CN115816448A - Mechanical arm calibration method, device, equipment and medium based on optical position indicator - Google Patents
Mechanical arm calibration method, device, equipment and medium based on optical position indicator Download PDFInfo
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Abstract
The application discloses a mechanical arm calibration method, device, equipment and medium based on an optical position indicator, and belongs to the technical field of robots. The method comprises the following steps: controlling the mechanical arm to move to a preset number of spatial positions, and recording real-time pose data of the mechanical arm at each spatial position through an optical position finder; acquiring theoretical pose data of the mechanical arm at each spatial position; calculating a kinematic deviation value of the mechanical arm according to the actual pose data and the theoretical pose data; and performing kinematic parameter calibration on the mechanical arm according to the kinematic deviation value and the theoretical pose. According to the technical scheme, the positioning tool at the tail end of the mechanical arm is identified through the optical positioning instrument, the kinematic parameters of the mechanical arm are indirectly acquired by combining the positioning tool with the position relation between the tail end of the mechanical arm and the like, the method is less interfered by external factors, so that the calibration precision and the calibration result of the mechanical arm are higher in stability, the operation in the use and calibration process is simple, and the calibration efficiency is higher.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a mechanical arm calibration method, device, equipment and medium based on an optical position indicator.
Background
In the operation navigation process, the positioning precision of the mechanical arm is very important. The mechanical arm positioning precision comprises repeated positioning precision and absolute positioning precision. Repeated positioning accuracy generally has higher accuracy, but the absolute positioning accuracy has the problem.
The method for improving the absolute positioning accuracy is to calibrate a mechanical arm by using a laser tracker, firstly, sequentially control all axes of the robot to perform single-axis rotation, and acquire a target ball center coordinate point group of which different rotation axes rotate to different angles through the laser tracker. And then respectively fitting a locus circle according to the acquired coordinate points of the sphere centers of the target balls of different rotating shafts to obtain a calibration axis equation of the corresponding rotating shaft and a common perpendicular line equation of any adjacent two shafts in each shaft, and calculating D-H parameters of the robot to calibrate the robot. The D-H parameter is typically expressed using four parameters: x-axis rotation, generally denoted by α, the angle by which the axis of one joint rotates about their common normal with respect to the axis of the other joint; x-axis translation, generally denoted with a, i.e. the common normal length between the axes of the two joints (rotation axis of the rotary joint, translation axis of the translation joint); z-axis rotation, generally expressed in terms of θ, the angle of rotation about this joint axis of the common normal of one joint to the next and its common normal to the previous joint; the Z-axis translation, generally denoted by d, is the distance along this joint axis of the common normal of one joint to the next and its common normal to the previous joint. Wherein the X-axis and the Z-axis are from a three-dimensional coordinate system, which is a rectangular spatial coordinate system established for describing the position of an object in a three-dimensional space.
However, in the current calibration, target balls are required to be preset as many as possible to create a more accurate trajectory circle, and the poses of the robot when the mechanical arm moves to different positions cannot be obtained in real time. And is greatly influenced by the outside during the actual operation, for example, the larger the measurement distance is, the lower the measurement precision is; and generally, the temperature is higher than 50 degrees or lower than 40 degrees, so that the laser cannot work, and the calibration precision of the mechanical arm and the stability of a calibration result are affected. Meanwhile, the laser tracker is relatively complex in actual installation and use processes, and calibration efficiency is relatively low. Therefore, how to obtain the situation that the mechanical arm moves to different positions and poses in real time to improve the calibration precision of the mechanical arm, and the calibration process is not influenced by the outside world to improve the calibration stability, and meanwhile, the calibration process is simplified to improve the calibration efficiency is a problem to be solved urgently in the field.
Disclosure of Invention
The embodiment of the application provides a mechanical arm calibration method, device, equipment and medium based on an optical position indicator, and aims to solve the problems that calibration of mechanical arm motion parameters is greatly interfered by external environmental factors, calibration precision of the mechanical arm and stability of a calibration result are influenced, and operation of a calibration process is complex, so that calibration efficiency is reduced in the prior art. According to the technical scheme, the optical positioning instrument is used for identifying the positioning tool at the tail end of the mechanical arm, the mechanical arm kinematic parameters are indirectly acquired by combining the positioning tool with the position relation between the tail end of the mechanical arm and the like, the method is less interfered by external factors, so that the mechanical arm calibration precision and the stability of the calibration result are higher, the operation in the use and calibration process is simple, and the calibration efficiency is higher.
In a first aspect, an embodiment of the present application provides a method for calibrating a mechanical arm based on an optical positioning instrument, where the method includes:
controlling the mechanical arm to move to a preset number of spatial positions, and recording real-time pose data of the mechanical arm at each spatial position through an optical position finder;
acquiring theoretical pose data of the mechanical arm at each spatial position;
calculating a kinematic deviation value of the mechanical arm according to the actual pose data and the theoretical pose data;
and performing kinematic parameter calibration on the mechanical arm according to the kinematic deviation value and the theoretical pose.
Further, acquiring theoretical pose data of the mechanical arm at each spatial position, including:
constructing a preset number of posture transformation matrixes from a base coordinate system to a tail end coordinate system based on the joint proximity relation of the mechanical arm; the preset number is consistent with the number of the joints of the mechanical arm;
obtaining a kinematic equation of the mechanical arm according to the preset number of position and posture transformation matrixes;
and obtaining theoretical pose data of each spatial position according to the kinematic equation.
