CN115319732A - Method for rapidly correcting robot precision according to teaching points and robot - Google Patents
Method for rapidly correcting robot precision according to teaching points and robot Download PDFInfo
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- CN115319732A CN115319732A CN202110508798.0A CN202110508798A CN115319732A CN 115319732 A CN115319732 A CN 115319732A CN 202110508798 A CN202110508798 A CN 202110508798A CN 115319732 A CN115319732 A CN 115319732A
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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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
- B25J9/1692—Calibration of manipulator
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Abstract
The invention relates to a method for quickly correcting robot precision according to teaching points and a robot, wherein the method comprises the following steps: entering a teaching calibration mode after the robot is replaced, and loading a robot teaching program before the robot is replaced, wherein the teaching program stores robot coordinates of each teaching point; selecting part of teaching points as positioning points according to the teaching program, acquiring robot coordinates of the positioning points in the teaching program and defining the robot coordinates as original robot coordinates; teaching the robot to each positioning point, re-acquiring the coordinates of the robot and defining the coordinates as new robot coordinates; calibrating the robot according to the new robot coordinate and the original robot coordinate to obtain parameter compensation information of the robot; and correcting the robot parameters according to the parameter compensation information and controlling the robot to operate according to the parameters. The beneficial effects of the invention are: the calibration method is simple and easy to implement, and can effectively solve the problem of relative precision improvement of the robot after the robot is replaced.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a method for quickly correcting robot precision according to teaching points and a robot.
Background
An industrial robot is a type of robot widely used in an industrial environment, the industrial robot can traverse teaching points according to a preset teaching program to perform work according to an expected running track, and the work precision of the industrial robot is one of important standards for measuring the work performance of the industrial robot.
In a robot that performs an operation based on a teaching program, if necessary, a part or the whole of the robot may be replaced, or the robot may be reassembled, or a working position of the robot may be changed. In order to ensure that the precision of the robot after the robot is replaced is not affected by the replacement action, the robot is usually calibrated again by using a laser tracker in industry, and the robot is controlled to teach and then work based on the robot parameters which are calibrated again.
Therefore, it is necessary to design a method for quickly correcting the accuracy of a robot according to teaching points, which is convenient to use and low in cost, and a robot.
Disclosure of Invention
In view of the above, the present invention provides a method for quickly calibrating robot precision according to teach points, which is convenient to use and low in cost, and a robot, so as to solve the problems of difficult realization and high cost of the conventional method for calibrating robot precision when a robot is replaced.
The invention can adopt the following technical scheme: a method for rapidly correcting robot accuracy based on teach points, the robot traversing the teach points according to a preset teach program to perform work, defining a partial replacement, partial or total reassembly of the robot, or a transfer of the robot as a robot replacement, the method comprising: entering a teaching calibration mode after the robot is replaced, and loading a robot teaching program before the robot is replaced, wherein the teaching program stores robot coordinates of each teaching point; selecting part of teaching points as positioning points according to the teaching program, acquiring robot coordinates of the positioning points in the teaching program and defining the robot coordinates as original robot coordinates; teaching the robot to each positioning point, re-acquiring the coordinates of the robot and defining the coordinates as new robot coordinates; calibrating the robot according to the new robot coordinate and the original robot coordinate to obtain parameter compensation information of the robot; and correcting the parameters of the robot according to the parameter compensation information and controlling the robot to operate according to the parameters.
Further, the parameter compensation information includes kinematic parameter compensation information, and the correcting the robot parameter according to the parameter compensation information and controlling the robot to operate according to the corrected robot parameter includes: and updating the robot kinematics model according to the parameter compensation information, and controlling the robot to work based on the updated kinematics model.
Further, the robot coordinates comprise cartesian poses and joint angles of the robot, and the acquiring of the parameter compensation information of the robot comprises acquiring geometric parameter errors of the robot.
Further, the machine parameters include: robot DH parameters, robot reduction ratio and/or coupling ratio, robot mounting null position and robot tool parameters at least in part.
