CN115307542A - Industrial robot tool coordinate system calibration method based on laser scanner - Google Patents

Industrial robot tool coordinate system calibration method based on laser scanner Download PDF

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Publication number
CN115307542A
CN115307542A CN202210681404.6A CN202210681404A CN115307542A CN 115307542 A CN115307542 A CN 115307542A CN 202210681404 A CN202210681404 A CN 202210681404A CN 115307542 A CN115307542 A CN 115307542A
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axis
coordinate system
industrial robot
target ball
center
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彭勇
朱斯祺
刘港
王克鸿
胡晓勇
熊亮同
解西安
陈天运
王兴国
高鹏
赵壮
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Nanjing University of Science and Technology
Beijing Xinghang Electromechanical Equipment Co Ltd
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Nanjing University of Science and Technology
Beijing Xinghang Electromechanical Equipment Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/045—Correction of measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates

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Abstract

The invention discloses a method for calibrating an industrial robot tool coordinate system based on a laser scanner, which comprises the following steps: the method comprises the steps of enabling an A5 axis at the tail end of a robot to be parallel to a base plane, keeping the position of the center of a flange plate unchanged, enabling the center of the flange plate to rotate around an X axis, a Y axis and a Z axis of a flange plate coordinate system respectively, taking 10 points in each rotating direction, collecting three-dimensional point cloud of a target ball in each position, fitting a spherical center coordinate of each position, fitting a fitting circle in each rotating direction according to the spherical center coordinate, determining the distance of the spherical center of the target ball from the center of the flange plate in the X axis, the Y axis and the Z axis direction according to a fitting radius, moving an industrial robot to the X axis, the Y axis and the Z axis in the positive direction, determining the relative position of the target ball in the flange plate coordinate system, inputting the coordinate position into a robot control system, and automatically generating a tool coordinate system of the spherical center of the target ball by the robot. The invention has simple operation and high calibration precision.

