CN114833837A - Industrial robot terminal TCP transfer method - Google Patents
Industrial robot terminal TCP transfer method Download PDFInfo
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- CN114833837A CN114833837A CN202210527622.4A CN202210527622A CN114833837A CN 114833837 A CN114833837 A CN 114833837A CN 202210527622 A CN202210527622 A CN 202210527622A CN 114833837 A CN114833837 A CN 114833837A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000012546 transfer Methods 0.000 title claims abstract description 24
- 210000000707 wrist Anatomy 0.000 claims description 17
- 238000005259 measurement Methods 0.000 claims description 16
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000012795 verification Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 description 4
- 238000003466 welding Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a TCP transfer method for the tail end of an industrial robot, which comprises an industrial series robot, a robot demonstrator, a computer, a measuring device and a measured target ball arranged on the tail end of the robot through a tool; the industrial serial robot is in data connection with the robot demonstrator, and the computer is in data connection with the robot demonstrator and the measuring equipment respectively; the method has the characteristics of high transfer precision of the TCP at the tail end of the robot, simple operation and short consumed time.
Description
Technical Field
The invention relates to the technical field of serial industrial robots, in particular to a terminal TCP transfer method of an industrial robot, which is high in precision, simple to operate and short in time consumption.
Background
In recent years, the robot industry in China is rapidly developed, and robots are widely applied to various fields. The industrial robot completes various operation tasks, needs to use a tool arranged on a flange plate at the tail end of the robot, and expects the tool at the tail end of the robot to run according to a certain track, so that the TCP on the flange plate of the robot needs to be transferred to the tool at the tail end of the robot. The traditional method generally needs a manual measurement tool TCP, manual storage of original data, recording of the original data and manual calculation of measurement results, and has the problems of very complex operation process, long measurement time consumption, high requirement on the technical level of measurement personnel and the like.
Disclosure of Invention
The invention aims to overcome the defects of low precision, complex operation process and long operation time of a TCP transfer method in the prior art, and provides the industrial robot terminal TCP transfer method which is high in precision, simple to operate and short in time consumption.
In order to achieve the purpose, the invention adopts the following technical scheme:
a TCP transfer method for the tail end of an industrial robot comprises an industrial serial robot, a robot demonstrator, a computer, measuring equipment and a measured target ball which is arranged on the tail end of the robot through a tool; the industrial serial robot is in data connection with the robot demonstrator, and the computer is in data connection with the robot demonstrator and the measuring equipment respectively; the method comprises the following steps:
1-1, wherein the industrial serial robot is an M-axis robot, M is more than or equal to 4 and less than or equal to 6, and the tail end of the robot is an Mth joint; the staff obtains the length dL of the rod between the M-1 joint and the M joint of the industrial series robot M-1 (ii) a Determining the X-axis direction and the Z-axis direction of a tool coordinate system of the industrial serial robot and the structural type of a robot wrist;
1-2, resetting the industrial serial robot to a zero position, and controlling a rotating shaft of an M-1 joint of the industrial serial robot to continuously rotate clockwise for N times from the zero position by a robot demonstrator, wherein N is more than or equal to 5; simultaneously measuring the coordinates P of N positions of the target ball to be measured in the measuring coordinate system by the measuring equipment M-1 ；
The working personnel controls the rotating shaft of the M-th joint of the industrial serial robot to rotate clockwise continuously for N times from a zero position through the robot demonstrator, and simultaneously the measuring equipment measures the coordinates P of N positions of the target ball to be measured in the measuring coordinate system M ；
1-3, the computer uses N coordinates P M-1 And N coordinates P M Calculating the relative position of the target ball to be measuredOffset of TCP at robot end;
1-4, inputting the offset into a robot demonstrator by a computer for use;
1-5, verifying the transfer result of the TCP at the tail end of the robot by using a computer, and if the three-axis offset errors are smaller than a set threshold value W, successfully transferring the TCP at the tail end, namely moving the central point at the tail end of the robot to a target ball to be measured; otherwise, returning to the step 1-2.
The invention uses a high-precision laser tracker to measure the spatial position and attitude of a target ball, and the obtained data has high precision; the test process can be calculated only by acquiring target ball data, so that the method has the characteristics of simple operation, high precision and short consumed time in the process of transferring the TCP at the tail end of the industrial robot to the target ball to be tested.
