CN115609586B - Robot high-precision assembly method based on grabbing pose constraint - Google Patents
Robot high-precision assembly method based on grabbing pose constraint Download PDFInfo
- Publication number
- CN115609586B CN115609586B CN202211290186.XA CN202211290186A CN115609586B CN 115609586 B CN115609586 B CN 115609586B CN 202211290186 A CN202211290186 A CN 202211290186A CN 115609586 B CN115609586 B CN 115609586B
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- robot
- matrix
- workpiece
- robot base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 49
- 239000011159 matrix material Substances 0.000 claims abstract description 148
- 238000006243 chemical reaction Methods 0.000 claims abstract description 67
- 238000013519 translation Methods 0.000 claims abstract description 41
- 230000009466 transformation Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 abstract description 10
- 230000009471 action Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- 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
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- 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
- B25J9/1697—Vision controlled systems
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of robot assembly, and discloses a robot high-precision assembly method based on grabbing pose constraint, which comprises the following steps: according to the first workpiece coordinate system of the assembly Kong Jianli on the reference workpiece, a conversion matrix from the first workpiece coordinate system to the robot base coordinate system is obtained; setting a grabbing calibration position to obtain a reference rotation matrix and a reference translation matrix; during formal grabbing and assembling, a second workpiece coordinate system and a third workpiece coordinate system are established, a matching relation between a rotating matrix from the robot tail end coordinate system to the robot base coordinate system and a reference rotating matrix is obtained, and meanwhile, a matching relation between a translation matrix from the robot tail end coordinate system to the robot base coordinate system, a translation matrix from the second workpiece coordinate system or the third workpiece coordinate system to the robot base coordinate system and the reference translation matrix is obtained, so that accurate grabbing and assembling are realized, and the precision of the robot in the grabbing and assembling process is improved.
Description
Technical Field
The invention belongs to the technical field of robot assembly, and particularly relates to a high-precision robot assembly method based on grabbing pose constraint.
Background
Currently, industrial robots are widely used in the fields of 3C manufacturing, chemical industry, food, aerospace, and the like. The industrial robot has the characteristics of high load and high flexibility, the teaching and offline programming mode is generally adopted in the traditional robot carrying and grabbing application to be a preset fixed track of the robot, the teaching process of the mode is complex, if a carrying object or other environments are changed, the robot needs to be reprogrammed, and the efficiency and the flexibility level of a production and manufacturing link are greatly reduced.
With the rapid development of computer vision and image processing technology, applications combining machine vision with robots are being promoted, visual sensors provide the ability of robots to perceive external environments, and common applications include vision measurement, guidance, and detection. For the application of robot vision grabbing, the final grabbing unit is a clamping jaw, and the clamping jaw and the tail end of the robot have deviation in installation, so that the relative relation between the clamping jaw of the robot and the tail end of the robot flange, namely TCP calibration, needs to be calibrated for completing the grabbing task. The common method is to place a calibration needle at the tail end of the clamping jaw and establish a robot tool coordinate system by a four-point method, but the precision of the method depends on manual teaching alignment precision and is not suitable for the high-precision assembly requirement. It is therefore desirable to design a high precision assembly method.
Disclosure of Invention
Aiming at the defects or improvement demands of the prior art, the invention provides a high-precision robot assembly method based on grabbing pose constraint, which improves the precision of the robot during grabbing and assembly processes and realizes precise assembly.
