CN114905548A - Calibration method and device for base coordinate system of double-arm robot - Google Patents
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J9/0087—Dual arms
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B25J9/00—Programme-controlled manipulators
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- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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Abstract
The invention belongs to the technical field of application of a double-arm robot, and discloses a calibration method of a base coordinate system of the double-arm robot, which comprises the following steps: changing different poses of tools at the tail end of a first mechanical arm and the tail end of a second mechanical arm in the double-arm robot for multiple times; calibrating and calculating the relative pose relationship of the first mechanical arm and the second mechanical arm base coordinate system; and verifying the calibration calculation results of the first mechanical arm and the second mechanical arm. The method can be used for laser ablation of tumors of human bodies, and the obtained calibration result is accurate.
Description
Technical Field
The invention belongs to the technical field of application of a double-arm robot, and particularly relates to a method and a device for calibrating a base coordinate system of the double-arm robot.
Background
With the development of society and the improvement of productivity, more and more industries use robots to replace manpower. For example, the calibration accuracy of the base coordinate system of the two-arm robot (as shown in fig. 1) is crucial to the tumor laser ablation accuracy of the two-arm robot, the calibration accuracy of the conventional calibration method is too low, and the calibration process is very tedious. The aim of calibrating the double-arm robot is as follows: many fields are needed for the two-arm robot, and the position relation of the two arms in the prior art is determined by artificial experience or simulation, so that the two-arm robot is not suitable for the application of tumor ablation in medical treatment.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a calibration method and a calibration device for a base coordinate system of a double-arm robot, which are used for laser ablation of tumors of a human body, wherein the calibration process is divided into three stages, and the obtained calibration result is accurate.
The first aspect of the present disclosure provides a calibration method for a base coordinate system of a two-arm robot, including:
changing different poses of tools at the tail end of a first mechanical arm and the tail end of a second mechanical arm in the double-arm robot for multiple times;
calibrating and calculating the relative pose relationship of the first mechanical arm and the second mechanical arm base coordinate system;
and verifying the calibration calculation results of the first mechanical arm and the second mechanical arm.
In a second aspect, an embodiment of the present invention provides a calibration apparatus for a base coordinate system of a two-arm robot, which is applied to the method provided in the first aspect, and includes:
the pose acquisition module is used for changing different poses of tools at the tail end of a first mechanical arm and the tail end of a second mechanical arm in the double-arm robot for multiple times;
the calibration module is used for calibrating and calculating the relative position relationship of the first mechanical arm and the second mechanical arm in the base coordinate system;
and the verification module is used for verifying the calibration calculation results of the first mechanical arm and the second mechanical arm.
Compared with the prior art, the invention achieves the following effects:
the method for the pose relationship between the two mechanical arms is provided, and the greater the data acquisition amount is, the higher the solving precision is. In practice, the distance between the end needle point of the first mechanical arm tool and the end needle point of the second mechanical arm tool is observed, and the smaller the distance is, the accurate calibration result is shown.
Drawings
FIG. 1 is a schematic diagram of a dual-arm robot configuration provided in an embodiment of the present invention;
FIG. 2 is a flowchart of a calibration method for a base coordinate system of a dual-arm robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a base coordinate system calibration device of a two-arm robot in an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Examples
As shown in fig. 2, a calibration method for a base coordinate system of a two-arm robot includes the following steps:
acquiring each group of joint angles of the double-arm robot operating in multiple preset poses by changing different poses of tools at the tail end of a first mechanical arm and the tail end of a second mechanical arm in the double-arm robot for multiple times;
calibrating and calculating the relative pose relationship of the first mechanical arm and the second mechanical arm coordinate system;
and verifying the calibration calculation results of the first mechanical arm and the second mechanical arm.
The controller can also directly read different poses of the tail ends of the first mechanical arm and the second mechanical arm, and the angle of each group of joints does not need to be acquired.
Optionally, before setting different poses of the tool at the end of the first mechanical arm and the tool at the end of the second mechanical arm in the dual-arm robot for multiple times, the method further includes:
the tail end of the first mechanical arm and the tail end of the second mechanical arm swing to a position, and the tail ends of the first mechanical arm and the second mechanical arm are adjusted to enable needle points at the tail ends of the two mechanical arms to be aligned.
Preferably, the tail end of the first mechanical arm and the tail end of the second mechanical arm swing to a position first, and a certain position of the tail ends of the two mechanical arms swing in a dragging teaching mode.
