of the movement of the mechanical arm can operate the mechanical arm to draw a cube.
In the front-end tool pose synchronization method provided by the application, through step 100, a transformation matrix between a mechanical arm base coordinate system and a mechanical arm flange coordinate system is obtained, and a reference posture and a registration matrix of a front-end tool in the mechanical arm base coordinate system are obtained, wherein the registration matrix is expressed as a transformation relation between the front-end tool coordinate system and the mechanical arm base coordinate system, and the front-end tool is fixed on a flange of a mechanical arm; and 200, converting the reference posture and the registration matrix according to the transformation matrix to obtain the three-dimensional posture of the front-end tool in the mechanical arm base coordinate system. Therefore, the front end tool is fixed on the mechanical arm flange, the front end tool moves along with the mechanical arm flange, the transformation relation between the mechanical arm flange coordinate system and the mechanical arm base coordinate system is changed along with the movement of the mechanical arm flange, the fixed reference posture and the fixed registration matrix of the front end tool in the mechanical arm base coordinate system are converted through the transformation matrix which can be obtained in real time between the mechanical arm base coordinate system and the mechanical arm flange coordinate system on the basis of the transformation matrix, and the three-dimensional posture of the front end tool in the mechanical arm base coordinate system can be obtained, so that the purpose of synchronizing the space position and the posture of the front end tool in the robot base coordinate system in real time under the condition of no ND I tracking is achieved.
Based on the same technical concept, the present application further provides a front end tool posture synchronization device, and fig. 8 is a schematic structural diagram of the front end tool posture synchronization device provided in the embodiment of the present application, and as shown in fig. 8, the device includes:
the system comprises an acquisition module 10, a processing module and a display module, wherein the acquisition module is used for acquiring a transformation matrix between a mechanical arm base coordinate system and a mechanical arm flange coordinate system, and acquiring a reference posture and a registration matrix of a front end tool in the mechanical arm base coordinate system, the registration matrix is expressed as a conversion relation between the front end tool coordinate system and the mechanical arm base coordinate system, and the front end tool is fixed on a flange of a mechanical arm;
and a pose determining module 20, configured to, during controlling the motion of the mechanical arm, perform conversion processing on the reference pose according to the transformation matrix and the registration matrix, to obtain a three-dimensional pose of the front-end tool in the mechanical arm base coordinate system.
Optionally, fig. 9 is a schematic structural diagram of another front-end tool posture synchronization apparatus provided in the embodiment of the present application, and as shown in fig. 9, the apparatus further includes:
the calibration module 30 is used for rigidly binding a front end tool fixed on a flange of the mechanical arm and an ND I calibration frame, and calibrating a position coordinate of a physical origin of the flange of the mechanical arm under an ND I coordinate system according to a first transformation matrix between the ND I coordinate system and a front end tool coordinate system;
the first registration module 40 is used for controlling the ND I calibration frame to move along with the mechanical arm so as to register to obtain a second transformation matrix between a flange coordinate system and an ND I coordinate system of the mechanical arm;
the first conversion module 50 is configured to convert the calibration position coordinates of the front end tool in the ND I coordinate system through a second conversion matrix and an inverse conversion matrix between the robot arm base coordinate system and the robot arm flange coordinate system to obtain a reference posture of the front end tool in the robot arm base coordinate system;
a second conversion module 60, configured to convert the coordinate of the calibrated position of the front end tool in the ND I coordinate system through the first transformation matrix to obtain a registration posture of the front end tool in the front end tool coordinate system;
and a second registration module 70, configured to register the registration posture with the reference posture to obtain a registration matrix.
Optionally, the calibration position coordinates include a plurality of calibration position coordinates, and the plurality of calibration position coordinates are not included in the same plane.
Optionally, the first registration module 40 is specifically configured to:
controlling the mechanical arm to move, and recording a plurality of position coordinates of the physical origin of the mechanical arm flange under the ND I coordinate system and the mechanical arm flange coordinate system respectively;
and registering position coordinates of the mechanical arm flange physical origin under the ND I coordinate system and the mechanical arm flange coordinate system respectively to obtain the second transformation matrix between the ND I coordinate system and the mechanical arm flange coordinate system.
Optionally, the first registration module 40 is configured to:
and controlling the running track of the physical origin of the mechanical arm flange on the mechanical arm, so that the running tracks of the physical origin of the mechanical arm flange are not in the same plane.
Fig. 10 is a schematic structural diagram of an electronic device entity provided according to an embodiment, and as shown in fig. 10, the electronic device 11 includes: a processor (processor)101, a memory (memory)102, and a bus 103;
the processor 101 and the memory 102 complete communication with each other through a bus 103;
the processor 101 is configured to call the program instructions in the memory 102 to execute the method for real-time synchronization of the space and the pose of the front-end tool provided by the above-mentioned embodiments of the method.
Based on the same technical concept, the present application also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed, implements the steps of the front-end tool pose synchronization method according to the first aspect of the present application.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A front-end tool pose synchronization method is characterized by comprising the following steps:
acquiring a transformation matrix between a mechanical arm base coordinate system and a mechanical arm flange coordinate system, and acquiring a reference posture and a registration matrix of a front-end tool in the mechanical arm base coordinate system, wherein the registration matrix is expressed as a conversion relation between the front-end tool coordinate system and the mechanical arm base coordinate system, and the front-end tool is fixed on a flange of a mechanical arm;
and in the process of controlling the movement of the mechanical arm, converting the reference posture according to the transformation matrix and the registration matrix to obtain the three-dimensional posture of the front-end tool in the mechanical arm base coordinate system.