Description

Industrial robot tool coordinate system calibration method based on laser scanner
Technical Field
The invention relates to a method for calibrating a tool coordinate system of an industrial robot based on a laser scanner, and relates to the field of industrial measurement.
Background
In industrial production, a tracking laser wireless three-dimensional scanner is used for scanning a workpiece to be welded to obtain a high-precision three-dimensional point cloud model of the workpiece, the three-dimensional point cloud model is processed to obtain point cloud coordinates of a welding seam of the workpiece to be welded, and the point cloud coordinates are converted into point location coordinates of an industrial robot coordinate system.
How to convert the point cloud coordinates into point coordinates in the coordinate system of the industrial robot requires the target ball to be used as an intermediate conversion standard, and tool coordinates of the target ball in the coordinate system of the industrial robot need to be determined before.
Therefore, how to accurately obtain the tool coordinates of the target ball in the coordinate system of the industrial robot is important for improving the precision of coordinate system conversion.
Disclosure of Invention
The invention aims to utilize a sphere with a known radius to rotate the center of a flange plate at the tail end of an industrial robot around three axes of a flange plate coordinate system, fit the radius and the center of a fitting circle obtained in each direction, solve a standard value of a sphere center coordinate through a fitting circle radius simultaneous equation set, and move a target sphere arranged on the flange plate at two positions in space by the industrial robot to obtain the positive directions of X, Y and Z axes of the sphere center coordinate system.
The technical scheme for realizing the purpose of the invention is as follows:
a calibration method of an industrial robot tool coordinate system based on a laser scanner is to determine TCP points of a target ball center coordinate system in a flange plate coordinate system of an industrial robot, firstly, a target ball mounted at the end of the industrial robot rotates around the flange plate center at the end of the industrial robot around the X, Y and Z axes of the flange plate coordinate system and collects 10 points in each direction by using the laser scanner, wherein the method comprises the following steps:
(1) Placing the laser tracker in front of the industrial robot body for 3 meters, and preheating in advance;
(2) Fixedly mounting a target ball connecting piece and a target ball on a flange plate at the tail end of the industrial robot body;
(3) Adjusting the axis A5 of the industrial robot to be parallel to the base plane of the base, changing the rotation angle of the axis A6 into 0 degree, recording the coordinate posture at the moment as an initial posture P 0 ；
Keeping the flange coordinate unchanged, changing the posture of the robot, operating the industrial robot to rotate the tail end clockwise around the X-axis direction of the flange coordinate system, gradually changing the posture, recording the three-dimensional point cloud of the current position, recording 10 points, numbering the points as X 1 ～X 10 ；
Repeating the steps (2) to (3), operating the industrial robot to enable the tail end of the industrial robot to rotate clockwise around the Y-axis direction of the flange plate coordinate system, gradually changing the posture of the industrial robot, recording the three-dimensional point cloud of the current position, recording 10 points, and numbering the points as Y 1 ～Y 10 ；
Repeating the steps (2) to (3), operating the industrial robot to enable the tail end of the industrial robot to rotate clockwise around the Z-axis direction of the flange plate coordinate system, gradually changing the posture of the industrial robot, recording the three-dimensional point cloud of the current position, recording 10 points, and numbering the points as Z 1 ～Z 10 。
Further, the radius of a circle fitted around the X axis of the flange coordinate system is set to be R X The radius of a circle fitted around the Y axis of the flange coordinate system is R Y Radius of circle fitted around Z-axis of flange coordinate systemIs R Z And fitting the three-dimensional point cloud of 10 points acquired in each direction by using a geographic studio software to obtain the spherical center coordinates of each point in each direction under the tracking laser scanner coordinate system, and fitting a fitting circle according to the spherical center coordinates to obtain the radius value of the fitting circle in each direction.