Optionally, the positions of the tail end of the first mechanical arm and the tail end of the second mechanical arm are adjusted by selecting a right-angle control mode; the right-angle control mode is operated on the demonstrator, the tail end position of the mechanical arm is adjusted, and when the distance between the two needle points is close, the movement speed of the demonstrator is properly reduced, so that the needle points at the tail ends of the tools of the two mechanical arms can be accurately and completely aligned. The method comprises the steps of setting different poses of the tail end of a first mechanical arm and the tail end of a second mechanical arm in the double-arm robot for multiple times, collecting all joint angle values of the double-arm robot running in multiple preset poses, marking a joint angle vector of the tail end of the first mechanical arm as qL _ i, and marking a joint angle vector of the tail end of the second mechanical arm as qR _ i.
Optionally, the different poses of the first end-of-arm tool and the second end-of-arm tool in the two-arm robot are changed for multiple times to select multiple positions of the first end-of-arm tool and the second end-of-arm tool which are not coplanar.
Optionally, the calibrating and calculating the relative pose relationship between the base coordinate systems of the first mechanical arm and the second mechanical arm includes: in a double-arm robot tool coordinate system, calculating the positions and postures of the first mechanical arm base coordinate system corresponding to the multiple groups of joint angles; and calculating to obtain the poses of the second mechanical arm in the base coordinate system corresponding to the multiple groups of joint angles. Calculating the poses of the tool coordinate systems of the double-arm robot corresponding to the multiple groups of joint angles under the respective base coordinate systems by adopting positive kinematics, and recording the poses as the poses
Wherein R represents a first arm base coordinate system, L represents a first arm base coordinate system, and i represents a coincident tool coordinate system of the first and second arms and the end of the second arm. The positive kinematics of the robot means that the position and the posture of the coordinate system of the end effector of the robot are calculated according to the joint coordinates theta. The pose is a homogeneous transformation matrix and can be obtained through positive kinematics calculation of the robot. The position and orientation represent the position and the attitude of the tail end or a certain joint of the mechanical arm under the current world coordinate system, and the position information (position) is the coordinate point of the three-dimensional world; attitude (orientation) is used to describe orientation information of a rigid body.
Optionally, the calibrating and calculating the relative pose relationship between the base coordinate systems of the first mechanical arm and the second mechanical arm further includes: and obtaining a homogeneous transformation matrix of the second mechanical arm base coordinate system in the first mechanical arm base coordinate system according to the coordinate transformation of the first mechanical arm and the second mechanical arm coordinate system.
The homogeneous transformation matrix equation is as follows:
wherein,
a homogeneous transformation matrix (to-be-calibrated matrix) of the second mechanical arm base coordinate system under the first mechanical arm base coordinate system is shown,
is the pose of the first mechanical arm in the base coordinate system,
the homogeneous transformation matrix equation is used for representing the pose relation between the first mechanical arm and the tail end of the second mechanical arm in the pose of the second mechanical arm base coordinate system.
Optionally, the calibrating and calculating the relative pose relationship between the base coordinate systems of the first mechanical arm and the second mechanical arm further includes: expanding the homogeneous transformation matrix according to a rotation matrix to obtain a rotation matrix of a matrix to be calibrated; and then expanding the homogeneous transformation matrix according to the translation vector to obtain the translation vector of the matrix to be calibrated.
The homogeneous transformation matrix is expanded according to the rotation matrix and the translation vector, and the rotation matrix is obtained as follows:
the element translation vectors of the homogeneous coordinate matrix are:
wherein,
is the matrix to be calibrated
The rotation matrix of (a) is,
is a matrix to be calibrated
Translation vector of, I 3×3 Is an identity matrix of 3x3,
is a matrix of rotations of the optical system,
is a translation vector, 0 is a vector,
is a rotation matrix of the first robot arm,
is the translation vector of the second mechanical arm.
Optionally, the calibrating and calculating the relative pose relationship between the base coordinate systems of the first mechanical arm and the second mechanical arm further includes: and converting the poses of the first mechanical arm and the second mechanical arm coordinate system, substituting the pose of the first mechanical arm base coordinate system and the pose of the second mechanical arm base coordinate system into a linear equation to obtain a rotation matrix and a translation vector of a homogeneous transformation matrix of the second mechanical arm base coordinate system in the first mechanical arm base coordinate system, and performing orthogonal normalization on the rotation matrix of the homogeneous transformation matrix to obtain the pose calibration results of the first mechanical arm and the second mechanical arm coordinate system.