Further, based on the joint proximity relation of the mechanical arm, a preset number of posture transformation matrices from a base coordinate system to a terminal coordinate system are constructed, including:
constructing a preset number of posture transformation matrixes from a base coordinate system to a tail end coordinate system according to theoretical kinematic parameter values based on joint proximity relations of the mechanical arm; wherein the theoretical kinematic parameter values comprise joint included angles and joint torsion angles;
correspondingly, obtaining theoretical pose data of each spatial position according to the kinematic equation, wherein the theoretical pose data comprises the following steps:
obtaining a terminal pose equation of each spatial position according to the kinematic equation;
correspondingly, the method for calculating the kinematic deviation value of the mechanical arm through the actual pose data and the theoretical pose data comprises the following steps:
performing deviation calculation according to the terminal pose equation and an actual pose equation obtained from the real-time pose data to obtain a linear deviation equation containing the joint included angle and the joint torsion angle;
simplifying the linear deviation equation and constructing error matrixes with preset number of spatial positions;
determining a kinematic deviation value for the robotic arm based on the error matrix.
Further, determining kinematic deviation values of the robotic arm based on the pair of error matrices includes:
and determining a kinematic deviation value of the mechanical arm based on the error matrix and the Jacobian matrix of the mechanical arm.
Further, simplifying the linear deviation equation and constructing an error matrix of a preset number of spatial positions includes:
and determining the error influence degree of the joint torsion angle to be 0, and simplifying the linear equation by taking the joint included angle as a variable to obtain an error matrix of a preset number of spatial positions.
Further, before controlling the robot arm to move to the preset number of spatial positions, the method further includes:
mounting a positioning tool at the tail end of the mechanical arm, and constructing a coordinate system of the tail end of the mechanical arm and a coordinate system of the positioning tool;
determining a coordinate conversion relation between an optical position indicator coordinate system and a mechanical arm tail end coordinate system according to the mechanical arm tail end coordinate system;
and determining the pose relation between the tail end of the mechanical arm and the positioning tool according to the coordinate conversion relation between the coordinate system of the optical positioner and the coordinate system of the tail end of the mechanical arm and the coordinate system of the positioning tool.
Further, determining a coordinate transformation relationship between the coordinate system of the optical position finder and the coordinate system of the end of the mechanical arm according to the coordinate system of the end of the mechanical arm includes:
acquiring a coordinate relation between a coordinate system of an optical position indicator and a coordinate system of a mechanical arm base;
and determining the coordinate conversion relation between the coordinate system of the optical position finder and the coordinate system of the tail end of the mechanical arm according to the coordinate relation between the coordinate system of the optical position finder and the coordinate system of the mechanical arm base and the coordinate relation between the mechanical arm base and the tail end of the mechanical arm.
In a second aspect, an embodiment of the present application provides a mechanical arm calibration device based on an optical position finder, the device includes:
the recording module is used for controlling the mechanical arm to move to a preset number of spatial positions and recording real-time pose data of the mechanical arm at each spatial position through the optical position finder;
the acquisition module is used for acquiring theoretical pose data of the mechanical arm at each spatial position;
the calculation module is used for calculating a kinematic deviation value of the mechanical arm according to the actual pose data and the theoretical pose data;
and the calibration module is used for calibrating the kinematic parameters of the mechanical arm according to the kinematic deviation value and the theoretical pose.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a program or instructions stored on the memory and executable on the processor, and when executed by the processor, the program or instructions implement the steps of the method according to the first aspect.
In a fourth aspect, embodiments of the present application provide a readable storage medium, on which a program or instructions are stored, which when executed by a processor, implement the steps of the method according to the first aspect.
In a fifth aspect, an embodiment of the present application provides a chip, where the chip includes a processor and a communication interface, where the communication interface is coupled to the processor, and the processor is configured to execute a program or instructions to implement the method according to the first aspect.
In the embodiment of the application, the optical position finder is used for recording the position and the pose of the positioning tool at the tail end of the mechanical arm in real time, the kinematic parameter deviation amount of the theoretical position and the actual position and the like of the mechanical arm are calculated by inquiring the theoretical position and the pose of the real-time motion of the mechanical arm, and the kinematic parameters of the mechanical arm are indirectly acquired by combining the position relationship between the positioning tool and the tail end of the mechanical arm, the relationship between the kinematic parameter deviation amount and the theoretical position and the like. The optical position finder can work normally in a high-temperature environment from room temperature to about seventy degrees, and can dynamically track the position of the positioning tool in a specific three-dimensional space in real time, so that the problem that the calibration precision of the mechanical arm and the stability of a calibration result are influenced due to the fact that the interference of external environmental factors is large in the past is solved. Meanwhile, the optical position finder body is small and exquisite and light, the length is only about forty centimeters, the operation is simple in the using and calibrating process, and the calibrating efficiency is high. The problems that the conventional calibration equipment is large in size and complex in installation process, so that the equipment is complex to operate in use and calibration process, and the calibration time is long are solved.
Drawings
Fig. 1 is a schematic flowchart of a mechanical arm calibration method based on an optical positioning instrument according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a mechanical arm calibration method based on an optical positioning instrument according to a second embodiment of the present application;
fig. 3 is a schematic structural diagram of a mechanical arm calibration device based on an optical positioning instrument according to a third embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, specific embodiments of the present application will be described in detail with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some but not all of the relevant portions of the present application are shown in the drawings. Before discussing exemplary embodiments in greater detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
The technical solutions in the embodiments of the present application will be described below clearly with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present disclosure.
The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
The method, the device, the equipment and the medium for calibrating the mechanical arm based on the optical positioning instrument provided by the embodiment of the application are described in detail through specific embodiments and application scenarios thereof with reference to the attached drawings.
Example one
Fig. 1 is a schematic flowchart of a mechanical arm calibration method based on an optical positioning instrument according to an embodiment of the present application. As shown in fig. 1, the method specifically comprises the following steps:
and S101, controlling the mechanical arm to move to a preset number of spatial positions, and recording real-time pose data of the mechanical arm at each spatial position through an optical position finder.