Preferably, steps 1-3 include the following specific steps:
1-3-1, computer utilizes N coordinates P M-1 Computing to determine spatial circular shape O M-1 And a space circular O M-1 Unit normal vector V of plane M-1 And a space circular O M-1 Center of circle C M-1 Coordinate and space circle of M-1 Radius R of M-1 ；
Computer using coordinates P M Computing to determine spatial circular shape O M And a space circular O M Unit normal vector V of plane M And a space circular O M Center of circle C M Coordinate and space circle O M Radius R of M ；
1-3-2, establishing a terminal coordinate system of the industrial serial robot by a computer according to the structure type of the wrist of the robot;
1-3-3, calculating unit normal vector V by computer M-1 Sum unit normal vector V M Cross-multiplying the result of the cross-multiplication as a unit vector ToolX: ToolX ═ (tx.x, tx.y, tx.z);
1-3-4, computer unit normal vector V M Set as unit vector ToolZ: ToolZ ═ (tz.x, tz.y, tz.z,);
let ToolY equal the cross product of ToolX and ToolZ, denote the unit vector ToolY as: ToolY ═ (ty.x, ty.y, ty.z);
1-3-5, the computer is provided with a circle center C M-1 With V M Plane as normal vector is M 3 The center of a circle C can be obtained M In plane M 3 The coordinate of the point Wrist in the measurement coordinate system is (X' 6 ,Y 6 ',Z' 6 )；
The computer uses the coordinates of ToolX, ToolY, ToolZ and Wrist to form a transformation matrix T from the terminal coordinate system to the measurement coordinate system;
1-3-6, and assuming that the industrial tandem robot is in a zero position, the vector ToolCoord of the target ball to be detected under the terminal coordinate system is as follows: ToolCoord ═ (fx, fy, fz);
measuring the vector Meas of the target ball to be measured under the measurement coordinate system by a measuring device, wherein the vector Meas is (mx, my, mz);
it can be obtained that, under the measurement coordinate system:
the computer refers to the components of the vector ToolCoord on the X-axis, Y-axis and Z-axis in the terminal coordinate system as X-axis offset X respectively Moving device Y-axis offset Y Moving device And Z-axis offset Z Moving device 。
Preferably, steps 1-4 include the following specific steps:
offset the X axis by X Moving device Y-axis offset Y Moving device And Z-axis offset Z Moving device Inputting the data into a robot demonstrator, and moving the origin of a tool coordinate system of a tool in the robot demonstrator to a point A by a computer, wherein the coordinate of the point A is (X) Moving device ，Y Moving device ，Z Moving device ) And the terminal TCP transfer is realized.
If the position of the point A meets the precision requirement of TCP transfer at the tail end of the robot, after the original point of a tool coordinate system moves to the point A, under a robot base coordinate system, a demonstrator is used for controlling the tail end of the robot to drive a tool and a detected target ball to rotate around an X-axis rotation attitude angle a of the base coordinate system, and the coordinate value of the detected target ball on the X-axis is not changed; similarly, under the base coordinate system of the robot, when the demonstrator is used for controlling the tail end of the robot to drive the tool and the detected target ball to rotate around the Y axis of the base coordinate system by the attitude angle b, the coordinate value of the detected target ball on the Y axis is not changed; under the base coordinate system of the robot, when the demonstrator is used for controlling the tail end of the robot to drive the tool and the detected target ball to rotate around the Z axis of the base coordinate system by the attitude angle c, the coordinate value of the detected target ball on the Z axis is not changed.
Preferably, the verification of the result of the TCP transfer at the end of the robot comprises the following specific steps:
1-5-1, the working personnel switch the robot to the basic coordinate system through the robot demonstrator, then control the robot end to drive the tool to rotate the attitude angle a around the X axis of the basic coordinate system through the demonstrator, and the measuring equipment measures the space coordinate (X) of the target ball track point when the tool rotates xi ，Y xi ，Z xi ) Xi represents the ith target ball track point rotating around the X axis, and i is more than or equal to 1;
using spatial coordinates (X) xi ，Y xi ，Z xi ) The computer calculates the distance between the track points of other target balls except the first target ball track point and the first target ball track point, and the maximum value of the distance is used as the offset error in the X-axis direction;
1-5-2, controlling the tail end of the robot by a worker through a demonstrator to drive the tool to rotate around the Y axis of the base coordinate system by the worker, and measuring the space coordinate (X) of the target ball track point when the tool rotates by a measuring device yi ，Y yi ，Z yi ) Yi represents the ith target ball trajectory point rotating around the Y axis;
using spatial coordinates (X) yi ，Y yi ，Z yi ) The computer calculates the distance between the track points of other target balls except the first target ball track point and the first target ball track point, and the maximum value of the distance is used as the offset error in the Y-axis direction;
1-5-3, the staff passes through the demonstratorControlling the tail end of the robot to drive the tool to rotate around the Z-axis rotation attitude angle c of the base coordinate system, and measuring the space coordinate (X) of the target ball track point when the tool rotates by the measuring equipment zi ，Y zi ，Z zi ) Zi represents the ith ball trajectory point rotated about the Z axis;
using spatial coordinates (X) zi ，Y zi ，Z zi ) And the computer calculates the distance between the track points of other targets except the first target track point and the first target track point, and takes the maximum value of the distance as the offset error in the Z-axis direction.