Vectorizing the elements of the homogeneous transformation matrix using a Kronecker product:
wherein Vec represents a 3x3 matrix
Conversion to the form of a row vector, dimension 9 x 1;
is a rotation matrix of the first robot arm,
is a 3x3 rotation matrix for the second mechanical arm,
is a matrix to be calibrated
The rotation matrix of (a) is,
is the translation vector of the first robot arm,
is the translation vector of the second mechanical arm,
is a matrix to be calibrated
The translation vector of (a);
equation (4) the translation vector is converted to matrix form:
and (3) converting the homogeneous transformation matrix equation into a linear equation to be solved:
H i ·X＝b i (6)；
equation 6 compares equation 5, H i Is a regression matrix composed of the pose matrixes of the first mechanical arm and the second mechanical arm, b i For first arm pose matrix constants, i.e. cross-references
Calculating the position and attitude of the tool coordinate system of the double-arm robot corresponding to the angles of the multiple groups of joints
Linear equations are substituted, and a least square solution algorithm is adopted to obtain a rotation matrix of a homogeneous transformation matrix of a second mechanical arm base coordinate system under a first mechanical arm base coordinate system
And translation vector
A group of linear equations converted from a homogeneous coordinate transformation matrix equation can be obtained by detecting a group of data.
Optionally, the verifying the calibration calculation results of the first mechanical arm and the second mechanical arm includes: and appointing the tail end of the first mechanical arm to reach a position, calculating according to the calibration calculation result to obtain a joint angle required by the tail end of the second mechanical arm to reach the same spatial position, detecting the calibration distance between the needle point at the tail end of the first mechanical arm and the needle point at the tail end of the second mechanical arm, and finishing the verification of the calibration calculation result.
As shown in fig. 3, an embodiment of the present invention further provides a calibration apparatus for a base coordinate system of a dual-arm robot, and a calibration method for a base coordinate system of a dual-arm robot using an embodiment of the present invention includes:
a pose acquisition module 210 for changing different poses of the first end-of-arm and second end-of-arm tools in the two-arm robot by a plurality of times;
the calibration module 220 is configured to perform calibration calculation on the relative pose relationship between the first mechanical arm and the second mechanical arm base coordinate system;
the verification module 230 is configured to verify the calibration calculation results of the first robot arm and the second robot arm.
Optionally, before setting different poses of the tool at the end of the first mechanical arm and the tool at the end of the second mechanical arm in the dual-arm robot for multiple times, the method further includes:
the tail end of the first mechanical arm and the tail end of the second mechanical arm swing to a position, and the tail ends of the first mechanical arm and the second mechanical arm are adjusted to enable needle points at the tail ends of the two mechanical arms to be aligned.
Optionally, the positions of the tail end of the first mechanical arm and the tail end of the second mechanical arm are adjusted by selecting a right-angle control mode.
Optionally, the different poses of the first end-of-arm tool and the second end-of-arm tool in the two-arm robot are changed for multiple times to select multiple positions of the first end-of-arm tool and the second end-of-arm tool which are not coplanar.
Optionally, the calibrating and calculating the relative pose relationship between the base coordinate systems of the first mechanical arm and the second mechanical arm includes: in a double-arm robot tool coordinate system, calculating the positions and postures of the first mechanical arm base coordinate system corresponding to the multiple groups of joint angles; and calculating to obtain the poses of the second mechanical arm in the base coordinate system corresponding to the multiple groups of joint angles.
Optionally, the calibrating and calculating the relative pose relationship between the base coordinate systems of the first mechanical arm and the second mechanical arm further includes: obtaining a homogeneous transformation matrix of the second mechanical arm base coordinate system in the first mechanical arm base coordinate system according to the coordinate transformation of the first mechanical arm and the second mechanical arm coordinate system;
the homogeneous transformation matrix equation is as follows:
wherein,
a homogeneous transformation matrix (to-be-calibrated matrix) of the second mechanical arm base coordinate system under the first mechanical arm base coordinate system is shown,
is the pose of the first mechanical arm in the base coordinate system,
the homogeneous transformation matrix equation is used for representing the pose relation between the first mechanical arm and the tail end of the second mechanical arm in the pose of the second mechanical arm base coordinate system.