2. The front-end tool pose synchronization method of claim 1, wherein acquiring a reference pose of a front-end tool in the robotic arm base coordinate system comprises:
rigidly binding the front-end tool fixed on the flange of the mechanical arm and the NDI calibration frame, and calibrating the position coordinate of the physical origin of the flange of the mechanical arm under the NDI coordinate system according to a first transformation matrix between the NDI coordinate system and the coordinate system of the front-end tool;
controlling the NDI calibration frame to move along with the mechanical arm so as to obtain a second transformation matrix between a flange coordinate system and an NDI coordinate system of the mechanical arm through registration;
and converting the calibration position coordinates of the front-end tool in the NDI coordinate system through a second transformation matrix and an inverse transformation matrix between the mechanical arm base coordinate system and the mechanical arm flange coordinate system to obtain the reference attitude of the front-end tool in the mechanical arm base coordinate system.
3. The front-end tool pose synchronization method of claim 2, wherein acquiring a registration matrix comprises:
converting the calibration position coordinates of the front-end tool in the NDI coordinate system through the first transformation matrix to obtain the registration posture of the front-end tool in the front-end tool coordinate system;
and registering the registration attitude with the reference attitude to obtain a registration matrix.
4. The front-end tool pose synchronization method according to claim 3, wherein the calibration position coordinates include a plurality and are not included in the same plane.
5. The front-end tool pose synchronization method according to claim 2, wherein the controlling the NDI calibration frame to move with the robot arm to obtain a second transformation matrix between the robot arm flange coordinate system and the NDI coordinate system by registration comprises:
controlling the mechanical arm to move, and recording a plurality of position coordinates of the physical origin of the mechanical arm flange under the NDI coordinate system and the mechanical arm flange coordinate system respectively;
and registering the position coordinates of the physical origin of the flange of the mechanical arm under the NDI coordinate system and the flange coordinate system of the mechanical arm respectively to obtain the second transformation matrix between the NDI coordinate system and the flange coordinate system of the mechanical arm.
6. The front-end tool pose synchronization method of claim 4, wherein said controlling said robotic arm motion comprises:
and controlling the running track of the physical origin of the mechanical arm flange on the mechanical arm, so that the running tracks of the physical origin of the mechanical arm flange are not in the same plane.
7. A front-end tool pose synchronization apparatus, comprising:
the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring a real-time transformation matrix between a mechanical arm base coordinate system and a mechanical arm flange coordinate system and acquiring a reference posture and a registration matrix of a front-end tool in the mechanical arm base coordinate system, the registration matrix is expressed as a conversion relation between the front-end tool coordinate system and the mechanical arm base coordinate system, and the front-end tool is fixed on a flange of a mechanical arm;
and the pose determining module is used for converting the reference pose according to the transformation matrix and the registration matrix in the process of controlling the movement of the mechanical arm to obtain the three-dimensional pose of the front-end tool in the mechanical arm base coordinate system.
8. The front end tool pose synchronization apparatus of claim 7, further comprising:
the calibration module is used for rigidly binding a front end tool fixed on a flange of the mechanical arm and the NDI calibration frame and calibrating the position coordinate of the physical origin of the flange of the mechanical arm under the NDI coordinate system according to a first transformation matrix between the NDI coordinate system and the front end tool coordinate system;
the first registration module is used for controlling the NDI calibration frame to move along with the mechanical arm so as to obtain a second transformation matrix between a flange coordinate system and an NDI coordinate system of the mechanical arm through registration;
the first conversion module is used for converting the calibration position coordinates of the front end tool in the NDI coordinate system through a second transformation matrix and an inverse transformation matrix between the mechanical arm base coordinate system and the mechanical arm flange coordinate system to obtain the reference attitude of the front end tool in the mechanical arm base coordinate system;
the second conversion module is used for converting the calibration position coordinates of the front-end tool in the NDI coordinate system through the first transformation matrix to obtain the registration posture of the front-end tool in the front-end tool coordinate system;
and the second registration module is used for registering the registration posture with the reference posture to obtain a registration matrix.
9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein,
the processor, when executing the computer program, implements the steps of the front-end tool pose synchronization method according to any one of claims 1 to 6.
10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein,
the computer program when executed implements the steps of the front-end tool pose synchronization method of any one of claims 1 to 6.
Priority Applications (2)
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| CN202111452679.4A CN114211484B (en) | 2021-12-01 | 2021-12-01 | Front-end tool pose synchronization method, electronic equipment and storage medium |
| PCT/CN2022/136031 WO2023098839A1 (en) | 2021-12-01 | 2022-12-01 | Front-end tool pose synchronization method, electronic device and storage medium |
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| CN202111452679.4A CN114211484B (en) | 2021-12-01 | 2021-12-01 | Front-end tool pose synchronization method, electronic equipment and storage medium |
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| WO (1) | WO2023098839A1 (en) |
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Also Published As
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| CN114211484B (en) | 2023-08-18 |
| WO2023098839A1 (en) | 2023-06-08 |
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Address after: 100176 2201, 22 / F, building 1, yard 2, Ronghua South Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee after: Beijing Changmugu Medical Technology Co.,Ltd. Patentee after: Zhang Yiling Address before: 100176 2201, 22 / F, building 1, yard 2, Ronghua South Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee before: BEIJING CHANGMUGU MEDICAL TECHNOLOGY Co.,Ltd. Patentee before: Zhang Yiling |