Preferably, the measuring device is a laser tracker or a camera.
Therefore, the invention has the following beneficial effects: the TCP at the tail end of the robot has high moving precision, simple operation and short consumed time.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a flow chart of the present invention;
fig. 3 is a functional block diagram of the present invention.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
Example 1
The embodiment shown in fig. 1 and 3 is a TCP transfer method for an industrial robot terminal, which comprises an industrial tandem robot 1, a robot demonstrator 2, a computer 3, a measuring device 4 and a target ball 7 to be measured, which is arranged on a robot terminal 6 through a tool 5; the industrial serial robot is in data connection with the robot demonstrator, and the computer is in data connection with the robot demonstrator and the measuring equipment respectively; as shown in fig. 2, the method comprises the following steps:
and a proper field is selected around the working space of the industrial serial robot to be tested to place the measuring equipment, so that the effective measuring range of the measuring equipment is ensured to be enough to cover the working space of the robot to be tested.
1-1, the industrial serial robot is a 6-axis robot, a1-a5 in figure 1 is the 1 st joint to the 5 th joint of the robot, and the 6 th joint is the tail end of the robot; staff acquirerRod length dL between joints 5 to 6 of industrial tandem robot 5 (ii) a Determining the X-axis direction and the Z-axis direction of a tool coordinate system of the industrial serial robot and the structural type of a robot wrist;
the robot in the embodiment has the advantages that the X axis is upward, the Z axis is rightward, and the wrist part is of an RBR structure; different robots may have different X, Z orientation and wrist structures, and the TCP transfer method is similar to the present invention, and the sign of the corresponding data in the calculation is adjusted according to the X and Z axis directions.
1-2, resetting the industrial serial robot to a zero position, and controlling a rotating shaft of a5 th joint of the industrial serial robot to rotate clockwise continuously for 15 times from the zero position by a robot demonstrator; simultaneously measuring the coordinates P of 15 positions of the target ball to be measured in the measuring coordinate system by the measuring equipment 5 ；
Under the joint coordinate system of the 5 th joint, the robot demonstrator controls the rotating shaft of the 5 th joint of the industrial serial robot to rotate continuously for 15 times clockwise from a zero position, and the measuring equipment obtains the coordinates P of the 15 positions of the target ball to be measured under the measuring coordinate system 5 ；
The working personnel control the rotating shaft of the 6 th joint of the industrial serial robot to rotate continuously for 15 times clockwise from a zero position through the robot demonstrator, and simultaneously the measuring equipment measures the coordinates P of 15 positions of the target ball to be measured under the measuring coordinate system 6 ；
Under the joint coordinate system of the 6 th joint, the robot demonstrator controls the rotating shaft of the 6 th joint of the industrial serial robot to rotate continuously for 15 times clockwise from a zero position, and the measuring equipment obtains the coordinates P of the 15 positions of the target ball to be measured under the measuring coordinate system 6 ；
1-3, the computer utilizes 15 coordinates P 5 And 15 coordinates P 6 And calculating the offset of the target ball to be measured relative to the TCP at the tail end of the robot:
1-3-1, computer utilizes 15 coordinates P 5 Computing to determine spatial circular shape O 5 And a space circular O 5 Unit normal vector V of plane 5 And a space circular O 5 Center of circle C 5 Coordinate and space circle O 5 Radius R of 5 ；
Computer using coordinates P 6 Computing to determine spatial circular shape O 6 And a space circular O 6 Unit normal vector V of plane 6 And a space circular O 6 Center of circle C 6 Coordinate and space circle O 6 Radius R of 6 ；
1-3-2, establishing a terminal coordinate system of the industrial serial robot by a computer according to the structure type of the wrist of the robot;
1-3-3, calculating unit normal vector V by computer 5 Sum unit normal vector V 6 Cross-multiplying the result of the cross-multiplication as a unit vector ToolX: ToolX ═ (tx.x, tx.y, tx.z);
1-3-4, computer unit normal vector V 6 Set as unit vector ToolZ: ToolZ ═ (tz.x, tz.y, tz.z,);
let ToolY equal the cross product of ToolX and ToolZ, denote the unit vector ToolY as: ToolY ═ (ty.x, ty.y, ty.z);
1-3-5, the computer is provided with a circle center C 5 With V 6 Plane as normal vector is M 3 The center of a circle C can be obtained 6 In plane M 3 The coordinate of the point Wrist in the measurement coordinate system is (X' 6 ,Y 6 ',Z' 6 )；