Optionally, the calibrating and calculating the relative pose relationship between the base coordinate systems of the first mechanical arm and the second mechanical arm further includes: expanding the homogeneous transformation matrix according to a rotation matrix to obtain a rotation matrix of a matrix to be calibrated; and then expanding the homogeneous transformation matrix according to the translation vector to obtain the translation vector of the matrix to be calibrated.
The homogeneous transformation matrix is expanded according to the rotation matrix and the translation vector, and the rotation matrix is obtained as follows:
the element translation vectors of the homogeneous coordinate matrix are:
wherein,
is the matrix to be calibrated
The rotation matrix of (a) is,
is a matrix to be calibrated
Translation vector of, I 3×3 Is an identity matrix of 3x3,
is a matrix of rotations of the optical system,
is a translation vector, 0 is a vector,
is a rotation matrix of the first robot arm,
is the translation vector of the second mechanical arm.
Optionally, the calibrating and calculating the relative pose relationship between the base coordinate systems of the first mechanical arm and the second mechanical arm further includes: and converting the poses of the first mechanical arm and the second mechanical arm coordinate system, substituting the pose of the first mechanical arm base coordinate system and the pose of the second mechanical arm base coordinate system into a linear equation to obtain a rotation matrix and a translation vector of a homogeneous transformation matrix of the second mechanical arm base coordinate system in the first mechanical arm base coordinate system, and performing orthogonal normalization on the rotation matrix of the homogeneous transformation matrix to obtain the pose calibration results of the first mechanical arm and the second mechanical arm coordinate system.
Vectorizing the elements of the homogeneous transformation matrix using a Kronecker product:
wherein Vec represents a 3x3 matrix
Conversion to the form of a row vector, dimension 9 x 1;
equation (4) the translation vector is converted to matrix form:
and (3) converting the homogeneous transformation matrix equation into a linear equation to be solved:
H i ·X＝b i (6)；
equation 6 in comparison to equation 5, H i Is a regression matrix composed of a pose matrix of a first mechanical arm and a pose matrix of a second mechanical arm, b i For first arm pose matrix constants, i.e. cross-references
Optionally, the verifying the calibration calculation results of the first mechanical arm and the second mechanical arm includes: and appointing the tail end of the first mechanical arm to reach a position, calculating according to the calibration calculation result to obtain a joint angle required by the tail end of the second mechanical arm to reach the same spatial position, detecting the calibration distance between the needle point at the tail end of the first mechanical arm and the needle point at the tail end of the second mechanical arm, and finishing the verification of the calibration calculation result.
The calibration device for the base coordinate system of the double-arm robot provided by the embodiment of the invention adopts the same technical means as the calibration method for the base coordinate system of the double-arm robot, achieves the same technical effect, and is not repeated here.
And verifying the calibration calculation result in the controller test code. In practice, the distance between the end needle point of the first mechanical arm tool and the end needle point of the second mechanical arm tool is observed, and the smaller the distance is, the more accurate the calibration result is.
In the description herein, references to the description of the term "in an embodiment," "in yet another embodiment," "exemplary" or "in a particular embodiment," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the disclosure. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although the present disclosure has been described in detail hereinabove by way of general description, specific embodiments and experiments, it will be apparent to those skilled in the art that certain modifications or improvements may be made thereto based on the present disclosure. Accordingly, such modifications and improvements do not depart from the spirit of the disclosure and are intended to be within the scope of the disclosure.
Claims (10)
1. A calibration method for a base coordinate system of a double-arm robot is characterized by comprising the following steps:
changing different poses of tools at the tail end of a first mechanical arm and the tail end of a second mechanical arm in the double-arm robot for multiple times;
calibrating and calculating the relative pose relationship of the first mechanical arm and the second mechanical arm base coordinate system;
and verifying the calibration calculation results of the first mechanical arm and the second mechanical arm.
2. The calibration method for the coordinate system of the base of the dual-arm robot as claimed in claim 1, wherein before changing the different poses of the first end-of-arm tool and the second end-of-arm tool in the dual-arm robot for a plurality of times, the calibration method further comprises:
the tail end of the first mechanical arm and the tail end of the second mechanical arm swing to a position, and the tail ends of the first mechanical arm and the second mechanical arm are adjusted to enable needle points at the tail ends of the two mechanical arms to be aligned.