Firstly, the use scene of the scheme can be a scene that the mechanical arm of the robot is controlled to move to different positions, the real-time pose of the mechanical arm is positioned through the optical position finder, the real-time pose is compared with the theoretical pose, and the deviation value of the real-time pose and the theoretical pose is used for calibrating the mechanical arm of the robot.
Based on the use scenario, it can be understood that the execution main body of the application may be the optical position finder, and may also be an upper computer which performs deviation calculation on the real-time pose and the theoretical pose recorded by the optical position finder to obtain a kinematic deviation value and uses the kinematic deviation value to calibrate the mechanical arm, where excessive limitation is not performed.
In this scheme, the arm can be the arm and the wrist of six robots, and common six robots are by 6 joint structures such as rotatory (S axle), lower arm (L axle), upper arm (U axle), wrist rotation (R axle), wrist swing (B axle) and wrist gyration (T axle). A six-axis robot is a form of articulated robot that can perform a wide range of applications due to its flexibility, extensibility, and strength. This flexibility gives six-axis robots a wide range of applications, a characteristic that makes them well suited for complex functions that typically require manual manipulation.
The optical positioning instrument can be an optical navigation device which integrates a near-infrared camera, a touch display screen, a color camera and positioning laser and performs tracking and positioning based on binocular stereo vision.
The real-time pose data can be the position and the posture of the tail end of the mechanical arm when the mechanical arm moves to each space position, the position is the positioning of the tail end of the mechanical arm in the space, and the posture is the orientation of the tail end of the mechanical arm in the space. The tail end position of the mechanical arm can be represented by the position of a positioning tool, the positioning tool can be a rigid tool with an optical positioning mark ball, the mark ball bodies are provided with special reflective coatings, consist of tens of thousands of micro-beads and can reflect infrared light in the tracking process. The positioning tool position may be represented by a 3x 1 matrix, i.e. the position of the positioning tool coordinate system center O in the base coordinate system, which is the coordinate system with the base of the robot arm as the origin. The pose of the positioning tool can be represented by a 3x3 matrix, i.e. the pose of the positioning tool coordinate system in the base coordinate system. The position matrix may be:
the attitude matrix may be:
the control of the mechanical arm movement can be completed by a handheld operator and a master of a remote control mechanical arm control system, a Programmable Logic Controller (PLC) is used as a palm grip, and data transmission is performed through a wireless data transmission module, so that remote wireless remote control operation is realized. The handheld operator adopts a 16-bit singlechip, performs data coding on detected button and rocker operation and then sends the data coded to the PLC in a wireless mode, and the PLC decodes the data coded to obtain an instruction to realize the control of the motion of each joint of the mechanical arm. A PLC, i.e. programmable logic controller, is a digital arithmetic operation electronic system designed specifically for use in industrial environments. It uses a programmable memory, in which the instructions for implementing logical operation, sequence control, timing, counting and arithmetic operation are stored, and utilizes digital or analog input and output to control various mechanical equipments or production processes.
The recording may be a process of the optical position finder recording the real-time pose of the positioning tool to obtain the real-time pose of the end of the mechanical arm. The pose relationship between the tail end of the mechanical arm and the positioning tool is known, so that the real-time pose of the tail end of the mechanical arm can be obtained by recording the real-time pose of the positioning tool.
And S102, acquiring theoretical pose data of the mechanical arm at each spatial position.
The theoretical pose data can be a real-time theoretical pose of the tail end of the mechanical arm in the moving process of the mechanical arm, and the theoretical pose data and the actual pose data of the mechanical arm in the moving process of the mechanical arm have deviation due to the fact that deviation exists between the actual geometric parameters and the theoretical parameter values of the connecting rod generated in the manufacturing and installing processes. For example, when the mechanical arm moves to a certain point in space, the actual state of the mechanical arm may be parallel to the ground, but theoretically, the mechanical arm needs to form a certain included angle with the ground to reach the position, so that the actual pose and the theoretical pose form a deviation.
The acquisition can be that the theoretical pose of the tail end of the mechanical arm when the mechanical arm moves to different spatial positions in real time is obtained through an encoder of the mechanical arm controller. Specifically, the acquisition may be performed by using an absolute encoder, where an optical code disc of the absolute encoder has a plurality of optical channel scribes, each scribe line is arranged by 2 lines, 4 lines, 8 lines and 16 lines in sequence, so that at each position of the encoder, by reading the on and off of each scribe line, a set of unique 2-ary codes (gray codes) from the zero power of 2 to the n-1 power of 2 is obtained, which is called an n-bit absolute encoder. Such encoders are memorized by means of an opto-electronic code disc. An absolute encoder determines the code from mechanical position without the need for memory, the need for finding a reference point, and without counting all the time, when it is needed to know the position, and when to read its position. Therefore, the anti-interference characteristic of the encoder and the reliability of data are greatly improved. The absolute encoder is installed to determine the overall robot arm state and the working end position and attitude. If an absolute value encoder is not installed, only after calibration, every action is recorded and stored, and the use is not convenient.
And S103, calculating a kinematic deviation value of the mechanical arm according to the actual pose data and the theoretical pose data.
The kinematic deviation value can be a deviation value between an actual pose of the tail end of the mechanical arm and a theoretical pose of the tail end of the mechanical arm, and is one of data for subsequent calibration and use of the mechanical arm.