The computer uses the coordinates of ToolX, ToolY, ToolZ and Wrist to form a transformation matrix T from the terminal coordinate system to the measurement coordinate system;
1-3-6, and assuming that the industrial tandem robot is in a zero position, the vector ToolCoord of the target ball to be detected under the terminal coordinate system is as follows: ToolCoord ═ (fx, fy, fz);
measuring the vector Meas of the target ball to be measured under the measurement coordinate system by a measuring device, wherein the vector Meas is (mx, my, mz);
it can be obtained that, under the measurement coordinate system:
the computer refers to the components of the vector ToolCoord on the X-axis, Y-axis and Z-axis in the terminal coordinate system as X-axis offset X respectively Moving device Y-axis offset Y Moving device And Z-axis offset Z Moving device 。
1-4, inputting the offset into a robot demonstrator by a computer for use:
offset the X axis by X Moving device Y-axis offset Y Moving device And Z-axis offset Z Moving device Inputting the data into a robot demonstrator, and moving the origin of a tool coordinate system of a tool in the robot demonstrator to a point A by a computer, wherein the coordinate of the point A is (X) Moving device ，Y Moving device ，Z Moving device ) Realizing the end TCP transfer;
1-5, verifying the result of TCP transfer at the tail end of the robot by a computer:
1-5-1, the working personnel switch the robot to the basic coordinate system through the robot demonstrator, then control the robot end to drive the tool to rotate the attitude angle a around the X axis of the basic coordinate system through the demonstrator, and the measuring equipment measures the space coordinate (X) of the target ball track point when the tool rotates xi ，Y xi ，Z xi ) Xi represents the ith target ball track point rotating around the X axis, and i is more than or equal to 1;
using spatial coordinates (X) xi ，Y xi ，Z xi ) The computer calculates the distance between the track points of other target balls except the first target ball track point and the first target ball track point, and the maximum value of the distance is used as the offset error in the X-axis direction;
1-5-2, controlling the tail end of the robot by a worker through a demonstrator to drive the tool to rotate around the Y axis of the base coordinate system by the worker, and measuring the space coordinate (X) of the target ball track point when the tool rotates by a measuring device yi ，Y yi ，Z yi ) Yi represents the ith target ball trajectory point rotating around the Y axis;
using spatial coordinates (X) yi ，Y yi ，Z yi ) The computer calculates the track points of other target balls except the first target ball track point and the first target ball track pointThe distance between the points, the maximum value of the distance is taken as the offset error of the Y-axis direction;
1-5-3, controlling the tail end of the robot by a worker through a demonstrator to drive the tool to rotate around the Z axis of the base coordinate system to form an attitude angle c, and measuring the space coordinate (X) of the target ball track point when the tool rotates by a measuring device zi ，Y zi ，Z zi ) Zi represents the ith ball trajectory point rotated about the Z axis;
using spatial coordinates (X) zi ，Y zi ，Z zi ) The computer calculates the distance between the track points of other target balls except the first target ball track point and the first target ball track point, and the maximum value of the distance is used as the offset error in the Z-axis direction;
1-5-4, if the offset error in the X-axis direction, the offset error in the Y-axis direction and the offset in the Z-axis direction are smaller than W, the verification is completed, namely the central point of the tail end of the robot is moved to the target ball to be tested;
after the original point of the tool coordinate system moves to the point A, under the base coordinate system of the robot, the demonstrator is used for controlling the tail end of the robot to drive the tool and the detected target ball to rotate around the X-axis of the base coordinate system by the attitude angle a, and the coordinate value of the detected target ball on the X-axis is unchanged; similarly, under the base coordinate system of the robot, when the demonstrator is used for controlling the tail end of the robot to drive the tool and the detected target ball to rotate around the Y axis of the base coordinate system by the attitude angle b, the coordinate value of the detected target ball on the Y axis is unchanged; under the robot base coordinate system, when the demonstrator is used for controlling the tail end of the robot to drive the tool and the detected target ball to rotate around the Z axis of the base coordinate system by the attitude angle c, the coordinate value of the detected target ball on the Z axis is unchanged, and the tail end TCP is successfully transferred.