The invention can also adopt the following technical scheme: a robot for traversing teach points according to a preset teach program to perform work, defining a partial replacement, partial or total reassembly of the robot, or a transfer of the robot for a robot replacement, the robot comprising: the loading module is used for loading a robot teaching program before the robot is replaced, and the teaching program stores the robot coordinates of each teaching point; the sampling module is used for selecting part of teaching points as positioning points according to the teaching program, acquiring the robot coordinates of each positioning point in the teaching program and defining the robot coordinates as original robot coordinates; the teaching module is used for teaching the robot to each positioning point, re-acquiring the coordinates of the robot and defining the coordinates as new robot coordinates; and the calibration module calibrates the robot according to the new robot coordinate and the original robot coordinate system to acquire parameter compensation information of the robot. And the compensation module corrects the robot parameters according to the parameter compensation information and controls the robot to operate according to the parameters.
Furthermore, the parameter compensation information comprises kinematic parameter compensation information, and the calibration module is used for updating a robot kinematic model according to the parameter compensation information and controlling the robot to work based on the updated kinematic model.
Further, the robot coordinates comprise cartesian poses and joint angles of the robot, and the acquiring of the parameter compensation information of the robot comprises acquiring geometric parameter errors of the robot.
Further, the machine parameter number includes: robot DH parameters, robot reduction ratio and/or coupling ratio, robot mounting null position and robot tool parameters at least in part.
Compared with the prior art, the specific implementation mode of the invention has the beneficial effects that: the method has the advantages that part of positioning points are selected by using a teaching program before the robot is replaced, the parameter compensation information of the robot is determined by using different robot coordinates at the positioning points, and the robot parameters are compensated according to the parameter compensation information, so that the problem that the robot needs to be calibrated complicatedly due to the fact that the parameters of the robot change under the conditions of carrying, maintenance and the like is solved, the robot parameter compensation is easy to achieve, the cost is low, and the use convenience of the robot is improved.
Drawings
The above objects, technical solutions and advantages of the present invention can be achieved by the following drawings:
FIG. 1 is a schematic diagram of a method for correcting robot accuracy according to an embodiment of the present invention
FIG. 2 is a schematic diagram of a method for calibrating robot precision according to another embodiment of the present invention
FIG. 3 is a schematic diagram of a method for updating a kinematic model of a robot according to an embodiment of the present invention
FIG. 4 is a block diagram of a robot in accordance with one embodiment of the present invention
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The invention provides a method for quickly correcting the precision of a robot according to teaching points, the robot traverses the teaching points according to a preset teaching program to execute work, and partial replacement, partial or total reassembling or robot moving to robot replacement are defined, the method is a method for correcting the precision of the robot when the robot replacement occurs, and the method is shown in figure 1 and comprises the following steps: s1, entering a teaching calibration mode after the robot is replaced, and loading a robot teaching program before the robot is replaced, wherein the teaching program stores robot coordinates of each teaching point. The teaching program before robot replacement includes: a teaching program executed by the robot before the robot replacement occurs, for example, part of the parts of the robot is replaced, the robot performs work according to the teaching program before the robot part replacement occurs, and after the robot part replacement occurs, a new robot loads the teaching program of the robot when the part is not replaced, the teaching program stores robot coordinates of each teaching point before the robot replacement occurs; or, an old robot is replaced by a new robot to execute work, after the replacement is finished, the new robot loads the teaching program of the old robot, and the robot precision is corrected according to the method provided by the method, so that the new robot can keep the consistent moving track with the old robot, and the relative precision of the robot is improved. The method comprises the following steps: s2, selecting part of teaching points as positioning points according to the teaching program, obtaining robot coordinates of each positioning point in the teaching program and defining the robot coordinates as original robot coordinates, namely the original robot coordinates are robot coordinates corresponding to each positioning point in the teaching program of the robot before robot replacement occurs, namely the positioning points are part of the teaching points of the teaching program, and when the positioning points are selected, preferably, the positioning points are distributed in a scattered manner so as to obtain relative precision errors of the robot caused by the occurrence of robot replacement from the robot coordinates corresponding to the positioning points distributed in a scattered manner at different positions; and according to the selected positioning points, teaching the robot to the positioning points aiming at the new robot, repositioning the robot coordinates and defining the robot coordinates as new robot coordinates, namely repositioning to obtain the robot coordinates of the current robot at the positioning points, and defining the robot coordinates obtained here as new robot coordinates. That is, for the robot coordinates of the robot at the positioning points, the robot coordinates at the positioning points before the robot is replaced and the robot coordinates at the positioning points after the robot is replaced