The calculation may be a process in which the computer receives the actual pose transmitted by the optical position finder and the theoretical pose transmitted by the mechanical arm, and then calculates a deviation value between the actual pose and the theoretical pose according to a certain algorithm to obtain a kinematic deviation value. Specifically, the optical position finder can transmit the actual position and posture to a computer through a Wi-Fi (wireless fidelity). The wireless network is a wireless networking technology, a computer is connected through a network cable in the past, and Wi-Fi is networked through radio waves; a wireless router is usually used, and the effective range of the electric wave coverage of the wireless router can be networked by using a Wi-Fi connection, and if the wireless router is connected to an ADSL (Asymmetric Digital Subscriber Line) Line or another internet access Line, it is also called a hotspot. And the encoder of the mechanical arm controller transmits the data to the data acquisition unit, the data acquisition unit transmits the theoretical pose to the computer through a Wi-Fi (wireless fidelity) network, and the computer calculates the kinematic deviation value according to a corresponding algorithm. The ADSL line, i.e. asymmetric digital subscriber line, is a new high-speed broadband technology running on the original ordinary telephone line, and has the characteristics of high downlink speed, wide frequency band, excellent performance and the like.
And S104, performing kinematics parameter calibration on the mechanical arm according to the kinematics deviation value and the theoretical pose.
Calibration mainly refers to the fact that whether the accuracy (precision) of a used instrument meets a standard or not is detected by using a standard metering instrument, generally, the calibration is mostly used for instruments with high precision, and the calibration can also be regarded as calibration. In the scheme, the mechanical arm can be controlled to move to any position, the actual pose is recorded through the optical position finder, the deviation between the actual pose and the theoretical pose is calculated to obtain the deviation amount of the kinematic parameter, and finally the deviation amount of the kinematic parameter is superposed with the theoretical pose to obtain the actual kinematic value, and then the kinematic value is used for calibrating the mechanical arm and completing the process of calibrating the kinematic parameter of the mechanical arm. The actual kinematic value is used for replacing the original pose, and the mechanical arm can move in the space after calibration by using the actual kinematic value. Specifically, after the computer obtains the actual kinematic value, the actual kinematic value can be transmitted to the data collector through Wi-Fi, and then the data collector transmits the data to the encoder.
In the embodiment of the application, the mechanical arm is controlled to move to a preset number of spatial positions, and real-time pose data of the mechanical arm at each spatial position are recorded through the optical positioning instrument; acquiring theoretical pose data of the mechanical arm at each spatial position; calculating a kinematic deviation value of the mechanical arm according to the actual pose data and the theoretical pose data; and performing kinematic parameter calibration on the mechanical arm according to the kinematic deviation value and the theoretical pose. According to the technical scheme, the positioning tool at the tail end of the mechanical arm is identified through the optical positioning instrument, the kinematic parameters of the mechanical arm are indirectly acquired by combining the positioning tool with the position relation between the tail end of the mechanical arm and the like, and the method is less interfered by external factors, so that the calibration precision of the mechanical arm and the stability of a calibration result are high. And the operation and calibration process are simple, and the calibration efficiency is higher.
On the basis of the above technical solution, optionally, obtaining theoretical pose data of the mechanical arm at each spatial position includes:
constructing a preset number of posture transformation matrixes from a base coordinate system to a tail end coordinate system based on the joint proximity relation of the mechanical arm; the preset number is consistent with the number of joints of the mechanical arm;
obtaining a kinematic equation of the mechanical arm according to the preset number of position and posture transformation matrixes;
and obtaining theoretical pose data of each spatial position according to the kinematic equation.
In the scheme, the approach relation of the joints of the mechanical arm can be the relation between two adjacent joint coordinate systems of the mechanical arm, and different joints of the mechanical arm correspond to different coordinate systems, so that a preset number of position and posture transformation matrixes are constructed, and firstly, the position and posture transformation matrixes between the two adjacent joint coordinate systems are obtained. The transformation matrix of the coordinate systems of two adjacent joints can be obtained by utilizing the mechanical arm chain open-loop space coordinate transformation principle:
wherein the content of the first and second substances,
representing a pose transformation matrix, R, between two adjacent joint coordinate systems x (α i-1 ) Representing rotation alpha about the X-axis i-1 ，T x (a i-1 ) Indicating movement of a about the X axis i-1 ，R z (θ i ) Representing rotation theta about the Z axis i ，T z (d i ) Indicating movement d about the Z axis i 。
The base coordinate system can be the coordinate system of arm base, and in this scheme, arm base can be fixed subaerial, and then the X axle positive direction of base coordinate system is the dead ahead of base, and Z axle positive direction is the top of base, and Y axle positive direction is arm base's left side. The end coordinate system may be a coordinate system on the end link of the robot arm.
The preset number of pose transformation matrices may be the number of pose transformation matrices determined according to the number of robot joints. In this embodiment, since the robot is a six-axis robot, the number of joints is six, and the preset number is also six, so that six transformation matrices are obtained.
The construction can be a process that a computer calculates a pose transformation matrix between two adjacent joint coordinate systems according to a mechanical arm chain open-loop space coordinate transformation principle.
The kinematic equation can be a final robot end pose matrix obtained by combining six pose transformation matrices according to a certain rule. And sequentially substituting the six pose transformation matrixes into theoretical pose data which can be calculated when the mechanical arm moves to each space position according to a terminal pose matrix formula.
The final kinematic equation, namely the terminal pose matrix of the robot, is as follows:
the kinematic equation of the mechanical arm and the theoretical pose data of each space position can be obtained by the computer sequentially substituting the machine parameter table into a calculation mode according to the pose transformation matrix between two adjacent joint coordinate systems to obtain six pose transformation matrixes, and further combining the six pose transformation matrixes according to a preset combination mode to obtain the kinematic equation. And the six pose transformation matrixes are sequentially substituted into the kinematic equation to further calculate theoretical pose data of each space position.
In the scheme, the pose transformation matrix between all adjacent joints of the mechanical arm is further determined by constructing the pose transformation matrix between two adjacent joints, so that the terminal pose matrix of the robot is constructed, and theoretical pose data when the mechanical arm moves to different spatial positions are calculated. By the mode of obtaining different formulas by steps and substituting different parameters into the formula to obtain the theoretical pose data, redundancy is reduced, calculation efficiency is improved, the theoretical pose data can be obtained more quickly, and delay time is shortened.