3. The calibration method for the base coordinate system of the dual-arm robot as claimed in claim 2, wherein the positions of the end of the first mechanical arm and the end of the second mechanical arm are adjusted by selecting a right-angle control mode.
4. The calibration method for the coordinate system of the base of the dual-arm robot as claimed in claim 1, wherein the positions of the first end of the robot arm and the second end of the robot arm are selected to be not coplanar by changing the different poses of the tools at the first end of the robot arm and the second end of the robot arm a plurality of times.
5. The calibration method for the base coordinate system of the dual-arm robot as claimed in claim 1, wherein the calibration calculation for the relative pose relationship between the base coordinate systems of the first and second robot arms comprises: calculating the poses of a plurality of groups of joint angles in a tool coordinate system of the double-arm robot under the first mechanical arm base coordinate system; and calculating to obtain the poses of the second mechanical arm in the base coordinate system corresponding to the multiple groups of joint angles.
6. The calibration method for the base coordinate system of the dual-arm robot as claimed in claim 5, wherein the calibration calculation for the relative pose relationship between the base coordinate systems of the first and second robot arms further comprises: obtaining a homogeneous transformation matrix of the second mechanical arm base coordinate system in the first mechanical arm base coordinate system according to the coordinate transformation of the first mechanical arm and the second mechanical arm coordinate system; the homogeneous transformation matrix equation is as follows:
wherein,
a homogeneous transformation matrix of the second mechanical arm base coordinate system under the first mechanical arm base coordinate system is shown,
is under the base coordinate system of the first mechanical armThe pose of the robot is determined by the position of the robot,
and the pose is the pose under the base coordinate system of the second mechanical arm.
7. The calibration method for the base coordinate system of the dual-arm robot as claimed in claim 6, wherein the calibration calculation for the relative pose relationship between the base coordinate systems of the first and second robot arms further comprises: expanding the homogeneous transformation matrix according to a rotation matrix to obtain a rotation matrix of a matrix to be calibrated;
and then expanding the homogeneous transformation matrix according to the translation vector to obtain the translation vector of the matrix to be calibrated.
8. The calibration method for the base coordinate system of the dual-arm robot as claimed in claim 7, wherein the calibration calculation for the relative pose relationship between the base coordinate systems of the first and second robot arms further comprises: converting the poses of the coordinate systems of the first mechanical arm and the second mechanical arm to obtain a vectorization formula:
wherein Vec represents a 3x3 matrix
Converting into a row vector form;
the pose under the first mechanical arm base coordinate system and the pose under the second mechanical arm base coordinate system are brought into a linear equation to obtain a rotation matrix and a translation vector of a homogeneous transformation matrix of the second mechanical arm base coordinate system in the first mechanical arm base coordinate system, and orthogonal normalization is carried out on the rotation matrix of the homogeneous transformation matrix to obtain the pose calibration results of the first mechanical arm and the second mechanical arm coordinate system; the linear equation is: h i ·X＝b i
H i Is a regression matrix composed of a pose matrix of a first mechanical arm and a pose matrix of a second mechanical arm, b i Is the pose constant of the first mechanical arm.
9. The calibration method of the base coordinate system of the dual-arm robot as claimed in claim 1, wherein the verifying the calibration calculation results of the first and second robot arms comprises: and appointing the tail end of the first mechanical arm to reach a position, calculating according to the calibration calculation result to obtain a joint angle required by the tail end of the second mechanical arm to reach the same spatial position, detecting the calibration distance between the needle point at the tail end of the first mechanical arm and the needle point at the tail end of the second mechanical arm, and finishing the verification of the calibration calculation result.
10. A calibration apparatus for the coordinate system of the base of a two-arm robot, which is applied to the method of any one of claims 1 to 9, and which comprises:
the pose acquisition module is used for changing different poses of tools at the tail end of a first mechanical arm and the tail end of a second mechanical arm in the double-arm robot for multiple times;
the calibration module is used for carrying out calibration calculation on the relative position and posture relation of the base coordinate systems of the first mechanical arm and the second mechanical arm;
and the verification module is used for verifying the calibration calculation results of the first mechanical arm and the second mechanical arm.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115890653A (en) * | 2022-09-28 | 2023-04-04 | 华中科技大学 | Multi-channel based cooperative control method and device for double-arm robot and readable medium |
| CN117103286A (en) * | 2023-10-25 | 2023-11-24 | 杭州汇萃智能科技有限公司 | Manipulator eye calibration method and system and readable storage medium |
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