In order to achieve the above object, according to one aspect of the present invention, there is provided a robot high-precision assembling method based on gripping pose constraint, wherein a robot grips a workpiece from a tooling platform and assembles the workpiece on an assembling platform, the method comprising:
S1: placing a reference workpiece on a tooling platform, setting a grabbing position of the robot in contact with the reference workpiece as a grabbing calibration position, and obtaining a conversion matrix from a robot tail end coordinate system to a robot base coordinate system at the moment; s2: according to at least two assembly Kong Jianli first workpiece coordinate systems on a reference workpiece on a tooling platform, measuring corresponding assembly holes to obtain a conversion matrix from the first workpiece coordinate system to a robot base coordinate system; s3: obtaining a reference rotation matrix and a reference translation matrix from the first workpiece coordinate system to the robot end coordinate system by using a conversion matrix from the first workpiece coordinate system to the robot base coordinate system and a conversion matrix from the robot end coordinate system to the robot base coordinate system; s4: during formal grabbing, according to a second workpiece coordinate system of the assembly Kong Jianli on the workpiece to be grabbed, a conversion matrix from the second workpiece coordinate system to a robot base coordinate system is obtained; s5: the conversion matrix from the robot end coordinate system to the robot base coordinate system during grabbing is represented by adopting the conversion matrix from the second coordinate system to the base coordinate system and the conversion matrix from the first workpiece coordinate system to the robot end coordinate system, so that the matching relation between the rotation matrix from the robot end coordinate system to the robot base coordinate system during grabbing, the rotation matrix from the second workpiece coordinate system to the robot base coordinate system during grabbing and the reference rotation matrix is obtained, and meanwhile, the matching relation between the translation matrix from the robot end coordinate system to the robot base coordinate system during grabbing, the translation matrix from the second workpiece coordinate system to the robot base coordinate system during grabbing and the reference translation matrix is obtained, and accurate grabbing is further achieved; s6: when the robot is assembled, a transformation matrix from the third workpiece coordinate system to the robot base coordinate system is obtained according to the third workpiece coordinate system assembled Kong Jianli on the assembly platform; s7: the conversion matrix from the robot end coordinate system to the robot base coordinate system during assembly is represented by adopting the conversion matrix from the third coordinate system to the base coordinate system and the conversion matrix from the first workpiece coordinate system to the robot end coordinate system, so that the matching relationship between the rotation matrix from the robot end coordinate system to the robot base coordinate system during assembly and the rotation matrix from the third workpiece coordinate system to the robot base coordinate system during assembly and the reference rotation matrix is obtained, and meanwhile, the matching relationship between the translation matrix from the robot end coordinate system to the robot base coordinate system during assembly and the translation matrix from the third workpiece coordinate system to the robot base coordinate system during assembly and the reference translation matrix is obtained, and further accurate assembly is realized.
Preferably, the step of obtaining the coordinates of the assembly hole in the robot base coordinate system by using a monocular camera to obtain a transformation matrix from the first coordinate system or the second coordinate system or the third coordinate system to the robot base coordinate system includes: calibrating a robot base coordinate system by using a binocular camera to obtain a conversion relationship between the robot base coordinate system and the binocular camera coordinate system; measuring pixel coordinates of a target by using a monocular camera; measuring the position coordinates of the target by adopting a binocular camera, and converting the position coordinates into a robot base coordinate system based on the conversion relation; obtaining a conversion matrix of the pixel coordinates of the target and the position coordinates under the robot base coordinate system based on the two; and obtaining the coordinates of the assembly holes under the monocular camera under the robot base coordinate system based on the transformation matrix.
Preferably, the conversion matrix is obtained by using a least square method.
Preferably, the coordinate representation mode of the assembly hole under the monocular camera under the robot base coordinate system based on the conversion matrix is as follows:
[Xcircle,Ycircle]＝cpM+[Xobs,Yobs]-[Xcali,Ycali]
Wherein [ X circle,Ycircle ] is the position coordinate of the assembly hole under the monocular camera under the robot base coordinate system, c p is the pixel coordinate of the assembly hole center measured by the monocular camera, M is a conversion matrix, [ X obs,Tobs ] is the position coordinate of the robot when the monocular camera measures the assembly hole, and [ X cali,Ycali ] is the position coordinate of the robot when the monocular camera shoots a target.
Preferably, the calibrating the base coordinates of the robot by using the binocular camera, and obtaining the conversion relationship between the base coordinates of the robot and the coordinate system of the binocular camera specifically includes: step 1: the binocular camera performs self-calibration; step 2: pasting targets at the tail end of the robot, changing the pose of the robot, measuring 2n groups of target point coordinates, and recording the corresponding pose of the robot, wherein n is more than or equal to 12; step 3: and importing the robot pose data into a hand-eye calibration program package to obtain the conversion relation.
Preferably, in step S3, the reference rotation matrix from the first object coordinate system to the robot end coordinate systemThe method comprises the following steps:
Wherein, The rotation matrix from the robot end coordinate system to the robot base coordinate system is given by a built-in demonstrator or program of the robot; /(I)Wherein/> P1 and P2 are the coordinates of the mounting holes.
Preferably, in step S3, the reference translation matrix from the first object coordinate system to the robot end coordinate systemThe method comprises the following steps:
Wherein, And/>The rotation matrix and the translation matrix from the robot terminal coordinate system to the robot base coordinate system are given by a built-in demonstrator or a program of the robot; /(I)The translation matrix is a first object coordinate system to a robot base coordinate system, and is the coordinate of the origin of the first object coordinate system under the robot base coordinate system.