On the basis of the above technical solution, optionally, based on the joint proximity relation of the mechanical arm, constructing a preset number of posture transformation matrices from the base coordinate system to the end coordinate system includes:
constructing a preset number of posture transformation matrixes from a base coordinate system to a tail end coordinate system according to theoretical kinematic parameter values based on joint proximity relations of the mechanical arm; wherein the theoretical kinematic parameter values comprise joint included angles and joint torsion angles;
correspondingly, obtaining theoretical pose data of each spatial position according to the kinematic equation, wherein the theoretical pose data comprises the following steps:
obtaining a terminal pose equation of each spatial position according to the kinematic equation;
correspondingly, the method for calculating the kinematic deviation value of the mechanical arm through the actual pose data and the theoretical pose data comprises the following steps:
performing deviation calculation according to the terminal pose equation and an actual pose equation obtained from the real-time pose data to obtain a linear deviation equation containing the joint included angle and the joint torsion angle;
simplifying the linear deviation equation and constructing error matrixes with preset number of spatial positions;
determining a kinematic deviation value for the robotic arm based on the error matrix.
In the scheme, a theoretical kinematic parameter value is a theoretical X-axis rotation value, namely an alpha value; x-axis translation value, i.e. a value; a Z-axis rotation value, i.e., a theta value; z-axis translation values, i.e., d values.
The joint angle may be the angle by which the axis of one joint is rotated about their common normal relative to the axis of the other joint, and in this case may be the value of the X-axis rotation, i.e. the value of α.
The joint torsion angle may be the rotation angle of the joint around the joint axis from the common normal of one joint to the next and from the common normal of the previous joint, and in this case, may be the Z-axis rotation value, i.e., the value of θ.
The end pose equation may be the robot end pose P obtained by determining the angle value of each joint of the robot after determining the D-H parameters, and may be expressed as:
P＝F(a,d,α,θ)；
the obtaining of the end pose equation can be a process that the computer calculates according to the D-H parameters and the angle value of each joint of the robot through a certain rule and obtains the end pose equation.
The actual pose equation may be an actual position pose P' of the robot end, which is different from the theoretical position due to the actual assembly error and the angle measurement error, and may be expressed as:
P ′ ＝F(a+a,d+Δd,α+α,θ+Δθ)；
the linear deviation equation can be an equation expressing the deviation between the theoretical pose and the actual pose, and the obtained linear deviation equation can be a process that a computer firstly carries out deviation calculation, namely, an end pose equation is combined with an actual pose equation according to a certain rule to obtain the deviation between the theoretical pose and the actual pose, and then the deviation is converted into a linear deviation equation, wherein the deviation between the theoretical pose and the actual pose can be expressed as follows:
ΔP＝P-P′；
further, since the error is relatively small, the above equation is expressed as a linear deviation equation:
the error matrix of the preset number of spatial positions can be an error matrix calculated by a linear deviation equation of the six-degree-of-freedom mechanical arm according to a certain rule.
The simplification may be that, since the repeated positioning accuracy of the robot has already reached a higher level, only the absolute positioning accuracy error is considered, and the linear deviation equation is further simplified, and the simplified linear deviation equation may be expressed as:
the construction can be a process that a computer calculates according to a linear deviation equation of the six-degree-of-freedom mechanical arm through a certain rule to obtain an error matrix, and for the six-degree-of-freedom mechanical arm, the following equation exists:
wherein, Δ P ix ，ΔP iy ，ΔP iz Respectively indicate the ith position P of the mechanical arm i Positional deviations in the three x, y, z directions; f ix ，F iy ，F iz Respectively representing the components of the constructor in the x, y and z directions.
Thus the end pose of the robot
The robot end error is then:
wherein the content of the first and second substances,
representing the surgical tool coordinate system S t And robot end coordinate system S e Position and orientation change matrix between, P t And P e Respectively represents the spatial position of an arbitrary point in the coordinate system of the surgical tool mounted on the end of the robot arm and the spatial position of the robot arm end in the coordinate system, Δ P e And Δ P t The spatial position of any point in the coordinate system of the surgical tool and the variation of the spatial position of the mechanical arm end in the coordinate system are respectively represented.
Finally, an error matrix b is obtained, which is expressed as:
wherein n is the number of the taken test poses, and 3n multiplied by 1 represents the dimension.
The kinematic deviation value of the mechanical arm can be an error between an actual pose and a theoretical pose of the mechanical arm of the robot, and the determination can be a process that the computer substitutes a test value into an error matrix calculation formula according to the error matrix calculation formula and the control of the mechanical arm to move to different positions, and further calculates the kinematic deviation value according to the calculated error matrix.
In the scheme, the linear deviation equation is simplified, and the kinematic deviation value of the mechanical arm is further determined, so that unnecessary calculation steps are eliminated, and the calculation efficiency is improved. And the redundancy of the calculation process is reduced by obtaining the kinematic deviation values step by step, the calculation time is further reduced, and the delay time is further reduced.
On the basis of the foregoing technical solution, optionally, determining a kinematic deviation value of the mechanical arm based on the error matrix pair includes:
and determining a kinematic deviation value of the mechanical arm based on the error matrix and the Jacobian matrix of the mechanical arm.
In this scheme, the jacobian matrix may be a matrix formed by partially differentiating each element of one vector with respect to each element of another vector. Similar to derivative comparison, can be used to locally linearize the nonlinear relationship between two vectors. In robotics, the jacobian matrix refers to a partial differential relationship between the pose of the robot end and the position values of each joint of the robot, and the jacobian matrix a can be expressed as:
wherein, every 3 behaviors are one group, n groups are provided, and similarly, n is the number of the taken test poses and the dimension is 3n multiplied by 18.