are respectively obtained, wherein the original robot coordinates are obtained according to the robot teaching program before the robot is replaced, and the new robot coordinates are obtained by teaching the robot to the positioning points and repositioning the robot after the robot is replaced. Specifically, the robot coordinates include cartesian poses and joint angles of the robot. And S4, calibrating the robot according to the new robot coordinate and the original robot coordinate, and acquiring parameter compensation information of the robot. The method comprises the following steps of firstly, calculating the coordinate of a robot teaching program positioning point, then, calculating the coordinate of a robot, and finally, calculating the coordinate of a robot according to the calculated coordinate of the robot teaching program positioning point and the coordinate of the robot. And further executing S5, correcting the robot parameters according to the parameter compensation information and controlling the robot to operate according to the parameters. By acquiring the parameter compensation information, the relative error between the robot parameters before and after the robot is replaced can be known, and the robot parameters are corrected through the parameter compensation information, so that the relative error between the robot parameters after the robot is replaced and the robot parameters before the robot is replaced can be reduced or even avoided, the relative accuracy is better before and after the robot is replaced, the robot after the robot is replaced is corrected the robot parameters, the running accuracy is as consistent as possible with the robot before the robot is replaced, the problem of robot accuracy reduction caused by the robot replacement can be ignored as much as possible, and the traditional complicated calibration process is also avoided. It should be pointed out that in the scheme, the robot is calibrated through different robot coordinates running to teaching points before and after the robot is replaced, the final ideal effect is that the precision of the robot after the robot is replaced is consistent with that of the robot before the robot is replaced after calibration and compensation, the traditional mode of using the laser tracker for calibration aims at improving the absolute precision of the robot, the robot in the scheme is calibrated based on the robot before the robot is replaced, the absolute precision is guaranteed, and the robot with better corrected precision can be quickly obtained by using the method in the scheme. The method of the embodiment can avoid complicated and high-cost correction work on the robot, and is easy to realize, low in cost and quick in calibration.
Further, the robot parameter is a summary of key parameters for controlling the operation of the robot, the robot parameter is used to influence the performance and the limit of the operation of the robot, for example, the number of robot parameters generally includes the degree of freedom, the working load, the working accuracy, the driving mode, the working space, the DH parameter, the reduction ratio, etc., and the performance and the accuracy of the robot may be different based on different settings of the robot parameter, for example, in this embodiment, the number of robot parameters mainly influences the motion performance and the accuracy of the robot, and the robot performs work according to the setting of the robot parameter, preferably, the robot parameter is a preset parameter, for example, usually determined by software and hardware of the robot, but the robot parameter may change under certain conditions, so the correction of the robot parameter can ensure that the robot always operates in a better performance environment.
In one embodiment of the present invention, it is understood that the robot before the robot replacement occurs and the robot after the robot replacement occurs are preferably the same type of robot, for example, both six-axis robots, and the robot types before and after the robot replacement occur are identical, which provides a basis for ensuring a consistent movement trajectory according to a teaching program. It can be appreciated that when the robot is only partially replaced, the robot before the robot replacement occurs is substantially the same robot as the robot after the robot replacement occurs.
According to the method provided by the invention, part of teaching points are selected as positioning points according to a teaching program, and parameter compensation information is obtained through different robot coordinates at the teaching points before and after the robot is replaced to correct robot parameters, wherein when the positioning points are selected according to the teaching program, the teaching program comprises a plurality of teaching points, part of the teaching points are selected as the positioning points, and the number of the selected positioning points is determined based on the number of parameters to be solved by the robot. For example, when the DH parameter and the reduction ratio of the robot are corrected, at least 5 parameters are required for each joint, and the DH parameter itself includes 4 parameters, that is, for each joint, the number of required positioning points needs to be increased by 5. The selection of different positioning points also affects the content of parameter compensation information acquired when the robot is calibrated. Preferably, the number of the positioning points is not less than 5 times of the number of the joints of the multi-joint robot, so that the performance of parameter compensation of the robot is ensured. Based on the selection of the number of the positioning points, the parameter correction requirement of the robot can be met. Optionally, for the selection of the positioning points, the positioning points may be automatically selected by the robot on the basis of the determined total number, the robot coordinates of the position are stored when the robot is taught to pass through each positioning point, or for the selection of the positioning points, the robot provides user options through a demonstrator, a user may select the positioning points according to the options provided by the robot, the selection of the positioning points is not the limitation of the present invention, and on the basis of ensuring the number of the positioning points, the positioning points may be determined in various ways.