Further, obtaining a standard value of the sphere center coordinate according to the obtained fitting circle radius value simultaneous equation set comprises the following steps:
setting the sphere center coordinates of the target sphere as (X, Y, Z);
when the target ball rotates around the X axis of the flange coordinate system, the distance from the projection of the target ball center on the Y axis and the Z axis to the ball center is unchanged, and the radius value R of the fitting circle around the X axis of the flange coordinate system X Is equal to:
R x 2 ＝|Y| 2 +|Z| 2
when the target ball rotates around the Y axis of the flange coordinate system, the distance from the projection of the center of the target ball on the X axis and the projection of the center of the target ball on the Z axis to the center of the target ball are unchanged, and the radius value R of a fitting circle around the Y axis of the flange coordinate system Y Is equal to the square of:
R y 2 ＝|X| 2 +|Z| 2
when the target ball rotates around the Z axis of the flange coordinate system, the distance from the projection of the center of the target ball on the X axis and the projection of the center of the target ball on the Y axis to the center of the target ball are unchanged, and the radius value R of a fitting circle around the Z axis of the flange coordinate system Z Is equal to the square of:
R z 2 ＝|X| 2 +|Y| 2
final simultaneous system of equations:
Figure BDA0003698578330000021
finally solving the values of X, Y and Z, thereby determining the TCP of the target ball;
further, the positive directions of X, Y and Z of the coordinate system of the target ball tool seat are the same as the positive direction of the flange plate terminal coordinate system, and the operating industrial robot moves two points along the X, Y and Z axes, and the specific steps are as follows:
(1) Returning the industrial robot to the initial attitude P 0 Moving the industrial robot 100mm towards the X-axis direction of the flange plate coordinate system, and recording the reading X of the first point under the robot flange plate coordinate system p1 At a movement of 100mm, a second point X is recorded p2 Determining the positive direction of the X axis of the flange coordinate system, determining the positive direction of the X axis of the tool coordinate of the target ball, and simultaneously determining the positive and negative of the TCP point of the target ball;
(2) Repeating the step (1) for the Y axis, and determining the positive direction of the Y axis of the tool coordinate of the target ball;
(3) Repeating the step (1) for the Z axis, and determining the positive direction of the tool coordinate Z axis of the target ball;
the TCP coordinates of the target ball are input into the robot control system, and then a tool coordinate system of the center of the target ball can be obtained.
Compared with the prior art, the invention has the following remarkable advantages:
1. the invention has simple operation and high calibration precision.
Drawings
FIG. 1 is a schematic view of the center of the target sphere rotated about the flange coordinate system Z axis.
Figure 2 is a schematic view of the rotation of the center of the target sphere about the Y-axis of the flange coordinate system.
Figure 3 is a schematic diagram of the rotation of the center of the target sphere about the X-axis of the flange coordinate system.
Fig. 4 is a diagram of a method for mounting a target ball on an end flange of an industrial robot.
Fig. 5 shows 10 collection points of a target ball at different positions in space.
FIG. 6 is a diagram of the fitting result of the spherical centers of the three-dimensional point clouds.
Fig. 7 is a graph of the results of fitting a circle.
Table 1 shows the center and radius of the fitted circle.
Detailed Description
The invention will be further explained with reference to the drawings
Method for obtaining tool coordinates of target ball center under industrial robot base coordinate system by utilizing tracking laser wireless three-dimensional scannerA method, comprising: adjusting the axis A5 of the industrial robot to be parallel to the base plane of the base, changing the rotation angle of the axis A6 into 0 degree, and recording the coordinate posture at the moment as an initial posture P 0 ；
The method for obtaining the coordinates of the tool of the sphere center of the target ball under the base coordinate system of the industrial robot by utilizing the tracking laser wireless three-dimensional scanner comprises the following steps: keeping the flange coordinate unchanged, changing the posture of the robot, enabling the industrial robot to rotate clockwise around the X-axis direction of the flange coordinate system, gradually changing the posture of the industrial robot, recording the three-dimensional point cloud of the current position, recording 10 points, numbering the points as X 1 ～X 10 ；