Preferably, the first workpiece coordinate system, the second workpiece coordinate system and the third workpiece coordinate system are established by adopting the assembly holes, and the reference assembly holes adopted in the establishment process are consistent with the reference direction rules determined by the reference assembly holes.
Preferably, the mounting surface of the robot base is parallel to the tooling platform and the assembly platform.
In general, compared with the prior art, the robot high-precision assembly method based on the grabbing pose constraint mainly has the following beneficial effects:
1. According to the principle that the conversion relation between the position of the assembly hole on the workpiece and the tail end of the robot is unchanged, the reference rotation matrix and the reference translation matrix are established, the rotation matrix and the translation matrix of the robot during grabbing and assembly time are established for the intermediate conversion relation, accurate grabbing and assembly are realized, the calibration cost is low, the operation is simple, and the method is suitable for various high-precision assembly scenes.
2. The purpose of accurate positioning can be achieved only by the monocular camera by matching the binocular camera with the monocular camera, and subsequent calculation is simpler and more convenient.
3. The reference rotation matrix and the reference translation matrix can be obtained by the rotation matrix and the translation matrix from the terminal coordinate system to the robot base coordinate, and the method is simple and convenient.
Drawings
FIG. 1 is a schematic view of calibration positions of a robot assembly process of the present application;
FIG. 2 is a schematic illustration of a robotic assembly gripping process of the present application;
fig. 3 is a schematic diagram of an assembly process of the robot assembly process of the present application.
Fig. 4 is a schematic diagram of the process of establishing the first object coordinate system.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The invention provides a robot high-precision assembly method based on grabbing pose constraint, which mainly comprises a robot 1, a workpiece 2 to be grabbed, a tooling platform 5 and an assembly platform 6, wherein a clamping jaw 3 and a monocular camera 4 are arranged at the tail end of the robot, the robot adopts the clamping jaw 3 to grab the workpiece to be grabbed on the tooling platform 5 and then installs the workpiece on the assembly platform 6, and the method mainly comprises the following steps S1-S7.
S1: and placing a reference workpiece on the tooling platform, setting the contact grabbing position of the robot and the reference workpiece as a grabbing calibration position, and obtaining a conversion matrix from the tail end coordinate system of the robot to the base coordinate system of the robot at the moment.
When the robot grabs a workpiece, the contact end face direction of the clamping jaw and the reference workpiece is enabled to be compliant with the reference workpiece, and a conversion matrix from a robot tail end coordinate system { E } to a robot base coordinate system at the moment is recordedSetting the position as a grabbing calibration position,/>
S2: and measuring corresponding assembly holes on the tooling platform according to at least two first workpiece coordinate systems assembled Kong Jianli on the reference workpiece to obtain a conversion matrix from the first workpiece coordinate system to the robot base coordinate system.
As shown in FIG. 1, four assembly holes in rectangular distribution are formed in a reference workpiece, a local hand hole coordinate system is calibrated first, the reference workpiece is placed at any position on a tooling platform, and the tooling platform is parallel to the plane of a robot base.
One of the assembly holes is used as a coordinate origin, a connecting line of the assembly hole and the other assembly hole is used as a coordinate axis X, a Z axis is vertical upwards, a Y axis is vertical to the X axis and the Z axis, a first workpiece coordinate system { W } is further established, and a conversion matrix from the first coordinate system { W } to a robot base coordinate system { B } is further established
For a rotation matrix of the first object coordinate system to the robot base coordinate system,/>A translation matrix of the first object coordinate system to the robot base coordinate system.
S3: and obtaining a reference rotation matrix and a reference translation matrix from the first workpiece coordinate system to the robot end coordinate system from the conversion matrix from the first workpiece coordinate system to the robot base coordinate system and the conversion matrix from the robot end coordinate system to the robot base coordinate system.
As a result of:
Thereby equaling the corresponding terms to obtain a reference rotation matrix And a reference translation matrixWherein/>The rotation matrix from the robot end coordinate system to the robot base coordinate system is given by a built-in demonstrator or program of the robot; /(I)Wherein, as shown in figure 4,P1 and P2 are assemblies Kong Zuobiao,/>And/>The rotation matrix and the translation matrix from the robot terminal coordinate system to the robot base coordinate system are given by a built-in demonstrator or a program of the robot; /(I)The translation matrix is a first object coordinate system to a robot base coordinate system, and is the coordinate of the origin of the first object coordinate system under the robot base coordinate system.