The determination may be a process in which the computer combines the jacobian matrix and the error matrix according to a certain rule to obtain a mechanical arm kinematics deviation value, where the mechanical arm kinematics deviation value Δ X may be expressed as:
ΔX＝(Δa 1 … Δa 6 Δd 1 … Δd 6 Δα 1 … Δα 6 ) T ；
wherein, Δ X is the error of the DH calibration parameter, and is an 18 × 1 dimensional matrix.
Finally, an overdetermined equation is applied to obtain the least square solution of the error as follows:
ΔX＝A + b；
the over-determined equation set is an equation set with the number of effective equations larger than the number of unknowns, the over-determined equation set is unsolved, but the least square solution of the over-determined equation set can be obtained, namely the number of unknowns of the equation is equal to the number of effective equations, so that the equation has a unique solution and is the least square solution of the original equation. And obtaining a mechanical arm kinematics deviation value after obtaining a least square solution.
In the scheme, the actual pose is obtained indirectly according to the position relation between the positioning tool and the tail end of the mechanical arm by recording the pose of the positioning tool through the optical positioning instrument, and is less influenced by the external temperature and the measurement distance, so that the calibration precision of the actual pose is higher. Furthermore, because the theoretical pose is obtained through an encoder of the mechanical arm controller, the accuracy and the stability of calculating the kinematic deviation value through the actual pose and the theoretical pose are high.
On the basis of the above technical solution, optionally, the linear deviation equation is simplified, and an error matrix of a preset number of spatial positions is constructed, including:
and determining the error influence degree of the joint torsion angle to be 0, and simplifying the linear equation by taking the joint included angle as a variable to obtain error matrixes of preset number of spatial positions.
In the scheme, the reason why the error influence degree of the joint torsion angle is determined to be 0 is that the repeated positioning accuracy of the robot reaches a higher level, that is, the error caused by environment (such as temperature change), uncertain cognition on motion parameters, gear transmission error and mechanical deformation error caused by load, stress, abrasion and the like can be guaranteed to be below 0.1mm, so that the default angle value theta read by the robot has no error, and the original linear deviation equation is as follows:
since there is no error in the angle value θ read by the default robot, it can be further determined that:
further, the above equation can be simplified as:
further, an error matrix of a preset number of spatial positions is determined by the simplified linear deviation equation.
In the scheme, the repeated positioning precision reaches a higher level, so that the error influence degree of the joint torsion angle is determined to be 0, the linear deviation equation is further simplified, the calculated amount of the linear deviation equation is reduced, the redundancy is reduced, the delay time is shortened, and the calibration efficiency is improved to a certain extent.
Example two
Fig. 2 is a schematic flow chart of a mechanical arm calibration method based on an optical positioning instrument according to a second embodiment of the present application. As shown in fig. 2, the method specifically includes the following steps:
s201, installing a positioning tool at the tail end of the mechanical arm, and constructing a mechanical arm tail end coordinate system and a positioning tool coordinate system.
The positioning tool coordinate system may be the coordinate system of the positioning tool at the end of the robot arm, i.e. the coordinate system of the rigid body tool with the optical positioning marker balls.
Mounting may be the process of mounting a rigid body tool with optically positioned marker balls at the end of a robotic arm.
Constructing the robot arm tip coordinate system and the positioning tool coordinate system may be a process of calibrating the robot arm tip coordinate system and the positioning tool coordinate system using two calibration plates. The calibration plate mainly has the functions of correcting lens distortion, determining the conversion relation between physical size and pixels, and determining the mutual relation between the three-dimensional geometric position of a certain point on the surface of a space object and the corresponding point in an image, and needs to establish a geometric model of camera imaging. The aim of constructing a mechanical arm tail end coordinate system and a positioning tool coordinate system can be achieved by matching images acquired by a calibration plate in a machine vision system environment with a professional calibration algorithm. After the coordinate system is constructed, a transformation matrix between the coordinate system of the tail end of the mechanical arm and the coordinate system of the positioning tool can be calculated according to translation change and rotation transformation.
And S202, determining a coordinate conversion relation between the coordinate system of the optical position finder and the coordinate system of the tail end of the mechanical arm according to the coordinate system of the tail end of the mechanical arm.
The coordinate conversion relation can be determined by firstly calibrating the coordinate system of the optical position indicator by using a calibration plate, then calculating a conversion matrix of the coordinate system of the optical position indicator and the coordinate system of the tail end of the mechanical arm according to translation change and rotation transformation, and further obtaining the coordinate relation between the coordinate system of the optical position indicator and the coordinate system of the tail end of the mechanical arm.
On the basis of the above technical solution, optionally, determining a coordinate transformation relationship between the coordinate system of the optical position finder and the coordinate system of the end of the mechanical arm according to the coordinate system of the end of the mechanical arm includes:
acquiring a coordinate relation between a coordinate system of an optical position indicator and a coordinate system of a mechanical arm base;
and determining the coordinate conversion relation between the coordinate system of the optical position finder and the coordinate system of the tail end of the mechanical arm according to the coordinate relation between the coordinate system of the optical position finder and the coordinate system of the mechanical arm base and the coordinate relation between the mechanical arm base and the tail end of the mechanical arm.
The process of obtaining the coordinate relationship between the coordinate system of the optical position finder and the coordinate system of the mechanical arm base can be a process of obtaining the coordinate relationship between the coordinate system of the optical position finder and the coordinate system of the mechanical arm base by calculating a conversion matrix according to the two coordinate systems after the coordinate systems of the optical position finder and the mechanical arm base are respectively calibrated by the calibration plate.
In the scheme, the same coordinate system can be used for the mechanical arm base and the tail end of the mechanical arm, so that the coordinate relationship between the mechanical arm base and the tail end of the mechanical arm is known, and further, the coordinate conversion relationship between the coordinate system of the optical position finder and the coordinate system of the tail end of the mechanical arm can be further determined due to the fact that the coordinate relationship between the coordinate system of the optical position finder and the coordinate system of the mechanical arm base is determined.