The method for obtaining the coordinates of the tool of the sphere center of the target ball under the base coordinate system of the industrial robot by utilizing the tracking laser wireless three-dimensional scanner comprises the following steps: make the industrial robot return to the initial pose P 0 Changing the posture of the robot to make the industrial robot rotate clockwise around the Y-axis of the flange coordinate system, gradually changing the posture, recording the three-dimensional point cloud of the current position, recording 10 points, and numbering the points as Y 1 ～Y 10 ；
The method for obtaining the coordinates of the tool of the sphere center of the target ball under the base coordinate system of the industrial robot by utilizing the tracking laser wireless three-dimensional scanner comprises the following steps: returning the industrial robot to the initial pose P 0 Changing the posture of the robot to make the industrial robot rotate clockwise around the Y-axis of the flange coordinate system, gradually changing the posture, recording the three-dimensional point cloud of the current position, recording 10 points, and numbering the points as Y 1 ～Y 10 ；
The method for obtaining the coordinates of the tool of the sphere center of the target ball under the base coordinate system of the industrial robot by utilizing the tracking laser wireless three-dimensional scanner comprises the following steps: returning the industrial robot to the initial pose P 0 Changing the posture of the robot to enable the industrial robot to rotate clockwise around the Z-axis direction of the flange plate coordinate system, gradually changing the posture of the industrial robot, recording the three-dimensional point cloud of the current position, recording 10 points, and numbering the points as Z 1 ～Z 10 ；
Obtaining each point in each directionThe three-dimensional point cloud is fitted to form the spherical center coordinates of each point in each direction by using a spherical center fitting algorithm, a fitting circle is fitted according to the spherical center coordinates to obtain the radius of the fitting circle in each direction, and the radius of the fitting circle around the X axis of a flange coordinate system is set as R X The radius of a circle fitted around the Y axis of the flange coordinate system is R Y The radius of a circle fitted around the Z axis of the flange plate coordinate system is R Z . Assuming the coordinates of the center of the target ball are (X, Y, Z), the radius value R of the fitting circle around the X axis of the flange coordinate system X Is equal to:
R x 2 ＝|Y| 2 +|Z| 2
radius value R of fitting circle around X axis of flange coordinate system X Is equal to:
R y 2 ＝|X| 2 +|Z| 2
radius value R of fitting circle around Z axis of flange coordinate system Z Is equal to the square of:
R z 2 ＝|X| 2 +|Y| 2
the final simultaneous system of equations:
Figure BDA0003698578330000041
finally solving the values of X, Y and Z, wherein the solved values of X, Y and Z have positive and negative values, taking positive value, and then determining the positive and negative values of X, Y and Z.
The target ball is mounted on the end flange of the industrial robot according to fig. 4, and the coordinate system of the industrial robot is switched to the flange coordinate system.
Operating the handle of the industrial robot, pressing the C +, B +, Z + buttons to rotate the industrial robot around the X, Y and Z axes of the coordinate system, and acquiring 10 points in all directions by using a tracking laser three-dimensional scanner to obtain the three-dimensional point cloud of the target ball at the position as shown in figure 5.
As shown in fig. 6, the three-dimensional point cloud data of each position is subjected to sphere center fitting, so as to obtain the sphere center coordinates of the three-dimensional point cloud, and the radius of the circle is already fitted, as shown in table 1.
And (3) setting the position of the sphere center of the target sphere in the flange coordinate as (X, Y, Z), and finally setting the simultaneous equations as follows:
Figure BDA0003698578330000051
can be converted into:
Figure BDA0003698578330000052
the matrix is inverted, and the scalar values of X, Y and Z can be finally solved, wherein X =1578.49, Y =94.63, Z =105.04
Moving the industrial robot to determine the positive and negative of each axis, finally obtaining X =578.49, Y = -94.63, Z = -105.04, and inputting the TCP point of the target ball into the industrial robot.
Figure BDA0003698578330000053
Table 1.