In a further preferred scheme, a monocular camera is adopted to obtain the coordinates of the assembly hole under a robot base coordinate system, and the method specifically comprises the following steps:
Calibrating a robot base coordinate by adopting a binocular camera to obtain a conversion relation between the robot base coordinate system and the binocular camera coordinate system Specifically, the method comprises the following steps 1 to 3.
Step 1: the binocular camera performs self-calibration;
Step 2: pasting targets at the tail end of the robot, changing the pose of the robot, measuring 2n groups of target point coordinates, and recording the corresponding pose of the robot, wherein n is more than or equal to 12;
Step 3: and importing the robot pose data into a hand-eye calibration program package to obtain the conversion relation. The hand-eye calibration program package can adopt the existing research technology, such as a Shiu calibration method, a Tsai two-step calibration method and a Frank C.park calibration method.
Measuring pixel coordinates of a target by using a monocular camera, and representing by using a point set { cp1 cp2 … cpn };
Measuring the position coordinates of the target by adopting a binocular camera and based on a conversion relation The position coordinates are converted into a robot base coordinate system and are represented by a point set { Bp1 Bp2 … Bpn }.
And step four, obtaining a conversion matrix of the pixel coordinates of the target and the position coordinates under the robot base coordinate system.
The relationship between the target-based pixel coordinates and the position coordinates in the robot-based coordinate system can be expressed as follows:
cp1 cp2…cpn)M＝{Bp1 Bp2…Bpn}
Further adopting a least square method to calculate to obtain a conversion matrix M, wherein the method comprises the following specific steps:
Note {Cp1 Cp2…Cpn}＝A,{Bp1 Bp2…Bpn}＝b then M can be calculated by:
M＝(ATA)-1ATb。
And fifthly, obtaining the coordinates of the assembly holes under the monocular camera under the robot base coordinate system based on the transformation matrix.
The coordinate representation mode of the assembly hole under the monocular camera under the robot base coordinate system based on the transformation matrix is as follows:
[Xcircle,Ycircle]＝CpM+[Xobs,Yobs]-[Xcali,Ycali]
wherein [ X circle,Ycircle ] is the position coordinate of the assembly hole under the monocular camera under the robot base coordinate system, C p is the pixel coordinate of the assembly hole center measured by the monocular camera, M is a conversion matrix, [ X obs,Yobs ] is the position coordinate of the robot when the monocular camera measures the assembly hole, and [ X cali,Ycali ] is the position coordinate of the robot when the monocular camera shoots a target.
S4: and during formal grabbing, according to the second workpiece coordinate system of the assembly Kong Jianli on the workpiece to be grabbed, acquiring a conversion matrix from the second workpiece coordinate system to the robot base coordinate system.
During grabbing, as shown in FIG. 2, a second workpiece coordinate system is built in the same way as the first workpiece coordinate system, and a conversion matrix from the second workpiece coordinate system to the robot base coordinate system during grabbing is obtained
Wherein,For the rotation matrix from the second object coordinate system to the robot base coordinate system during grabbing,/>Is a translation matrix from the second object coordinate system to the robot base coordinate system when grabbing.
S5: the conversion matrix from the robot end coordinate system to the robot base coordinate system during grabbing is represented by adopting the conversion matrix from the second coordinate system to the base coordinate system and the conversion matrix from the first workpiece coordinate system to the robot end coordinate system, so that the matching relation between the rotation matrix from the robot end coordinate system to the robot base coordinate system during grabbing, the rotation matrix from the second workpiece coordinate system to the robot base coordinate system during grabbing and the reference rotation matrix is obtained, and meanwhile, the matching relation between the translation matrix from the robot end coordinate system to the robot base coordinate system during grabbing, the translation matrix from the second workpiece coordinate system to the robot base coordinate system during grabbing and the reference translation matrix is obtained, and accurate grabbing is further achieved.
The conversion matrix from the robot end coordinate system to the robot base coordinate system during grabbing adopts the conversion matrix from the second coordinate system to the base coordinate system, and the conversion matrix from the first workpiece coordinate system to the robot end coordinate system is expressed as follows:
for accurately gripping the workpiece, the relationship between the robot tip and the second workpiece coordinate system should be kept consistent, so the robot tip coordinate system and the robot base coordinate system should satisfy:
Converting robot into matrix The grabbing action can be completed by inputting the motion of the robot.