The measuring equipment in the embodiment is a laser tracker; the tool in the embodiment is a welding gun, and the TCP at the tail end of the robot is transferred to the welding gun through transferring the TCP at the tail end of the robot, so that the robot can accurately control the welding gun to work.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. A TCP transfer method for an industrial robot terminal is characterized by comprising an industrial serial robot (1), a robot demonstrator (2), a computer (3), measuring equipment (4) and a measured target ball (7) which is arranged on a robot terminal (6) through a tool (5); the industrial serial robot is in data connection with the robot demonstrator, and the computer is in data connection with the robot demonstrator and the measuring equipment respectively; the method comprises the following steps:
1-1, wherein the industrial serial robot is an M-axis robot, M is more than or equal to 4 and less than or equal to 6, and the tail end of the robot is an Mth joint; the staff obtains the length dL of the rod between the M-1 joint and the M joint of the industrial series robot M-1 (ii) a Determining the X-axis direction and the Z-axis direction of a tool coordinate system of the industrial serial robot and the structural type of a robot wrist;
1-2, resetting the industrial serial robot to a zero position, and controlling a rotating shaft of an M-1 joint of the industrial serial robot to continuously rotate clockwise for N times from the zero position by a robot demonstrator, wherein N is more than or equal to 5; simultaneously measuring the coordinates P of N positions of the target ball to be measured in the measuring coordinate system by the measuring equipment M-1 ；
The working personnel controls the rotating shaft of the M-th joint of the industrial serial robot to rotate clockwise continuously for N times from a zero position through the robot demonstrator, and simultaneously the measuring equipment measures the coordinates P of N positions of the target ball to be measured in the measuring coordinate system M ；
1-3, the computer uses N coordinates P M-1 And N coordinates P M Calculating the offset of the target ball to be measured relative to the TCP at the tail end of the robot;
1-4, inputting the offset into a robot demonstrator by a computer for use;
1-5, verifying the transfer result of the TCP at the tail end of the robot by using a computer, and if the three-axis offset errors are smaller than a set threshold value W, successfully transferring the TCP at the tail end, namely moving the central point at the tail end of the robot to a target ball to be measured; otherwise, returning to the step 1-2.
2. An industrial robot end TCP transfer method according to claim 1, characterized in that step 1-3 comprises the following specific steps:
1-3-1, computer utilizes N coordinates P M-1 Computing to determine spatial circular shape O M-1 And a space circular O M-1 Unit normal vector V of plane M-1 And a space circular O M-1 Center of circle C M-1 Coordinate and space circle O M-1 Radius R of M-1 ；
Computer using coordinates P M Computing to determine spatial circular shape O M And a space circular O M Unit normal vector V of plane M And a space circular O M Center of circle C M Coordinate and space circle O M Radius R of M ；
1-3-2, establishing a terminal coordinate system of the industrial serial robot by a computer according to the structure type of the wrist of the robot;
1-3-3, calculating unit normal vector V by computer M-1 Sum unit normal vector V M Cross-multiplying the result of the cross-multiplication as a unit vector ToolX: ToolX ═ (tx.x, tx.y, tx.z);
1-3-4, computer unit normal vector V M Set as unit vector ToolZ: ToolZ ═ (tz.x, tz.y, tz.z,);
let ToolY equal the cross product of ToolX and ToolZ, denote the unit vector ToolY as: ToolY ═ (ty.x, ty.y, ty.z);
1-3-5, the computer is provided with a circle center C M-1 With V M Plane as normal vector is M 3 The center of a circle C can be obtained M In plane M 3 The coordinate of the point Wrist in the measurement coordinate system is (X' 6 ,Y′ 6 ,Z′ 6 )；
The computer uses the coordinates of ToolX, ToolY, ToolZ and Wrist to form a transformation matrix T from the terminal coordinate system to the measurement coordinate system;
1-3-6, and assuming that the industrial tandem robot is in a zero position, the vector ToolCoord of the target ball to be detected under the terminal coordinate system is as follows: ToolCoord ═ (fx, fy, fz);
measuring the vector Meas of the target ball to be measured under the measurement coordinate system by a measuring device, wherein the vector Meas is (mx, my, mz);
it can be obtained that, under the measurement coordinate system:
the computer refers to the components of the vector ToolCoord on the X-axis, Y-axis and Z-axis in the terminal coordinate system as X-axis offset X respectively Moving device Y-axis offset Y Moving device And Z-axis offset Z Moving device 。
3. An industrial robot end TCP transfer method according to claim 1, characterized in that step 1-4 comprises the following specific steps:
offset the X axis by X Moving device Y-axis offset Y Moving device And Z-axis offset Z Moving device Inputting the data into a robot demonstrator, and moving the origin of a tool coordinate system of a tool in the robot demonstrator to a point A by a computer, wherein the coordinate of the point A is (X) Moving device ，Y Moving device ，Z Moving device ) And the end TCP transfer is realized.