Claims (4)

1. A method for calibrating an industrial robot tool coordinate system based on a laser scanner is characterized in that: firstly, determining a TCP point of a target ball center coordinate system in a flange plate coordinate system of an industrial robot, firstly, rotating a target ball mounted at the tail end of the industrial robot around the flange plate center of the tail end of the industrial robot around X, Y and Z axes of the flange plate coordinate system, and acquiring 10 points in each direction by using a laser scanner, wherein the method comprises the following steps:
(1) Placing the laser tracker in front of the industrial robot body for 3 meters, and preheating in advance;
(2) Fixedly mounting a target ball connecting piece and a target ball on a flange plate at the tail end of an industrial robot body;
(3) Adjusting the axis A5 of the industrial robot to be parallel to the base plane of the base, changing the rotation angle of the axis A6 into 0 degree, recording the coordinate posture at the moment as an initial posture P 0 ；
(4) Retaining flangeChanging the posture of the robot when the coordinates are unchanged, operating the industrial robot to enable the tail end of the industrial robot to rotate clockwise around the X-axis direction of the flange plate coordinate system, gradually changing the posture of the industrial robot, recording the three-dimensional point cloud of the current position, recording 10 points, and numbering the points as X 1 ～X 10 ；
(5) Repeating the steps (2) to (3), operating the industrial robot to enable the tail end of the industrial robot to rotate clockwise around the Y-axis direction of the flange plate coordinate system, gradually changing the posture of the industrial robot, recording the three-dimensional point cloud of the current position, recording 10 points, and numbering the points as Y 1 ～Y 10 ；
(6) Repeating the steps (2) to (3), operating the industrial robot to enable the tail end of the industrial robot to rotate clockwise around the Z-axis direction of the flange plate coordinate system, gradually changing the posture of the industrial robot, recording the three-dimensional point cloud of the current position, recording 10 points, and numbering the points as Z 1 ～Z 10 。
2. A method for calibration of a tool coordinate system of an industrial robot based on a laser scanner according to claim 1, characterized in that: the radius of a circle fitted around the X axis of the flange coordinate system is R X The radius of a circle fitted around the Y axis of the flange coordinate system is R Y The radius of a circle fitted around the Z axis of the flange coordinate system is R Z And fitting the three-dimensional point cloud of 10 points acquired in each direction by using a geographic studio software to obtain the spherical center coordinates of each point in each direction under the tracking laser scanner coordinate system, and fitting a fitting circle according to the spherical center coordinates to obtain the radius value of the fitting circle in each direction.
3. A method for calibration of a tool coordinate system of an industrial robot based on a laser scanner according to claim 2, characterized in that: obtaining a standard value of a sphere center coordinate according to the obtained fitting circle radius value simultaneous equation set, and the method comprises the following steps:
(1) Setting the coordinates of the sphere center of the target ball as (X, Y, Z);
(2) When the target ball rotates around the X axis of the flange coordinate system, the distance from the projection of the target ball center on the Y axis and the Z axis to the ball center is unchanged, and the radius value R of the fitting circle around the X axis of the flange coordinate system X Is equal to:
R x 2 ＝|Y| 2 +|Z| 2
(3) When the target ball rotates around the Y axis of the flange coordinate system, the distance from the projection of the center of the target ball on the X axis and the projection of the center of the target ball on the Z axis to the center of the target ball are unchanged, and the radius value R of a fitting circle around the Y axis of the flange coordinate system Y Is equal to the square of:
R y 2 ＝|X| 2 +|Z| 2
(4) When the target ball rotates around the Z axis of the flange coordinate system, the distance from the projection of the center of the target ball on the X axis and the projection of the center of the target ball on the Y axis to the center of the target ball are unchanged, and the radius value R of a fitting circle around the Z axis of the flange coordinate system Z Is equal to the square of:
R z 2 ＝|X| 2 +|Y| 2
final simultaneous system of equations:
Figure FDA0003698578320000021
finally solving the values of X, Y and Z, thereby determining the TCP of the target ball.
4. Method for calibration of an industrial robot tool coordinate system of a laser scanner according to claim 1, characterized in that: the X, Y, Z positive direction of target ball instrument seat system is the same with the positive direction of ring flange end coordinate system, and operative industrial robot moves two points along X, Y, Z axle, and concrete step is as follows:
(1) Returning the industrial robot to the initial attitude P 0 Moving the industrial robot 100mm towards the X-axis direction of the flange plate coordinate system, and recording the reading X of the first point under the robot flange plate coordinate system p1 At a movement of 100mm, a second point X is recorded p2 Determining the positive direction of the X axis of the flange coordinate system, determining the positive direction of the X axis of the tool coordinate of the target ball, and simultaneously determining the positive and negative of the TCP point of the target ball;
(2) Repeating the step (1) for the Y axis, and determining the positive direction of the tool coordinate Y axis of the target ball;
(3) Repeating the step (1) for the Z axis, and determining the positive direction of the Z axis of the tool coordinate of the target ball;
(4) The TCP coordinates of the target ball are input into the robot control system, and then a tool coordinate system of the center of the target ball can be obtained.
CN202210681404.6A 2022-06-16 2022-06-16 Industrial robot tool coordinate system calibration method based on laser scanner Pending CN115307542A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116079790A (en) * 2023-02-14 2023-05-09 中国工程物理研究院机械制造工艺研究所 Tool calibration device, method, terminal and medium for processing robot
CN116572255A (en) * 2023-07-10 2023-08-11 北京集度科技有限公司 Coordinate origin calibration method, calibration device and medium
CN117848218A (en) * 2023-12-28 2024-04-09 南京邮电大学 Combined calibration method of laser displacement sensor and contour scanner

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116079790A (en) * 2023-02-14 2023-05-09 中国工程物理研究院机械制造工艺研究所 Tool calibration device, method, terminal and medium for processing robot
CN116572255A (en) * 2023-07-10 2023-08-11 北京集度科技有限公司 Coordinate origin calibration method, calibration device and medium
CN116572255B (en) * 2023-07-10 2023-10-20 北京集度科技有限公司 Coordinate origin calibration method, calibration device and medium
CN117848218A (en) * 2023-12-28 2024-04-09 南京邮电大学 Combined calibration method of laser displacement sensor and contour scanner

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