S6: during assembly, a transformation matrix from the third workpiece coordinate system to the robot base coordinate system is obtained according to the third workpiece coordinate system assembled Kong Jianli on the assembly platform.
After the robot grabs the workpiece to be grabbed, the robot performs the action of placing the workpiece to be assembled, as shown in fig. 3, the workpiece to be assembled is carried, the assembly holes on the assembly platform are observed by adopting a monocular camera, the assembly holes on the assembly platform are regarded as corresponding assembly holes on the workpiece, and a third workpiece coordinate system is established on the assembly platform, so that a transformation matrix from the third workpiece coordinate system to a robot base coordinate system can be obtained
Wherein,For the rotation matrix of the third object coordinate system to the robot base coordinate system,/>A translation matrix of the third object coordinate system to the robot base coordinate system.
S7: the conversion matrix from the robot end coordinate system to the robot base coordinate system during assembly is represented by adopting the conversion matrix from the third coordinate system to the base coordinate system and the conversion matrix from the first workpiece coordinate system to the robot end coordinate system, so that the matching relationship between the rotation matrix from the robot end coordinate system to the robot base coordinate system during assembly and the rotation matrix from the third workpiece coordinate system to the robot base coordinate system during assembly and the reference rotation matrix is obtained, and meanwhile, the matching relationship between the translation matrix from the robot end coordinate system to the robot base coordinate system during assembly and the translation matrix from the third workpiece coordinate system to the robot base coordinate system during assembly and the reference translation matrix is obtained, and further accurate assembly is realized.
The conversion matrix from the robot end coordinate system to the robot base coordinate system during assembly adopts the conversion matrix from the third coordinate system to the base coordinate system, and the conversion matrix from the first workpiece coordinate system to the robot end coordinate system is expressed as follows:
for accurately placing workpieces, a robot placed conversion matrix The following should be satisfied:
conversion matrix for placing robot The placing action can be completed by inputting the movement of the robot.
In the application, the first workpiece coordinate system, the second workpiece coordinate system and the third workpiece coordinate system are all established through the assembly holes, and the reference assembly holes adopted in the establishment process are consistent with the reference direction rules determined by the reference assembly holes.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The robot high-precision assembly method based on grabbing pose constraint is characterized in that a robot grabs a workpiece from a tooling platform and carries the workpiece to be assembled on the assembly platform, and the method comprises the following steps:
s1: placing a reference workpiece on a tooling platform, setting a grabbing position of the robot in contact with the reference workpiece as a grabbing calibration position, and obtaining a conversion matrix from a robot tail end coordinate system to a robot base coordinate system at the moment;
S2: according to at least two assembly Kong Jianli first workpiece coordinate systems on a reference workpiece on a tooling platform, measuring corresponding assembly holes to obtain a conversion matrix from the first workpiece coordinate system to a robot base coordinate system;
S3: obtaining a reference rotation matrix and a reference translation matrix from the first workpiece coordinate system to the robot end coordinate system by using a conversion matrix from the first workpiece coordinate system to the robot base coordinate system and a conversion matrix from the robot end coordinate system to the robot base coordinate system;
S4: during formal grabbing, according to a second workpiece coordinate system of the assembly Kong Jianli on the workpiece to be grabbed, a conversion matrix from the second workpiece coordinate system to a robot base coordinate system is obtained;
s5: the conversion matrix from the robot end coordinate system to the robot base coordinate system during grabbing is represented by adopting the conversion matrix from the second coordinate system to the base coordinate system and the conversion matrix from the first workpiece coordinate system to the robot end coordinate system, so that the matching relation between the rotation matrix from the robot end coordinate system to the robot base coordinate system during grabbing, the rotation matrix from the second workpiece coordinate system to the robot base coordinate system during grabbing and the reference rotation matrix is obtained, and meanwhile, the matching relation between the translation matrix from the robot end coordinate system to the robot base coordinate system during grabbing, the translation matrix from the second workpiece coordinate system to the robot base coordinate system during grabbing and the reference translation matrix is obtained, and accurate grabbing is further achieved;
S6: when the robot is assembled, a transformation matrix from the third workpiece coordinate system to the robot base coordinate system is obtained according to the third workpiece coordinate system assembled Kong Jianli on the assembly platform;
S7: the conversion matrix from the robot end coordinate system to the robot base coordinate system during assembly is represented by adopting the conversion matrix from the third coordinate system to the base coordinate system and the conversion matrix from the first workpiece coordinate system to the robot end coordinate system, so that the matching relationship between the rotation matrix from the robot end coordinate system to the robot base coordinate system during assembly and the rotation matrix from the third workpiece coordinate system to the robot base coordinate system during assembly and the reference rotation matrix is obtained, and meanwhile, the matching relationship between the translation matrix from the robot end coordinate system to the robot base coordinate system during assembly and the translation matrix from the third workpiece coordinate system to the robot base coordinate system during assembly and the reference translation matrix is obtained, and further accurate assembly is realized.