In one embodiment, referring to fig. 2, after acquiring the parameter compensation information, correcting the robot parameter according to the parameter compensation information and controlling the robot accordingly includes: and S51, updating the robot kinematics model according to the parameter compensation information, and controlling the robot to work based on the updated kinematics model. Generally speaking, the kinematics model of the robot is a preset model, in this embodiment, the kinematics model is updated through the acquired parameter compensation information, and then the robot performs expansion work based on the updated kinematics model, so that the effect of compensating the number of robot parameters can be achieved. Specifically, referring to fig. 3, setting the robot kinematic model to be X = f (g), and setting the parameter compensation information to be Δ g, wherein updating the robot kinematic model according to the parameter compensation information in S51 includes: s511, substituting the parameter compensation information Δ g into the kinematic model X = f (g); s512, updating the robot kinematic model X = f (g + delta g); s513, the robot is controlled to operate based on the updated kinematic model X = f (g + Δ g). And if the original kinematic model of the robot is f (g), the updated kinematic model of the robot is f (g + delta g), and based on the updated kinematic model of the robot, robot parameters, such as robot DH parameters, reduction ratio and the like, are corrected, so that the relative running precision of the robot is ensured. For example, by correcting the parameters of the robot, the robot can ensure that the robot keeps a motion locus that is consistent with the motion locus of the robot before the robot is replaced after the robot is replaced, or the same end precision and the like. The processing method can reduce or even eliminate the problem of robot precision change caused by robot replacement, so that the relative precision of the robot before and after the robot replacement is better, and the influence of the robot replacement on the robot execution work can be almost ignored for the operation of the robot. In another embodiment of the present invention, the robot includes a joint and a link, the robot end is connected with a tool to perform work, the robot number includes: the robot DH parameter, robot speed reduction ratio and/or coupling ratio, the robot installs zero-bit, robot utensil parameter at least one, the robot compensates at least some in the above-mentioned robot parameter through parameter compensation information to reduce or even eliminate because take place the robot error before the change that the robot changes and lead to, make the precision of the robot after the robot changes and obtain guaranteeing, can keep unanimous with the performance before the robot changes.
Based on the correction of the robot parameters, the robot after the robot replacement can keep the precision relatively consistent with that before the robot replacement, and the robot can automatically correct errors possibly existing due to the robot replacement in subsequent execution work based on the updated robot parameter operation.
The beneficial effects of the above preferred embodiment are: under the condition that the robot parameter deviates due to the fact that the robot is replaced, the positioning point is selected according to the teaching point based on the teaching program, the coordinates of different robots at the same position before and after the robot is replaced are calculated to obtain parameter compensation information, the robot parameter is compensated according to the parameter compensation information, the relative error of the robot caused by the replacement behavior can be obtained after the robot is replaced, and the robot parameter is automatically compensated, so that a complex calibration process is avoided, the method is easy to achieve, low in cost and convenient to use of the robot.
The present invention also provides a robot for traversing teach points according to a preset teach program to perform work, and defining a partial replacement, a partial or total reassembly of the robot, or a transfer of the robot as a robot replacement, where, referring to fig. 4, the robot 100 includes: the loading module 10 is used for loading a robot teaching program before robot replacement occurs, and the teaching program stores robot coordinates of each teaching point; the sampling module 20 selects part of the teaching points as positioning points according to the teaching program, acquires coordinates of each positioning point in the teaching program and defines the coordinates as original robot coordinates; the teaching module 30 is used for teaching the robot to each positioning point, re-acquiring the robot coordinates and defining the robot coordinates as new robot coordinates; the calibration module 40 is used for acquiring parameter compensation information of the robot according to the difference value of the original robot coordinate and the new robot coordinate; the compensation module 50: and correcting the robot parameters according to the parameter compensation information and controlling the robot to operate according to the parameters. The working content executed by each module has consistency with the content of each method described above, and is not described herein again.
In an embodiment of the present invention, the calibration module is configured to update a robot kinematic model according to the parameter compensation information, and control the robot to work based on the updated kinematic model. The specific implementation content is consistent with the foregoing, and is not described herein again.
Further, the robot coordinates include cartesian pose, joint angle and other information of the robot, and the acquiring of the parameter compensation information of the robot includes acquiring geometric parameter errors of the robot.