According to the scheme, the coordinate conversion relation between the coordinate system of the optical position indicator and the coordinate system of the tail end of the mechanical arm is further determined by utilizing the coordinate relation between the coordinate system of the optical position indicator and the coordinate system of the base of the mechanical arm, and the base of the mechanical arm can be fixed, so that the coordinate conversion relation can be regarded as an intermediary for determining the coordinate conversion relation between the coordinate system of the optical position indicator and the coordinate system of the tail end of the mechanical arm, and the determined coordinate conversion relation is more accurate.
And S203, determining the pose relation between the tail end of the mechanical arm and the positioning tool according to the coordinate conversion relation between the coordinate system of the optical positioner and the coordinate system of the tail end of the mechanical arm and the coordinate system of the positioning tool.
The method comprises the steps of determining the position and pose relationship between the tail end of the mechanical arm and a positioning tool, controlling the mechanical arm to move to different spatial positions, recording the real-time position and pose of the positioning tool by the optical position finder, and recording the real-time position and pose of the tail end of the mechanical arm by the optical position finder because the coordinate conversion relationship between a coordinate system of the optical position finder and the tail end of the mechanical arm and the conversion matrix between the coordinate system of the tail end of the mechanical arm and the coordinate system of the positioning tool are known, so that the real-time position and pose of the tail end of the mechanical arm can be indirectly obtained by recording the real-time position and pose of the positioning tool. Further, the pose relation between the tail end of the mechanical arm and the positioning tool is further determined according to the real-time pose of the tail end of the mechanical arm and the real-time pose of the positioning tool.
And S204, controlling the mechanical arm to move to a preset number of spatial positions, and recording real-time pose data of the mechanical arm at each spatial position through the optical position finder.
And S205, acquiring theoretical pose data of the mechanical arm at each spatial position.
And S206, calculating a kinematic deviation value of the mechanical arm according to the actual pose data and the theoretical pose data.
And S207, performing kinematics parameter calibration on the mechanical arm according to the kinematics deviation value and the theoretical pose.
In the embodiment, the pose relationship between the tail end of the mechanical arm and the positioning tool is obtained through system calibration, and a foundation is laid for recording the real-time pose of the positioning tool through the positioning instrument subsequently. Because the pose relation between the tail end of the mechanical arm and the positioning tool is obtained in advance, the pose of the tail end of the mechanical arm can be indirectly obtained by recording the pose of the positioning tool, and the kinematic parameters of the mechanical arm are obtained to finish calibration. The interference of external environmental factors is small, and the calibration precision and the stability of the calibration result of the mechanical arm are high.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a mechanical arm calibration device based on an optical positioning instrument according to a third embodiment of the present application. As shown in fig. 3, the method specifically includes the following steps:
the recording module 301 is configured to control the mechanical arm to move to a preset number of spatial positions, and record real-time pose data of the mechanical arm at each spatial position through the optical position finder;
an obtaining module 302, configured to obtain theoretical pose data of the mechanical arm at each spatial position;
the calculating module 303 is used for calculating a kinematic deviation value of the mechanical arm according to the actual pose data and the theoretical pose data;
and the calibration module 304 is used for performing kinematics parameter calibration on the mechanical arm according to the kinematics deviation value and the theoretical pose.
In the embodiment of the application, the recording module is used for controlling the mechanical arm to move to a preset number of spatial positions and recording real-time pose data of the mechanical arm at each spatial position through the optical positioning instrument; the acquisition module is used for acquiring theoretical pose data of the mechanical arm at each spatial position; the calculation module is used for calculating a kinematic deviation value of the mechanical arm according to the actual pose data and the theoretical pose data; and the calibration module is used for calibrating the kinematic parameters of the mechanical arm according to the kinematic deviation value and the theoretical pose. According to the technical scheme, the positioning tool at the tail end of the mechanical arm is identified through the optical positioning instrument, the kinematic parameters of the mechanical arm are indirectly acquired by combining the positioning tool with the position relation between the tail end of the mechanical arm and the like, the method is less interfered by external factors, so that the calibration precision and the calibration result of the mechanical arm are higher in stability, the operation in the use and calibration process is simple, and the calibration efficiency is higher.
The mechanical arm calibration device based on the optical position finder provided by the embodiment corresponds to the method provided by each embodiment and has corresponding execution processes and beneficial effects, and details are not repeated here.
Example four
As shown in fig. 4, an electronic device 400 provided in an embodiment of the present application further includes a processor 401, a memory 402, and a program or an instruction stored in the memory 402 and executable on the processor 401, where the program or the instruction is executed by the processor 401 to implement the processes of the embodiment of the method for calibrating a mechanical arm based on an optical positioning apparatus, and can achieve the same technical effects, and in order to avoid repetition, the detailed description is omitted here.
It should be noted that the electronic device in the embodiment of the present application includes the mobile electronic device and the non-mobile electronic device described above.
EXAMPLE five
The embodiment of the present application further provides a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the program or the instruction implements each process of the above embodiment of the mechanical arm calibration method based on the optical position finder, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and so on.
EXAMPLE six
The embodiment of the application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled with the processor, the processor is used for running programs or instructions, so that the processes of the embodiment of the mechanical arm calibration method based on the optical position finder can be realized, the same technical effects can be achieved, and the details are not repeated here for avoiding repetition.
It should be understood that the chips mentioned in the embodiments of the present application may also be referred to as a system-on-chip, or a system-on-chip.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a component of' 8230; \8230;" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
The foregoing is considered as illustrative of the preferred embodiments of the invention and the technical principles employed. The present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the claims.
Claims (10)
1. A mechanical arm calibration method based on an optical locator is characterized by comprising the following steps:
controlling the mechanical arm to move to a preset number of spatial positions, and recording real-time pose data of the mechanical arm at each spatial position through an optical position finder;
acquiring theoretical pose data of the mechanical arm at each spatial position;
calculating a kinematic deviation value of the mechanical arm according to the actual pose data and the theoretical pose data;
and performing kinematic parameter calibration on the mechanical arm according to the kinematic deviation value and the theoretical pose.
2. The method for calibrating the mechanical arm based on the optical locator according to claim 1, wherein the obtaining of the theoretical pose data of the mechanical arm at each spatial position comprises:
constructing a preset number of posture transformation matrixes from a base coordinate system to a tail end coordinate system based on the joint proximity relation of the mechanical arm; the preset number is consistent with the number of joints of the mechanical arm;
obtaining a kinematic equation of the mechanical arm according to the preset number of position and posture transformation matrixes;
and obtaining theoretical pose data of each spatial position according to the kinematic equation.
3. The method for calibrating the mechanical arm based on the optical positioning instrument according to claim 2, wherein a preset number of pose transformation matrices from a base coordinate system to a terminal coordinate system are constructed based on the joint proximity relation of the mechanical arm, and the method comprises the following steps:
constructing a preset number of posture transformation matrixes from a base coordinate system to a tail end coordinate system according to theoretical kinematic parameter values based on the joint proximity relation of the mechanical arm; wherein the theoretical kinematic parameter values comprise joint included angles and joint torsion angles;
correspondingly, obtaining theoretical pose data of each spatial position according to the kinematic equation, wherein the theoretical pose data comprises the following steps:
obtaining a terminal pose equation of each spatial position according to the kinematics equation;
correspondingly, the method for calculating the kinematic deviation value of the mechanical arm through the actual pose data and the theoretical pose data comprises the following steps:
performing deviation calculation according to the terminal pose equation and an actual pose equation obtained from the real-time pose data to obtain a linear deviation equation containing the joint included angle and the joint torsion angle;
simplifying the linear deviation equation and constructing error matrixes with preset number of spatial positions;
determining a kinematic deviation value for the robotic arm based on the error matrix.
4. The method for calibrating a mechanical arm based on an optical positioning instrument according to claim 3, wherein determining a kinematic deviation value of the mechanical arm based on the error matrix pair comprises:
and determining a kinematic deviation value of the mechanical arm based on the error matrix and the Jacobian matrix of the mechanical arm.
5. The method for calibrating a mechanical arm based on an optical locator according to claim 3, wherein the simplifying the linear deviation equation and constructing an error matrix of a preset number of spatial positions comprises:
and determining the error influence degree of the joint torsion angle to be 0, and simplifying the linear equation by taking the joint included angle as a variable to obtain an error matrix of a preset number of spatial positions.
6. The method for calibrating a robotic arm based on an optical position finder according to claim 1, wherein before controlling the robotic arm to move to a predetermined number of spatial positions, the method further comprises:
mounting a positioning tool at the tail end of the mechanical arm, and constructing a coordinate system of the tail end of the mechanical arm and a coordinate system of the positioning tool;
determining a coordinate conversion relation between an optical position indicator coordinate system and a mechanical arm tail end coordinate system according to the mechanical arm tail end coordinate system;
and determining the pose relation between the tail end of the mechanical arm and the positioning tool according to the coordinate conversion relation between the coordinate system of the optical positioner and the coordinate system of the tail end of the mechanical arm and the coordinate system of the positioning tool.
7. The method for calibrating mechanical arm based on the optical positioning instrument according to claim 6, wherein determining the coordinate transformation relationship between the coordinate system of the optical positioning instrument and the coordinate system of the end of the mechanical arm according to the coordinate system of the end of the mechanical arm comprises:
acquiring a coordinate relation between a coordinate system of an optical position indicator and a coordinate system of a mechanical arm base;
and determining the coordinate conversion relation between the coordinate system of the optical position finder and the coordinate system of the tail end of the mechanical arm according to the coordinate relation between the coordinate system of the optical position finder and the coordinate system of the mechanical arm base and the coordinate relation between the mechanical arm base and the tail end of the mechanical arm.
8. A mechanical arm calibration device based on an optical locator is characterized by comprising:
the recording module is used for controlling the mechanical arm to move to a preset number of spatial positions and recording real-time pose data of the mechanical arm at each spatial position through the optical position finder;
the acquisition module is used for acquiring theoretical pose data of the mechanical arm at each spatial position;
the calculation module is used for calculating a kinematic deviation value of the mechanical arm according to the actual pose data and the theoretical pose data;
and the calibration module is used for calibrating the kinematic parameters of the mechanical arm according to the kinematic deviation value and the theoretical pose.
9. An electronic device comprising a processor, a memory, and a program or instructions stored on the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method for calibrating a robot arm based on an optical position finder according to any of claims 1 to 7.
10. A readable storage medium storing a program or instructions thereon, which when executed by a processor, performs the steps of the method according to any of claims 1-7.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116587283A (en) * | 2023-06-16 | 2023-08-15 | 南方电网电力科技股份有限公司 | Mechanical arm control zero calibration method and related device |
| CN116673941A (en) * | 2023-03-28 | 2023-09-01 | 北京纳通医用机器人科技有限公司 | Mechanical arm auxiliary-based operation control method and device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116673941A (en) * | 2023-03-28 | 2023-09-01 | 北京纳通医用机器人科技有限公司 | Mechanical arm auxiliary-based operation control method and device |
| CN116673941B (en) * | 2023-03-28 | 2024-05-14 | 北京纳通医用机器人科技有限公司 | Mechanical arm auxiliary-based operation control method and device |
| CN116587283A (en) * | 2023-06-16 | 2023-08-15 | 南方电网电力科技股份有限公司 | Mechanical arm control zero calibration method and related device |
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