2. The method according to claim 1, wherein the step of obtaining the coordinates of the assembly hole in the robot-based coordinate system using the monocular camera to obtain a transformation matrix of the first coordinate system or the second coordinate system or the third coordinate system to the robot-based coordinate system comprises:
Calibrating a robot base coordinate system by using a binocular camera to obtain a conversion relationship between the robot base coordinate system and the binocular camera coordinate system;
measuring pixel coordinates of a target by using a monocular camera;
Measuring the position coordinates of the target by adopting a binocular camera, and converting the position coordinates into a robot base coordinate system based on the conversion relation;
obtaining a conversion matrix of the pixel coordinates of the target and the position coordinates under the robot base coordinate system based on the two;
And obtaining the coordinates of the assembly holes under the monocular camera under the robot base coordinate system based on the transformation matrix.
3. The method of claim 2, wherein the transformation matrix is obtained using a least squares method.
4. A method according to claim 2 or 3, characterized in that the coordinate representation of the assembly hole under the monocular camera under the robot base coordinate system is obtained based on the transformation matrix in the following manner:
[Xcircle,Ycircle]＝CpM+[Xobs,Yobs]-[Xcali,Ycali]
Wherein [ X circle,Ycircle ] is the coordinate of the assembly hole under the monocular camera under the robot base coordinate system, C p is the pixel coordinate of the assembly hole center measured by the monocular camera, M is a conversion matrix, [ X obs,Yobs ] is the position coordinate of the robot when the monocular camera measures the assembly hole, and [ X cali,Ycali ] is the position coordinate of the robot when the monocular camera shoots a target.
5. The method according to claim 2, wherein the calibrating the robot base coordinate with the binocular camera, obtaining the conversion relation between the robot base coordinate system and the binocular camera coordinate system specifically comprises:
step 1: the binocular camera performs self-calibration;
Step 2: pasting targets at the tail end of the robot, changing the pose of the robot, measuring 2n groups of target point coordinates, and recording the corresponding pose of the robot, wherein n is more than or equal to 12;
step 3: and importing the robot pose data into a hand-eye calibration program package to obtain the conversion relation.
6. The method according to claim 1, wherein in step S3, the first object coordinate system is a reference rotation matrix to a robot end coordinate systemThe method comprises the following steps:
Wherein, The rotation matrix from the robot end coordinate system to the robot base coordinate system is given by a built-in demonstrator or program of the robot; /(I)Wherein/> P1 and P2 are the coordinates of the mounting holes.
7. The method according to claim 1, wherein in step S3, the first object coordinate system is translated into a reference translation matrix of a robot end coordinate systemThe method comprises the following steps:
Wherein, And/>The rotation matrix and the translation matrix from the robot terminal coordinate system to the robot base coordinate system are given by a built-in demonstrator or a program of the robot; /(I)The translation matrix is a first object coordinate system to a robot base coordinate system, and is the coordinate of the origin of the first object coordinate system under the robot base coordinate system.
8. The method of claim 1, wherein the first, second, and third workpiece coordinate systems are established using mounting holes, and wherein a reference mounting hole used in the establishing is in regular agreement with a reference direction determined by the reference mounting hole.