In an embodiment of the present invention, the robot is a multi-joint robot, the number of joints of the robot determines the degree of freedom of the robot, and the number of positioning points selected by the sampling module 20 is not less than 5 times of the number of joints of the multi-joint robot, so that parameter compensation information can be obtained according to a coordinate difference of the robot at the positioning points before and after the robot is replaced. Specifically, the robot comprises a joint and a connecting rod, the tail end of the robot is connected with a tool to execute work, and the robot parameters comprise at least one of robot DH parameters, robot reduction ratio and/or coupling ratio, robot installation zero position and robot tool parameters. According to the compensation of at least part of the robot parameters, the relative precision of the robot before and after the robot is replaced is better, the robot can be basically consistent with the robot before the robot is replaced, and the influence on the precision of the robot execution work caused by the robot replacement is avoided.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. A method for rapidly correcting the accuracy of a robot according to teach points, the robot traversing the teach points according to a preset teach program to perform work, defining a partial replacement, partial or total reassembly of the robot, or a transfer of the robot for robot replacement, the method comprising:
entering a teaching calibration mode after the robot is replaced, and loading a robot teaching program before the robot is replaced, wherein the teaching program stores robot coordinates of each teaching point;
selecting part of the teaching points as positioning points according to the teaching program, acquiring the robot coordinates of each positioning point in the teaching program and defining the coordinates as the original robot coordinates;
teaching the robot to each positioning point, re-acquiring the coordinates of the robot and defining the coordinates as new coordinates of the robot;
calibrating the robot according to the new robot coordinate and the original robot coordinate to obtain parameter compensation information of the robot;
and correcting the robot parameters according to the parameter compensation information and controlling the robot to operate according to the parameters.
2. The method of claim 1, wherein the parameter compensation information includes kinematic parameter compensation information, and wherein correcting robot parameters based on the parameter compensation information and controlling robot operation based thereon comprises:
and updating the robot kinematics model according to the parameter compensation information, and controlling the robot to work based on the updated kinematics model.
3. The method of claim 1, wherein the robot coordinates include cartesian pose and joint angles of the robot, and wherein acquiring the parameter compensation information of the robot includes acquiring geometric parameter errors of the robot.
4. The method of claim 1, wherein the machine parameter number comprises: robot DH parameters, robot reduction ratio and/or coupling ratio, robot mounting null position and robot tool parameters at least in part.
5. A robot for traversing teach points according to a preset teach program to perform work, defining a partial replacement, partial or total reassembly of the robot, or a transfer of the robot for a robot replacement, the robot comprising:
the loading module is used for loading a robot teaching program before the robot is replaced, and the teaching program stores the robot coordinates of each teaching point;
the sampling module is used for selecting part of teaching points as positioning points according to the teaching program, acquiring the robot coordinates of each positioning point in the teaching program and defining the robot coordinates as original robot coordinates;
the teaching module is used for teaching the robot to each positioning point, re-acquiring the coordinates of the robot and defining the coordinates as new robot coordinates;
the calibration module calibrates the robot according to the new robot coordinate and the original robot coordinate system to acquire parameter compensation information of the robot;
and the compensation module is used for correcting the robot parameters according to the parameter compensation information and controlling the robot to operate according to the parameters.
6. The robot of claim 5, wherein the parameter compensation information includes kinematic parameter compensation information, and the calibration module is configured to update a kinematic model of the robot according to the parameter compensation information, and control the robot to operate based on the updated kinematic model.
7. The robot of claim 5, wherein the robot coordinates include Cartesian poses and joint angles of the robot, and wherein the acquiring parameter compensation information of the robot includes acquiring geometric parameter errors of the robot.
8. The robot of claim 5, wherein the robot parameters comprise: robot DH parameters, robot reduction ratio and/or coupling ratio, robot mounting null position and robot tool parameters at least in part.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116619395A (en) * | 2023-07-26 | 2023-08-22 | 深圳优艾智合机器人科技有限公司 | Control method of mechanical arm, mobile robot and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116619395A (en) * | 2023-07-26 | 2023-08-22 | 深圳优艾智合机器人科技有限公司 | Control method of mechanical arm, mobile robot and storage medium |
| CN116619395B (en) * | 2023-07-26 | 2023-12-22 | 深圳优艾智合机器人科技有限公司 | Control method of mechanical arm, mobile robot and storage medium |
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