4. The industrial robot end TCP transfer method according to claim 1, characterized in that the verification of the result of the robot end TCP transfer comprises the following specific steps:
1-5-1, the working personnel switch the robot to the basic coordinate system through the robot demonstrator, then control the robot end to drive the tool to rotate the attitude angle a around the X axis of the basic coordinate system through the demonstrator, and the measuring equipment measures the space coordinate (X) of the target ball track point when the tool rotates xi ,Y xi ,Z xi ) Xi represents the ith target ball track point rotating around the X axis, and i is more than or equal to 1;
using spatial coordinates (X) xi ,Y xi ,Z xi ) The computer calculates the target ball locus points except the first target ball locus point and the first target ball locus pointTaking the maximum distance value as the deviation error in the X-axis direction according to the distance between the target ball track points;
1-5-2, controlling the tail end of the robot by a worker through a demonstrator to drive the tool to rotate around the Y axis of the base coordinate system by the worker, and measuring the space coordinate (X) of the target ball track point when the tool rotates by a measuring device yi ,Y yi ,Z yi ) Yi represents the ith target ball trajectory point rotating around the Y axis;
using spatial coordinates (X) yi ,Y yi ,Z yi ) The computer calculates the distance between the track points of other target balls except the first target ball track point and the first target ball track point, and the maximum value of the distance is used as the offset error in the Y-axis direction;
1-5-3, controlling the tail end of the robot by a worker through a demonstrator to drive the tool to rotate around the Z axis of the base coordinate system to form an attitude angle c, and measuring the space coordinate (X) of the target ball track point when the tool rotates by a measuring device zi ,Y zi ,Z zi ) Zi represents the ith ball trajectory point rotated about the Z axis;
using spatial coordinates (X) zi ,Y zi ,Z zi ) And the computer calculates the distance between the track points of other targets except the first target track point and the first target track point, and takes the maximum value of the distance as the offset error in the Z-axis direction.
5. An industrial robot end TCP transfer method according to claim 1 or 2 or 3 or 4, characterized in that the measuring device is a laser tracker or a camera.
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Citations (6)
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| CN110370316A (en) * | 2019-06-20 | 2019-10-25 | 重庆大学 | It is a kind of based on the robot TCP scaling method vertically reflected |
| CN111168718A (en) * | 2020-01-03 | 2020-05-19 | 北京理工大学 | Device for detecting collision force and collision power of cooperative mechanical arm and environment |
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| CN101630409A (en) * | 2009-08-17 | 2010-01-20 | 北京航空航天大学 | Hand-eye vision calibration method for robot hole boring system |
| US20120239194A1 (en) * | 2011-03-18 | 2012-09-20 | Denso Wave Incorporated | Method of detecting an inter-axis offset of 6-axis robot |
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| CN104827480A (en) * | 2014-02-11 | 2015-08-12 | 泰科电子(上海)有限公司 | Automatic calibration method of robot system |
| CN110370316A (en) * | 2019-06-20 | 2019-10-25 | 重庆大学 | It is a kind of based on the robot TCP scaling method vertically reflected |
| CN111168718A (en) * | 2020-01-03 | 2020-05-19 | 北京理工大学 | Device for detecting collision force and collision power of cooperative mechanical arm and environment |
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