9. The method of claim 1, wherein the robotic base mounting surface is parallel to the tooling platform and the mounting platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211290186.XA CN115609586B (en) | 2022-10-21 | 2022-10-21 | Robot high-precision assembly method based on grabbing pose constraint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211290186.XA CN115609586B (en) | 2022-10-21 | 2022-10-21 | Robot high-precision assembly method based on grabbing pose constraint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115609586A CN115609586A (en) | 2023-01-17 |
| CN115609586B true CN115609586B (en) | 2024-06-04 |
Family
ID=84864108
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211290186.XA Active CN115609586B (en) | 2022-10-21 | 2022-10-21 | Robot high-precision assembly method based on grabbing pose constraint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115609586B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116442225B (en) * | 2023-04-18 | 2023-11-07 | 北京思灵机器人科技有限责任公司 | Robot tail end positioning method, positioning device and electronic equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012127845A1 (en) * | 2011-03-24 | 2012-09-27 | Canon Kabushiki Kaisha | Robot control apparatus, robot control method, program, and recording medium |
| CN105014679A (en) * | 2015-08-03 | 2015-11-04 | 华中科技大学无锡研究院 | Robot hand and eye calibrating method based on scanner |
| CN107138944A (en) * | 2017-05-18 | 2017-09-08 | 哈尔滨工业大学 | The two workpiece automatic aligning methods based on spatial point error correction |
| CN108818535A (en) * | 2018-07-05 | 2018-11-16 | 杭州汉振科技有限公司 | Robot 3D vision hand and eye calibrating method |
| CN115091456A (en) * | 2022-07-01 | 2022-09-23 | 武汉理工大学 | Robot hand-eye calibration method based on matrix solution |
-
2022
- 2022-10-21 CN CN202211290186.XA patent/CN115609586B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012127845A1 (en) * | 2011-03-24 | 2012-09-27 | Canon Kabushiki Kaisha | Robot control apparatus, robot control method, program, and recording medium |
| CN105014679A (en) * | 2015-08-03 | 2015-11-04 | 华中科技大学无锡研究院 | Robot hand and eye calibrating method based on scanner |
| CN107138944A (en) * | 2017-05-18 | 2017-09-08 | 哈尔滨工业大学 | The two workpiece automatic aligning methods based on spatial point error correction |
| CN108818535A (en) * | 2018-07-05 | 2018-11-16 | 杭州汉振科技有限公司 | Robot 3D vision hand and eye calibrating method |
| CN115091456A (en) * | 2022-07-01 | 2022-09-23 | 武汉理工大学 | Robot hand-eye calibration method based on matrix solution |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115609586A (en) | 2023-01-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109483516B (en) | Mechanical arm hand-eye calibration method based on space distance and polar line constraint | |
| CN109822574B (en) | Industrial robot end six-dimensional force sensor calibration method | |
| CN110193829B (en) | Robot precision control method for coupling kinematics and rigidity parameter identification | |
| CN111660295A (en) | Industrial robot absolute precision calibration system and calibration method | |
| CN110148187B (en) | High-precision Hand-Eye calibration method and system for SCARA manipulator Eye-in-Hand | |
| CN109794963B (en) | Robot rapid positioning method facing curved surface component | |
| CN111426270B (en) | Industrial robot pose measurement target device and joint position sensitive error calibration method | |
| CN112659112A (en) | Robot eye calibration method based on line laser scanner | |
| CN109514554B (en) | Tool coordinate system rapid calibration method using robot terminal vision system | |
| CN112648934B (en) | Automatic elbow geometric form detection method | |
| CN111941425A (en) | Rapid workpiece positioning method of robot milling system based on laser tracker and binocular camera | |
| CN113211445B (en) | Robot parameter calibration method, device, equipment and storage medium | |
| CN115609586B (en) | Robot high-precision assembly method based on grabbing pose constraint | |
| CN111267143A (en) | Six-degree-of-freedom industrial series robot joint stiffness identification method and system | |
| CN112277002B (en) | Robot kinematics calibration device and calibration method based on incomplete pose information | |
| CN110962127B (en) | Auxiliary calibration device for tail end pose of mechanical arm and calibration method thereof | |
| CN115311371A (en) | Calibration method for automatic measurement and marking system of double robots | |
| CN115179323A (en) | Machine end pose measuring device based on telecentric vision constraint and precision improving method | |
| CN113799130B (en) | Robot pose calibration method in man-machine cooperation assembly | |
| CN113211436B (en) | Six-degree-of-freedom series robot error calibration method based on genetic algorithm | |
| Qi et al. | Hand-eye calibration method of gantry robot based on 3D vision sensor | |
| CN113878586B (en) | Robot kinematics calibration device, method and system | |
| CN112743524B (en) | Target device, and pose detection system and method based on binocular vision measurement | |
| CN112123329B (en) | Robot 3D vision hand-eye calibration method | |
| CN117601137B (en) | Multi-robot joint control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |