CN116276910A - Relative pose calibration method and system of robot and workbench and robot - Google Patents

Relative pose calibration method and system of robot and workbench and robot Download PDF

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Publication number
CN116276910A
CN116276910A CN202310266219.5A CN202310266219A CN116276910A CN 116276910 A CN116276910 A CN 116276910A CN 202310266219 A CN202310266219 A CN 202310266219A CN 116276910 A CN116276910 A CN 116276910A
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China
Prior art keywords
calibration
piece
robot
mechanical arm
pose
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CN202310266219.5A
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Chinese (zh)
Inventor
倪飞箭
陈文�
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Feixi Technology Co ltd
Foshan Feixi Robot Technology Co ltd
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Feixi Technology Co ltd
Foshan Feixi Robot Technology Co ltd
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Priority to CN202310266219.5A priority Critical patent/CN116276910A/en
Publication of CN116276910A publication Critical patent/CN116276910A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a relative pose calibration method and system of a robot and a workbench and the robot. The relative pose calibration method of the robot and the workbench comprises the following steps: the control mechanical arm drives the first calibration piece to be matched with a second calibration piece arranged on the workbench, so that the position of the first calibration piece relative to the second calibration piece is restrained to a preset position; acquiring a first mapping relation between a coordinate system of a first calibration piece and a coordinate system of a base; and determining a target mapping relation between the coordinate system of the workbench and the coordinate system of the base according to the first mapping relation, the second preset mapping relation and the third preset mapping relation. The relative pose calibration method and system of the robot and the workbench provided by the invention have the advantages that the calibration accuracy of the robot is higher, and the operation accuracy of the robot is greatly improved.

Description

Relative pose calibration method and system of robot and workbench and robot
Technical Field
The invention relates to the technical field of robot equipment, in particular to a relative pose calibration method and system of a robot and a workbench and the robot.
Background
Robots are an important way to implement industrial automation. In the industrial application, the robot performs work gripping, assembling and the like, and it is necessary to obtain the accurate position of the work, i.e., the table, in advance. This precise position is typically obtained by manual entry or robotic teaching. The method of manual input requires high measurement accuracy, and the teaching method requires that the relative position of the robot and the workbench where the workpiece is located is kept unchanged in the subsequent whole operation flow, otherwise, the method cannot be applied. Typically, in some intelligent production, a robot is installed on a mobile chassis (e.g., an AGV), and the robot can switch between different stations and perform corresponding operations through the mobile chassis, so that the efficiency and the economy of the production line are greatly improved. However, the positioning accuracy of the mobile chassis is low, so that a certain random error exists in the relative position between the robot and the workbench after the robot is switched to the next station, and the subsequent operation is difficult to perform.
To solve this problem, the related art generally performs calibration by means of visual calibration. When the robot is in specific implementation, after the robot moves to the corresponding station, the camera is used for calibrating the relative position of a specific object on the workbench and the robot. However, the method has high requirements on the calibration environment, for example, when the intensity of light does not meet the requirements, or other interference objects exist, the calibration accuracy can be greatly influenced, and the operation accuracy of the robot cannot be ensured.
Disclosure of Invention
Based on the above, it is necessary to provide a method and a system for calibrating the relative pose of a robot and a workbench with high calibration accuracy, and the robot.
The first aspect of the embodiment of the application provides a relative pose calibration method of a robot and a workbench, wherein the robot comprises a base and a mechanical arm connected to the base, a first calibration piece is arranged on the mechanical arm, and the method comprises the following steps:
the control mechanical arm drives the first calibration piece to be matched with a second calibration piece arranged on the workbench, so that the position of the first calibration piece relative to the second calibration piece is restrained to a preset position;
acquiring a first mapping relation between a coordinate system of a first calibration piece and a coordinate system of a base;
determining a target mapping relation between a coordinate system of the workbench and a coordinate system of the base according to the first mapping relation, the second preset mapping relation and the third preset mapping relation;
The second preset mapping relation is a mapping relation between the coordinate system of the first calibration piece and the coordinate system of the second calibration piece when the first calibration piece is in a preset pose, and the third preset mapping relation is a mapping relation between the coordinate system of the second calibration piece and the coordinate system of the workbench.
In the above scheme, the mechanical arm is controlled to drive the first calibration piece to be matched with the second calibration piece arranged on the workbench, so that the pose of the first calibration piece relative to the second calibration piece is restrained to a preset pose, when the pose is preset, a second preset mapping relation (a preset fixed amount) exists between the relative poses of the first calibration piece and the second calibration piece, a third preset mapping relation (a preset fixed amount) exists between the relative poses of the second calibration piece and the workbench, and therefore the relative fixed pose relation between the first calibration piece and the workbench when the pose is preset can be known. Therefore, as long as the relative pose relation between the first calibration piece and the base of the robot in the preset pose, namely the first mapping relation, the relative position relation between the workbench and the base of the robot, namely the target mapping relation between the coordinate system of the workbench and the coordinate system of the base, can be determined according to the first mapping relation, the second preset mapping relation and the third preset mapping relation. The calibration process is not influenced by factors such as light rays and interference objects in an external calibration environment, the calibration accuracy is high, and the operation accuracy of the robot is greatly improved.
In one embodiment, the second calibration member includes a calibration hole with an inner contour matching an outer contour of the first calibration member, and the step of controlling the mechanical arm to drive the first calibration member to cooperate with the second calibration member provided on the workbench so that the pose of the first calibration member relative to the second calibration member is constrained to a preset pose includes:
the control mechanical arm drives the first calibration piece to be inserted into the calibration hole, so that the position of the first calibration piece relative to the second calibration piece is constrained to a preset position by the mechanical arm and the calibration hole.
In one embodiment, the side of the first calibration piece along the insertion direction is provided with a protruding part, and the orifice edge of the calibration hole is provided with a clamping groove communicated with the calibration hole and extending along the depth direction of the hole.
In one embodiment, the step of controlling the mechanical arm to drive the first calibration member to be matched with the second calibration member arranged on the workbench so that the pose of the first calibration member relative to the second calibration member is constrained to a preset pose includes:
the control mechanical arm drives the first calibration piece to move until the free end of the first calibration piece is positioned in the opening range of the calibration hole;
the control mechanical arm adjusts the pose of the first calibration piece to the position that the Z-axis direction of the first calibration piece coincides with the axis of the calibration hole, and the control mechanical arm drives the first calibration piece to be partially inserted into the calibration hole;
The control mechanical arm drives the first calibration piece to rotate around the Z-axis direction of the first calibration piece until the protruding part of the first calibration piece rotates to be aligned with the clamping groove;
the control mechanical arm drives the first calibration piece to be inserted into the bottom of the calibration hole along the depth direction of the hole.
In one embodiment, the orifice edge of the calibration hole is also configured with a guide surface.
In one embodiment, the step of controlling the mechanical arm to drive the first calibration member to be partially inserted into the calibration hole and controlling the mechanical arm to drive the first calibration member to rotate around the Z-axis direction of the first calibration member until the protruding portion of the first calibration member rotates to be aligned with the positioning slot includes:
the control mechanical arm drives the first calibration piece to be inserted into the calibration hole, and the protruding part is abutted to the guide surface;
acquiring a first torque applied by the guide surface to the protruding part along the Z-axis direction of the first calibration piece;
admittance control is carried out on the first calibration piece in the Z-axis direction based on the first torque until the first torque reaches a first preset torque range; or the mechanical arm is controlled to drive the first calibration piece to reciprocally rotate around the Z-axis direction until the first torque reaches a first preset torque range.
In one embodiment, the step of controlling the mechanical arm to drive the first calibration member to move until the free end of the first calibration member is located within the opening range of the calibration hole includes:
The control mechanical arm drives the first calibration piece to move until the free end of the first calibration piece contacts the guide surface;
the control mechanical arm drives the first calibration piece to slide along the guide surface until the free end of the first calibration piece is positioned in the opening range of the calibration hole.
In one embodiment, the step of controlling the mechanical arm to drive the first calibration member to slide along the guide surface until the free end of the first calibration member is located within the opening range of the calibration hole includes:
acquiring a first acting force applied to the free end of the first calibration piece along the X axis of the first calibration piece and a second acting force applied to the free end of the first calibration piece along the Y axis of the first calibration piece;
and controlling admittance of the first calibration piece in the X-axis direction and the Y-axis direction based on the first acting force and the second acting force until the first acting force and the second acting force are lower than a first acting force threshold value.
In one embodiment, the step of controlling the mechanical arm to adjust the pose of the first calibration member to a position where the Z-axis direction of the first calibration member coincides with the axis of the calibration hole includes:
acquiring a second torque applied to the free end of the first calibration piece along the X-axis direction of the first calibration piece and a third torque applied to the free end of the first calibration piece along the Y-axis direction of the first calibration piece;
Based on the second torque and the third torque, the mechanical arm is controlled to drive the first calibration piece to swing reciprocally around the X-axis direction in sequence and swing reciprocally around the Y-axis direction until the second torque reaches a second preset torque range and the third torque reaches a third preset torque range.
In one embodiment, the step of controlling the mechanical arm to drive the first calibration piece to move until the free end of the first calibration piece is located within the opening range of the calibration hole further comprises the steps of;
acquiring acting force applied to the free end of the first calibration piece;
and if the acting force is smaller than the second acting force threshold value, the mechanical arm is controlled to drive the first calibration piece to be inserted into the calibration hole along the depth direction of the hole.
A second aspect of the embodiments of the present application provides a relative pose calibration system for a robot and a workbench, including:
the robot comprises a base and a mechanical arm connected to the base, and a first calibration piece is arranged on the mechanical arm;
the workbench is provided with a second calibration piece; and
the processor is used for controlling the mechanical arm to drive the first calibration piece to be matched with the second calibration piece so as to enable the pose of the first calibration piece relative to the second calibration piece to be constrained to a preset pose;
acquiring a first mapping relation between a coordinate system of a first calibration piece and a coordinate system of a base;
Determining a target mapping relation between a coordinate system of the workbench and a coordinate system of the base according to the first mapping relation, the second preset mapping relation and the third preset mapping relation;
the second preset mapping relation is a mapping relation between the coordinate system of the first calibration piece and the coordinate system of the second calibration piece when the first calibration piece is in a preset pose, and the third preset mapping relation is a mapping relation between the coordinate system of the second calibration piece and the coordinate system of the workbench.
In one embodiment, the second indexing member includes an indexing aperture having an inner profile matching an outer profile of the first indexing member.
In one embodiment, the side of the first calibration piece along the insertion direction is provided with a protruding part, and the orifice edge of the calibration hole is provided with a clamping groove communicated with the calibration hole and extending along the depth direction of the hole.
In one embodiment, the orifice edge of the calibration hole is also configured with a guide surface.
A third aspect of the embodiments of the present application provides a robot, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the method for calibrating a relative pose of the robot and a workbench when executing the computer program.
A fourth aspect of the embodiments of the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of a method for calibrating a relative pose of a robot and a table as described above.
Drawings
Fig. 1 is a schematic structural diagram of a robot and a workbench in a method for calibrating relative pose of the robot and the workbench according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a first calibration member and a second calibration member in a relative pose calibration method of a robot and a workbench according to an embodiment of the present application;
FIG. 3 is a flow chart of a method for calibrating relative pose of a robot and a workbench according to an embodiment of the present disclosure;
FIG. 4 is a schematic flow chart of a calibration method for calibrating relative pose of a robot and a workbench according to an embodiment of the present disclosure, in which a mechanical arm drives a first calibration member to insert into a calibration hole;
FIG. 5 is a schematic flow chart of a method for calibrating relative pose of a robot and a workbench for rotating a protruding part to align with a clamping groove according to an embodiment of the present disclosure;
FIG. 6 is a flow chart illustrating a step of controlling the mechanical arm to move the first calibration member until the free end of the first calibration member is located within the opening range of the calibration hole;
FIG. 7 is a schematic diagram of a first calibration member in a first state relative to a second calibration member in a relative pose calibration method of a robot and a workbench according to an embodiment of the present disclosure;
FIG. 8 is a schematic diagram of a first calibration member in a second state relative to a second calibration member in a relative pose calibration method of a robot and a workbench according to an embodiment of the present disclosure;
FIG. 9 is a schematic diagram of a first calibration member in a third state relative to a second calibration member in a relative pose calibration method of a robot and a workbench according to an embodiment of the present disclosure;
FIG. 10 is a schematic diagram of a fourth state of a first calibration member relative to a second calibration member in a relative pose calibration method of a robot and a workbench according to an embodiment of the present disclosure;
fig. 11 is a block diagram of a relative pose calibration system of a robot and a workbench according to an embodiment of the present application.
Reference numerals illustrate:
100. a robot; 110. a base; 120. a mechanical arm; 121. a joint; 122. an arm; 123. an end effector; 130. a first calibration member; 131. a protruding portion; 132. an inclined surface; 200. a work table; 210. a second calibration member; 211. calibrating the hole; 212. a clamping groove; 213. a guide surface; 220. a workpiece;
300. the robot and workbench relative pose calibration system; 310. a processor.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
The method and system for calibrating relative pose of the robot and the workbench and the robot are described below with reference to the accompanying drawings. The robot in the present application may be, for example, a 7-degree-of-freedom redundant robot. The robot with the structure can effectively optimize the control configuration by utilizing the redundant degree of freedom when in operation, thereby realizing efficient position control and force control in the flexible contact process. The robot of the present application is not limited to a 7-degree-of-freedom robot. Other numbers of redundant, non-redundant or even less redundant robots may be suitable depending on the application scenario.
Fig. 1 is a schematic structural diagram of a robot and a workbench in a relative pose calibration method of the robot and the workbench according to an embodiment of the present application, and fig. 2 is a schematic structural diagram of a first calibration member and a second calibration member in a relative pose calibration method of the robot and the workbench according to an embodiment of the present application.
Referring to fig. 1 and 2, a robot 100 may include a base 110 and a robot arm 120 connected to the base 110; the mechanical arm 120 may include a plurality of arms 122, joints 121, end effectors 123, end flanges (not shown), etc., where the arms 122 may be connected end to end through the joints 121 to form arms of the mechanical arm 120, and ends of the arms of the mechanical arm 120 are connected with the end effectors 123. In addition, each joint 121 is further provided with a driving device, such as a motor, so that the plurality of joints 121 can ensure that the arm of the mechanical arm 120 drives the end effector 123 to perform the motion with multiple degrees of freedom. The first indexing member 130 may be mounted to the end effector 123 via a connector, such as a terminal flange, and moved in multiple degrees of freedom by the robotic arm 120. In the embodiment of the present application, the first calibration member 130 is installed on the mechanical arm 120 through the end flange and the end effector 123, but the present application is not limited thereto, and the first calibration member 130 may also be installed on the mechanical arm 120 through other connecting members or connecting modes, which are not described herein.
Additionally, force and torque sensors (not shown in FIG. 1) may be provided on the end effector 123 of the robotic arm 120 to detect the force and torque experienced by the first calibration member 130. Alternatively, the robotic arm 120 may provide force and/or torque sensors in each joint 121 and calculate and determine the force and torque experienced by the first calibration member 130.
Further, with continued reference to fig. 1 and 2, a second calibration member 210 is provided on the table 200, and the workpiece 220 may be supported and fixed on the table 200. The second index member 210 includes an index hole 211 having an inner contour matching an outer contour of the first index member 130, and the first index member 130 is insertable into the index hole 211 from an orifice of the index hole 211. The first indexing member 130 may be configured as a pin. Here, in order to secure the calibration accuracy, the error of the fit clearance of the first calibration member 130 and the calibration hole 211 should be controlled to be small, for example, may be 0.05mm.
Illustratively, the side of the first calibration member 130 along the insertion direction is configured with a protrusion 131, the aperture edge of the calibration hole 211 is configured with a detent groove 212 communicating with the calibration hole 211 and extending in the hole depth direction, such that when the first calibration member 130 is inserted into the calibration hole 211 and the protrusion 131 is inserted into the detent groove 212, the first calibration member 130 cannot rotate about the X-axis, the Y-axis, and the Z-axis of the first calibration member 130 relative to the second calibration member 210, and the movement of the first calibration member 130 in the X-axis direction and the Y-direction thereof is also limited by the second calibration member 210, and the movement of the first calibration member 130 in the Z-direction thereof is limited by the mechanical arm 120 and the second calibration member 210.
In this embodiment, the protruding portion 131 may be a rod-shaped member protruding from an outer side surface of the first calibration member 130, and the setting position may be located at any position in the length direction of the first calibration member 130.
In addition, it is understood that the structures of the first calibration member 130 and the second calibration member 210 are not limited thereto, and may be selected according to actual needs, for example, the first calibration member 130 may rotate along its own X-axis, Y-axis, and Z-axis, and the first calibration member 130 may move along its own X-axis, Y-axis, and Z-axis, and all the six degrees of freedom may be limited by the second calibration member 210, for example, a pressing portion for pressing the first calibration member against the bottom of the calibration hole 211 may be further provided on the second calibration member 210.
Alternatively, a part of the degrees of freedom (if only the pose relationship of the table with respect to the robot base in the part of the degrees of freedom needs to be accurately acquired) may be defined by the second calibration member 210, and the other part of the degrees of freedom may be defined by the robot arm 120. Of course, in either case, the first calibration member 130 can be in a predetermined position with respect to the second calibration member 210.
With continued reference to fig. 2, in the embodiment of the present application, in order to facilitate the insertion of the first calibration member 130 into the second calibration member 210, the orifice edge of the calibration hole 211 is further configured with a guide surface 213, and further, a position on the first calibration member 130 corresponding to the guide surface 213 is further configured with an inclined surface 132, so as to further facilitate the insertion of the first calibration member 130 into the second calibration member 210.
Fig. 3 is a flow chart of a method for calibrating relative pose of a robot and a workbench according to an embodiment of the present application.
Referring to fig. 3, an embodiment of the present application provides a method for calibrating a relative pose of a robot and a workbench, the method including:
s10, controlling the mechanical arm to drive the first calibration piece to be matched with a second calibration piece arranged on the workbench, so that the pose of the first calibration piece relative to the second calibration piece is restrained to a preset pose;
s20, acquiring a first mapping relation between a coordinate system of a first calibration piece and a coordinate system of a base;
s30, determining a target mapping relation between a coordinate system of the workbench and a coordinate system of the base according to the first mapping relation, the second preset mapping relation and the third preset mapping relation; the second preset mapping relation is a mapping relation between the coordinate system of the first calibration piece and the coordinate system of the second calibration piece when the first calibration piece is in a preset pose, and the third preset mapping relation is a mapping relation between the coordinate system of the second calibration piece and the coordinate system of the workbench.
In the above-mentioned scheme, the mechanical arm 120 is controlled to drive the first calibration member 130 to cooperate with the second calibration member 210 provided on the workbench 200, so that the pose of the first calibration member 130 relative to the second calibration member 210 is constrained to a preset pose, when the pose is preset, a second preset mapping relationship (a preset fixed amount) exists between the relative poses of the first calibration member 130 and the second calibration member 210, and a third preset mapping relationship (a preset fixed amount) exists between the relative poses of the second calibration member 210 and the workbench 200, so that a relatively fixed pose relationship between the first calibration member 130 and the workbench 200 when the pose is preset can be known. Therefore, as long as the relative pose relationship between the first calibration piece 130 and the base 110 of the robot 100, that is, the first mapping relationship, is obtained when the first calibration piece 130 is in the preset pose, the relative positional relationship between the table 200 and the base 110 of the robot 100, that is, the target mapping relationship between the coordinate system of the table 200 and the coordinate system of the base 110, can be determined according to the first mapping relationship, the second preset mapping relationship, and the third preset mapping relationship. The calibration process is not influenced by factors such as light rays and interference objects in an external calibration environment, the calibration accuracy is high, and the operation accuracy of the robot 100 is greatly improved.
In the embodiment of the present application, for convenience of description, the coordinate system of the first calibration piece 130 may be equivalently used as the terminal coordinate system of the robot 100, and the coordinate system of the base 110 may be equivalently used as the coordinate system of the robot 100. The coordinate system of the second calibration member 210 and the coordinate system of the table 200 have a third mapping relationship, and in the embodiment of the present application, the overlapping of the two is described as an example, however, the present application is not limited to this, and other mapping relationships are also possible.
In addition, in the embodiment of the present application, the first mapping relationship between the coordinate system of the first calibration member 130 and the coordinate system of the base 110 refers to a conversion relationship between the coordinate system of the first calibration member 130 and the coordinate system of the base 110, for example, refers to a conversion matrix between the coordinate system of the first calibration member 130 and the coordinate system of the base 110.
Similarly, the second preset mapping relationship refers to a transformation relationship between the coordinate system of the first calibration member 130 and the coordinate system of the second calibration member 210, for example, a transformation matrix between the coordinate system of the first calibration member 130 and the coordinate system of the second calibration member 210. The third preset mapping relationship is a conversion relationship between the coordinate system of the second calibration member 210 and the coordinate system of the table 200, for example, a conversion matrix between the coordinate system of the second calibration member 210 and the coordinate system of the table 200.
The target mapping relationship is a conversion relationship between the coordinate system of the table 200 and the coordinate system of the base 110, and is, for example, a conversion matrix between the coordinate system of the table 200 and the coordinate system of the base 110.
In the embodiment of the present application, in step S10, the pose of the first calibration member 130 relative to the second calibration member 210 is constrained to a preset pose, which means that the first calibration member 130 and the second calibration member 210 are relatively fixed, and in this case, the relative pose of the first calibration member 130 and the second calibration member 210 is a fixed and known value. For example, the relative pose of the first calibration member 130 and the second calibration member 210 in the preset pose may be obtained according to the size and the mating relationship of the two, so that the second mapping relationship between the first calibration member 130 and the second calibration member 210 in this case may be obtained.
Specifically, the first calibration member 130 and the second calibration member 210 have a second mapping relationship, the second calibration member 210 and the workbench 200 have a third mapping relationship, and the relative pose of the first calibration member 130 and the workbench 200 can be solved through the second mapping relationship and the third mapping relationship.
Further, in step S20, a first mapping relationship between the coordinate system of the first calibration piece 130 and the coordinate system of the base 110 is obtained. When the first calibration member 130 is moved under the driving of the mechanical arm 120, the position and the posture of the first calibration member 130 relative to the base 110 can be obtained in real time according to the rotation angle of each joint 121 and the size of each arm 122, so that the first mapping relationship between the coordinate system of the first calibration member 130 and the coordinate system of the base 110 can be obtained in real time.
In step S30, the step of determining the target mapping relationship between the coordinate system of the workbench and the coordinate system of the base according to the first mapping relationship, the second preset mapping relationship and the third preset mapping relationship includes:
determining a mapping relation between the coordinate system of the second calibration piece 210 and the coordinate system of the base 110 according to the first mapping relation and the second preset mapping relation; and determining the target mapping relationship between the coordinate system of the workbench 200 and the coordinate system of the base 110 according to the mapping relationship between the coordinate system of the second calibration piece 210 and the coordinate system of the base 110 and the third preset mapping relationship between the coordinate system of the second calibration piece 210 and the coordinate system of the workbench 200.
It can be appreciated that, since the workpiece 220 is disposed at a preset position on the table 200, when determining the target mapping relationship between the coordinate system of the table 200 and the coordinate system of the base 110, the relative pose of the workpiece 220 with respect to the coordinate system of the base 110 can be converted according to the relative pose of the workpiece 220 with respect to the coordinate system of the table 200.
In this embodiment, as described above, the second calibration member 210 includes the calibration hole 211 with an inner contour matching with an outer contour of the first calibration member 130, and in step S10, the step of controlling the mechanical arm to drive the first calibration member to cooperate with the second calibration member provided on the workbench so that the pose of the first calibration member relative to the second calibration member is constrained to a preset pose includes:
The control mechanical arm 120 drives the first calibration member 130 to insert into the calibration hole 211, so that the position of the first calibration member 130 relative to the second calibration member 210 is constrained to a preset position by the mechanical arm 120 and the calibration hole 211.
It will be appreciated that the first calibration member 130 has six degrees of freedom of movement in its own coordinate system, including rotation about the X-axis, rotation about the Y-axis, rotation about the Z-axis, and movement along the X-axis, movement along the Y-axis, and movement along the Z-axis, which are limited by the second calibration member 210 when the first calibration member 130 is inserted into the calibration hole 211, such that the pose of the first calibration member 130 relative to the second calibration member 210 is constrained to a predetermined pose and cannot move relative to the second calibration member 210. It should be appreciated that in some application scenarios, if only the pose relationship of the table with respect to the robot base in a partial degree of freedom needs to be accurately acquired, the first calibration member 130 and the second calibration member 210 may be made to cooperate to define only these required degrees of freedom, and be controlled by the mechanical arm 120 itself to limit the movement of the first calibration member 130 in the remaining degrees of freedom.
As an example, as described above, the protrusion 131 may be formed at the side of the first index member 130 in the insertion direction, and the orifice edge of the index hole 211 may be formed with the catching groove 212 communicating with the index hole 211 and extending in the hole depth direction, such that when the first index member 130 is inserted into the index hole 211 and the protrusion 131 is inserted into the catching groove 212, the first index member 130 cannot rotate about the X, Y, and Z axes of the first index member 130 with respect to the second index member 210, and the movement of the first index member 130 in the X and Y directions thereof is also restricted by the second index member 210, and the movement of the first index member 130 in the Z direction thereof is commonly restricted by the robot arm 120 and the second index member 210. Of course, the present application is not limited thereto, and other types of structures are possible, as long as the six degrees of freedom of the first calibration member 130 can be constrained, so that the pose of the first calibration member 130 relative to the second calibration member 210 is constrained to a preset pose.
Fig. 4 is a schematic flow chart of a calibration method for calibrating relative pose of a robot and a workbench according to an embodiment of the present application, in which a mechanical arm drives a first calibration member to insert into a calibration hole.
Referring to fig. 4, illustratively, when the first calibration member is provided with a protruding portion and the calibration hole is provided with a positioning slot, in step S10, the step of controlling the mechanical arm to drive the first calibration member to cooperate with the second calibration member provided on the workbench so that the pose of the first calibration member relative to the second calibration member is constrained to a preset pose includes:
s101, controlling a mechanical arm to drive a first calibration piece to move until the free end of the first calibration piece is positioned in the opening range of a calibration hole;
s102, controlling the mechanical arm to adjust the pose of the first calibration piece until the Z-axis direction of the first calibration piece coincides with the axis of the calibration hole, and controlling the mechanical arm to drive the first calibration piece to be partially inserted into the calibration hole;
s103, controlling the mechanical arm to drive the first calibration piece to rotate around the Z-axis direction of the first calibration piece until the protruding part of the first calibration piece rotates to be aligned with the clamping groove;
s104, the control mechanical arm drives the first calibration piece to be inserted into the bottom of the calibration hole along the depth direction of the hole.
In the above process, the first calibration member 130 can be inserted into the calibration hole 211, and the protrusion 131 of the first calibration member 130 is embedded in the clamping groove 212 after the insertion, so that the mechanical arm 120 and the second calibration member 210 can be constrained together by six degrees of freedom of the first calibration member 130, and the first calibration member 130 can be in a preset position relative to the second calibration member 210.
Fig. 5 is a schematic flow chart of rotating the protruding part to align with the clamping groove in the relative pose calibration method of the robot and the workbench according to an embodiment of the invention.
Further, referring to fig. 5, in steps S102 and S103, the step of controlling the mechanical arm to drive the first calibration member to be partially inserted into the calibration hole and controlling the mechanical arm to drive the first calibration member to rotate around the Z-axis direction of the first calibration member until the protruding portion of the first calibration member rotates to be aligned with the positioning slot includes:
s1031, controlling the mechanical arm to drive the first calibration piece to be inserted into the calibration hole, and enabling the protruding part to be abutted to the guide surface;
s1032, acquiring a first torque applied by the guide surface to the protruding part along the Z-axis direction of the first calibration piece;
s1033, based on the first torque, admittance control is conducted on the first calibration piece in the Z-axis direction until the first torque reaches a first preset torque range.
It will be appreciated that when the first torque reaches the first preset torque range, the guide surface 213 of the calibration hole 211 may no longer apply a torque along the Z axis to the protrusion 131 of the first calibration member 130, and the protrusion 131 is determined to enter the detent groove 212.
In step S1033, since the protrusion 131 applies the first torque along the Z-axis direction to the first calibration member 130, the rotation of the first calibration member 130 about the Z-axis direction can be controlled by admittance control using the first torque as the input.
Optionally, in step S1033, the mechanical arm 120 may be controlled to drive the first calibration member 130 to reciprocate around the Z-axis direction until the first torque reaches the first preset torque range.
In particular, when the guide surface 213 contacts with the protrusion 131, the first calibration member 130 may only perform a reciprocating rotation around the Z axis, and during the reciprocating rotation, if the robot 100 detects that the torque is greater than a certain preset threshold, this means that the first calibration member 130 and the second calibration member 210 are pressed in contact with each other in the current rotation direction, the rotation track is immediately reversed, and so on until the first torque reaches the first preset torque range.
Fig. 6 is a schematic flow chart of a step of controlling the mechanical arm to drive the first calibration member to move until the free end of the first calibration member is located within the opening range of the calibration hole.
In this embodiment, referring to fig. 6, in step S101, the step of controlling the mechanical arm to drive the first calibration member to move until the free end of the first calibration member is located within the opening range of the calibration hole includes:
s1011, controlling the mechanical arm to drive the first calibration piece to move until the free end of the first calibration piece contacts with the guide surface;
s1012, controlling the mechanical arm to drive the first calibration piece to slide along the guide surface until the free end of the first calibration piece is positioned in the opening range of the calibration hole.
For step S1011, the control mechanical arm 120 drives the first calibration member 130 to move until the free end of the first calibration member 130 contacts the guide surface 213, and in specific implementation, the relative pose of the second calibration member 210 and the base 110 may be initially obtained by using a camera capturing method, etc., the control robot 100 (the base 110) is controlled to move until the first calibration member 130 is located near the second calibration member 210, and the control mechanical arm 120 drives the first calibration member 130 to move along the Z-axis direction of the first calibration member 130 until the force and moment sensor detects that the reaction force is greater than the preset third preset force threshold, and at this time, the free end of the first calibration member 130 contacts the guide surface 213. Of course, in order to ensure that the free end of the first calibration member 130 can contact the guide surface 213, it is necessary to make the length of the guide surface 213 along the radial direction of the calibration hole 211 larger than the positional accuracy deviation of the base 110 with respect to the table 200.
For step S1012, the step of controlling the mechanical arm to drive the first calibration member to slide along the guide surface until the free end of the first calibration member is located within the opening range of the calibration hole specifically includes:
acquiring a first acting force applied to the free end of the first calibration piece along the X axis of the first calibration piece and a second acting force applied to the free end of the first calibration piece along the Y axis of the first calibration piece;
And controlling admittance of the first calibration piece in the X-axis direction and the Y-axis direction based on the first acting force and the second acting force until the first acting force and the second acting force are lower than a first acting force threshold value. Here, the first force threshold value may be a small value, for example.
In particular, when the mechanical arm 120 is controlled to always apply a stable force along the Z-axis direction of the first calibration member 130 to the first calibration member 130, the first calibration member 130 receives a first force and a second force applied by the guide surface 213 along the X-axis direction and the Y-axis direction, and the first force and the second force are used as input amounts to perform admittance control, so that the mechanical arm 120 can be controlled to move in the XY plane until both the first force and the second force are lower than a first force threshold, and the first calibration member 130 can slide down along the inclined plane of the guide surface 213 until the free end of the first calibration member 130 is located within the opening range of the calibration hole 211.
In this embodiment, in step S102, the step of controlling the mechanical arm to adjust the pose of the first calibration member to the position where the Z-axis direction of the first calibration member coincides with the axis of the calibration hole includes:
acquiring a second torque applied to the free end of the first calibration piece along the X-axis direction of the first calibration piece and a third torque applied to the free end of the first calibration piece along the Y-axis direction of the first calibration piece; and based on the second torque and the third torque, controlling the mechanical arm to drive the first calibration piece to swing reciprocally around the X-axis direction and swing reciprocally around the Y-axis direction in sequence until the second torque reaches a second preset torque range and the third torque reaches a third preset torque range.
In particular, when the free end of the first calibration member 130 is located within the opening range of the calibration hole 211, the first calibration member 130 is reciprocated around the X-axis direction and around the Y-axis direction, i.e., a trajectory in which a specific search strategy is performed around the X-axis and around the Y-axis direction, such reciprocation including, but not limited to, a spiral rotation, a sequential reciprocation, etc. In the embodiment of the present application, the reciprocating swing may be a sequential reciprocating swing track. In other words, the first calibration member 130 swings back and forth around the X-axis and the Y-axis in sequence, and of course, the swing angle is larger than the maximum pose deviation of the base 110.
During the above-mentioned reciprocating swing, for example, when the robot 100 swings around the X-axis direction, if the torque detected by the robot 100 is greater than the preset threshold, this means that the first calibration member 130 and the second calibration member 210 contact-squeeze in the current swing direction, and the swing track is vertically reversed, so that the above-mentioned steps are repeated until the swing around the X-axis direction and the swing around the Y-axis direction are performed, and finally, the free end of the first calibration member 130 can be successfully inserted into the calibration hole 211. Of course, at this time, since the protrusion 131 is caught on the guide surface 213, only a part of the first calibration member 130 is inserted into the calibration hole 211.
In this embodiment, in step S101, the step of controlling the mechanical arm to drive the first calibration member to move until the free end of the first calibration member is located within the opening range of the calibration hole further includes;
And acquiring the acting force born by the free end of the first calibration piece, and if the acting force is smaller than the second acting force threshold value, controlling the mechanical arm to drive the first calibration piece to be inserted into the calibration hole along the depth direction of the hole. The second force threshold may be, for example, a small value close to 0.
This situation corresponds to the situation that the positioning of the base 110 is error-free, that is, when the mechanical arm 120 drives the first calibration member 130 to move above the second calibration member 210, the first calibration member 130 moves downward along the Z-axis direction of itself, and can be perfectly inserted into the calibration hole 211 of the second calibration member 210.
If the applied force is greater than the second applied force threshold, the steps of S102-S104 described above may be continued.
Fig. 7 is a schematic diagram of a first calibration member in a relative pose calibration method of a robot and a table according to an embodiment of the present application in a first state with respect to a second calibration member, fig. 8 is a schematic diagram of a first calibration member in a relative pose calibration method of a robot and a table according to an embodiment of the present application in a second state with respect to a second calibration member, fig. 9 is a schematic diagram of a first calibration member in a relative pose calibration method of a robot and a table according to an embodiment of the present application in a third state with respect to a second calibration member, and fig. 10 is a schematic diagram of a first calibration member in a relative pose calibration method of a robot and a table according to an embodiment of the present application in a fourth state with respect to a second calibration member.
The following details a specific example of the steps for making the mechanical arm drive the first calibration member to cooperate with the second calibration member provided on the workbench, where the steps include:
step one: the control mechanical arm 120 drives the first calibration member 130 to move towards the second calibration member 210, obtains the acting force applied to the free end of the first calibration member 130, and if the acting force is smaller than the second acting force threshold, the control mechanical arm 120 drives the first calibration member 130 to insert into the calibration hole 211 along the hole depth direction. And if the acting force is larger than the second acting force threshold value, executing the second step.
Step two: the control mechanical arm 120 drives the first calibration member 130 to move along the Z axis of the first calibration member 130 until the force applied to the free end of the first calibration member 130 is greater than the preset third preset force threshold, at which time the free end of the first calibration member 130 contacts the guide surface 213, as shown in the first state of fig. 7.
Step three: the mechanical arm 120 can be controlled to always apply a stable force along the Z-axis direction of the first calibration member 130 to the first calibration member 130, the first calibration member 130 is subjected to a first force and a second force applied by the guide plate along the X-axis direction and the Y-axis direction, and admittance control is performed by using the first force and the second force as input amounts, so that the movement of the mechanical arm 120 in the XY plane can be controlled until both the first force and the second force are lower than a first force threshold, and the first calibration member 130 can be slid down along the inclined plane of the guide surface 213 until the free end of the first calibration member 130 is located within the opening range of the calibration hole 211, as in the second state of fig. 8.
Step four: when the free end of the first calibration member 130 is located within the opening range of the calibration hole 211, the first calibration member 130 is reciprocated around the X-axis direction and around the Y-axis direction, i.e., a trajectory in which a specific search strategy is performed in the RX and RY directions, such reciprocation including, but not limited to, a spiral rotation, a sequential reciprocation, etc. In this step, the reciprocating swing includes a sequentially reciprocating swing trajectory. In other words, the first calibration member 130 swings back and forth around the X-axis and the Y-axis in sequence, and of course, the swing angle is larger than the maximum pose deviation of the base 110.
During the above-mentioned reciprocating swing, for example, when the force and moment sensor detects that the torque is greater than another preset threshold, this means that the first calibration member 130 is pressed against the second calibration member 210 in the current swing direction, and the swing track is reversed vertically, so repeatedly until the swing in the X-direction and the swing in the Y-direction are performed, the free end of the first calibration member 130 can be successfully inserted into the calibration hole 211. Of course, at this time, since the protrusion 131 is caught on the guide surface 213, only a part of the first calibration member 130 is inserted into the calibration hole 211. As shown in the third state of fig. 9.
Step five: in the third state, since the protrusion 131 applies a first torque along the Z-axis direction to the first calibration member 130, and the first torque is used as an input amount, the rotation of the first calibration member 130 about the Z-axis direction can be controlled by admittance control until the protrusion 131 is aligned with the detent groove 212 and enters the detent groove 212, as shown in state four of fig. 10.
Alternatively, a reciprocating rotation strategy similar to step three may be considered in rotation about the Z axis. In particular, when the guide surface 213 contacts with the protrusion 131, the first calibration member 130 may be made to perform a reciprocating rotation only around the Z axis direction, and in the process of the reciprocating rotation, if the robot 100 detects that the torque is greater than a certain preset threshold, this means that the first calibration member 130 and the second calibration member 210 are pressed in contact with each other in the current swing direction, and the swing track is reversed immediately, so that the process is repeated until the first torque reaches the first preset torque range. At this time, the projection 131 and the click groove 212 are aligned and enter into the click groove 212 as shown in state four of fig. 10.
After the first calibration member 130 is successfully inserted into the calibration hole 211 of the second calibration member 210, in the case that the coordinate system of the first calibration member 130, the coordinate system of the second calibration member 210, and the coordinate system of the table 200 coincide, the pose of the first calibration member 130 in the coordinate system of the base 110 is the pose of the table 200 with respect to the base 110, and thus, the relative pose of the robot 100 and the table 200 is determined.
Fig. 11 is a block diagram of a robot 100 according to an embodiment of the present application.
With reference to fig. 1, 2, and 11, some embodiments of the present application provide a robot and table relative pose calibration system 300, the system comprising:
the robot 100 comprises a base 110 and a mechanical arm 120 connected to the base 110, wherein a first calibration piece 130 is arranged on the mechanical arm 120;
a workbench 200, wherein a second calibration piece 210 is arranged on the workbench 200; and
the processor 310 is configured to control the mechanical arm 120 to drive the first calibration piece 130 to cooperate with the second calibration piece 210, so that the pose of the first calibration piece 130 relative to the second calibration piece 210 is constrained to a preset pose;
acquiring a first mapping relation between the coordinate system of the first calibration piece 130 and the coordinate system of the base 110;
determining a target mapping relationship between the coordinate system of the workbench 200 and the coordinate system of the base 110 according to the first mapping relationship, the second preset mapping relationship and the third preset mapping relationship;
the second preset mapping relationship is a mapping relationship between the coordinate system of the first calibration member 130 and the coordinate system of the second calibration member 210 when the first calibration member 130 is in the preset pose, and the third preset mapping relationship is a mapping relationship between the coordinate system of the second calibration member 210 and the coordinate system of the workbench 200.
Further, the second calibration member 210 includes a calibration hole 211 having an inner contour matching an outer contour of the first calibration member 130.
Further, the processor 310 is specifically configured to control the mechanical arm 120 to drive the first calibration member 130 to insert into the calibration hole 211, so that the pose of the first calibration member 130 relative to the second calibration member 210 is constrained to a preset pose by the mechanical arm 120 and the calibration hole 211.
In this embodiment, optionally, the side of the first calibration member 130 along the insertion direction configures the protrusion 131, and the orifice edge of the calibration hole 211 is configured with a detent 212 that communicates with the calibration hole 211 and extends along the hole depth direction.
Further, the processor 310 is specifically further configured to: the control mechanical arm 120 drives the first calibration piece 130 to move until the free end of the first calibration piece 130 is located within the opening range of the calibration hole 211;
the control mechanical arm 120 adjusts the pose of the first calibration piece 130 to the state that the Z-axis direction of the first calibration piece 130 coincides with the axis of the calibration hole 211, and controls the mechanical arm 120 to drive the first calibration piece 130 to be partially inserted into the calibration hole 211;
the control mechanical arm 120 drives the first calibration piece 130 to rotate around the Z direction of the first calibration piece 130 until the bulge 131 of the first calibration piece 130 rotates to be aligned with the clamping groove 212;
The control mechanical arm 120 drives the first calibration member 130 to insert into the bottom of the calibration hole 211 along the hole depth direction.
Further, the orifice edge of the calibration hole 211 is also configured with a guide surface 213.
Further, the processor 310 is specifically further configured to:
the control mechanical arm 120 drives the first calibration piece 130 to be inserted into the calibration hole 211, and enables the protruding part 131 to be abutted to the guide surface 213;
acquiring a first torque applied by the guide surface 213 to the protrusion 131 in the Z-axis direction of the first calibration member 130;
admittance control is performed on the first calibration member 130 in the Z-axis direction based on the first torque until the first torque reaches a first preset torque range; or the mechanical arm 120 is controlled to drive the first calibration member 130 to reciprocally rotate around the Z-axis direction until the first torque reaches the first preset torque range.
Further, the processor 310 is specifically further configured to: the control mechanical arm 120 drives the first calibration piece 130 to move until the free end of the first calibration piece 130 contacts the guide surface 213; the control mechanical arm 120 drives the first calibration member 130 to slide along the guide surface 213 until the free end of the first calibration member 130 is located within the opening range of the calibration hole 211.
Further, the processor 310 is specifically further configured to: acquiring a first acting force applied to the free end of the first calibration member 130 along the X axis of the first calibration member 130 and a second acting force applied to the free end of the first calibration member 130 along the Y axis of the first calibration member 130;
The first calibration member 130 is admittance controlled in the X-axis direction and the Y-axis direction based on the first force and the second force until both the first force and the second force are below the first force threshold.
Further, the processor 310 is specifically further configured to obtain a second torque along the X-axis direction of the first calibration member 130 and a third torque along the Y-axis direction of the first calibration member 130, which are received by the free end of the first calibration member 130;
based on the second torque and the third torque, the control mechanical arm 120 drives the first calibration member 130 to swing reciprocally around the X-axis direction and swing reciprocally around the Y-axis direction in sequence until the second torque reaches the second preset torque range and the third torque reaches the third preset torque range.
Further, the processor 310 is further configured to: acquiring the acting force applied to the free end of the first calibration member 130;
if the acting force is smaller than the second acting force threshold, the control mechanical arm 120 drives the first calibration member 130 to insert into the calibration hole 211 along the hole depth direction.
Further, the processor 310 is specifically further configured to: determining a mapping relation between the coordinate system of the second calibration piece 210 and the coordinate system of the base 110 according to the first mapping relation and the second preset mapping relation;
According to the mapping relation between the coordinate system of the second calibration piece 210 and the coordinate system of the base 110 and the third preset mapping relation, the target mapping relation between the coordinate system of the workbench 200 and the coordinate system of the base 110 is determined.
In a third aspect, some embodiments of the present application provide a robot 100, including a memory and a processor 310, where the memory stores a computer program, and the processor 310 implements steps of a method for calibrating a relative pose of the robot and a workbench when executing the computer program, and implementation principles and technical effects are similar, and are not repeated herein.
In a fourth aspect, some embodiments of the present application provide a computer readable storage medium, on which a computer program is stored, where the computer program when executed by the processor 310 implements the steps of the aforementioned relative pose calibration method of the robot and the workbench, and the implementation principle and technical effects are similar, and are not repeated herein.
In a fifth aspect, some embodiments of the present application provide a computer program product, which includes a computer program, where the computer program when executed by a processor implements the steps of the aforementioned method for calibrating the relative pose of a robot and a workbench, and the implementation principle and technical effects are similar, and are not repeated herein.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims (16)

1. The utility model provides a relative position appearance calibration method of robot and workstation, its characterized in that, the robot includes the base and connect to the arm on the base, be equipped with first calibration piece on the arm, the method includes:
controlling the mechanical arm to drive the first calibration piece to be matched with a second calibration piece arranged on the workbench, so that the position of the first calibration piece relative to the second calibration piece is restrained to a preset position;
Acquiring a first mapping relation between the coordinate system of the first calibration piece and the coordinate system of the base;
determining a target mapping relation between the coordinate system of the workbench and the coordinate system of the base according to the first mapping relation, the second preset mapping relation and the third preset mapping relation;
the second preset mapping relationship is a mapping relationship between the coordinate system of the first calibration member and the coordinate system of the second calibration member when the first calibration member is in the preset pose, and the third preset mapping relationship is a mapping relationship between the coordinate system of the second calibration member and the coordinate system of the workbench.
2. The method for calibrating the relative pose of a robot and a workbench according to claim 1, wherein the second calibration member comprises a calibration hole with an inner contour matched with an outer contour of the first calibration member, and the step of controlling the mechanical arm to drive the first calibration member to cooperate with the second calibration member arranged on the workbench so that the pose of the first calibration member relative to the second calibration member is constrained to a preset pose comprises:
and controlling the mechanical arm to drive the first calibration piece to be inserted into the calibration hole, so that the pose of the first calibration piece relative to the second calibration piece is constrained to the preset pose by the mechanical arm and the calibration hole.
3. The robot-table relative pose calibration method according to claim 2, wherein the first calibration member is configured with a projection on a side surface in the insertion direction, and a hole edge of the calibration hole is configured with a clamping groove communicating with the calibration hole and extending in the hole depth direction.
4. A method for calibrating a relative pose of a robot and a table according to claim 3, wherein the step of controlling the mechanical arm to drive the first calibration member to cooperate with a second calibration member provided on the table so that the pose of the first calibration member relative to the second calibration member is constrained to a preset pose comprises:
controlling the mechanical arm to drive the first calibration piece to move until the free end of the first calibration piece is positioned in the opening range of the calibration hole;
controlling the mechanical arm to adjust the pose of the first calibration piece to the position that the Z-axis direction of the first calibration piece coincides with the axis of the calibration hole, and controlling the mechanical arm to drive the first calibration piece to be partially inserted into the calibration hole;
controlling the mechanical arm to drive the first calibration piece to rotate around the Z-axis direction of the first calibration piece until the protruding part of the first calibration piece rotates to be aligned with the clamping groove;
And controlling the mechanical arm to drive the first calibration piece to be inserted into the bottom of the calibration hole along the depth direction of the hole.
5. The method of calibrating a relative pose of a robot and a table according to claim 4, wherein the aperture edge of the calibration hole is further configured with a guide surface.
6. The method of calibrating a relative pose of a robot and a table according to claim 5, wherein the step of controlling the mechanical arm to drive the first calibration member to be partially inserted into the calibration hole and controlling the mechanical arm to drive the first calibration member to rotate around the Z-axis direction of the first calibration member until the protrusion of the first calibration member rotates to be aligned with the detent groove comprises:
controlling the mechanical arm to drive the first calibration piece to be inserted into the calibration hole, and enabling the protruding part to be abutted to the guide surface;
acquiring a first torque applied by the guide surface to the protruding part along the Z-axis direction of the first calibration piece;
based on the first torque, admittance control is carried out on the first calibration piece in the Z-axis direction until the first torque reaches a first preset torque range; or controlling the mechanical arm to drive the first calibration piece to reciprocally rotate around the Z-axis direction until the first torque reaches a first preset torque range.
7. The method of calibrating a relative pose of a robot and a table according to claim 4, wherein the step of controlling the mechanical arm to drive the first calibration member to move until a free end of the first calibration member is located within an opening range of the calibration hole comprises:
controlling the mechanical arm to drive the first calibration piece to move until the free end of the first calibration piece contacts with the guide surface;
and controlling the mechanical arm to drive the first calibration piece to slide along the guide surface until the free end part of the first calibration piece is positioned in the opening range of the calibration hole.
8. The method for calibrating relative pose of robot and workbench according to claim 7, wherein,
the step of controlling the mechanical arm to drive the first calibration piece to slide along the guide surface until the free end of the first calibration piece is positioned in the opening range of the calibration hole comprises the following steps:
acquiring a first acting force applied to the free end part of the first calibration piece along the X axis of the first calibration piece and a second acting force applied to the free end part of the first calibration piece along the Y axis of the first calibration piece;
and controlling admittance of the first calibration piece in the X-axis direction and the Y-axis direction based on the first acting force and the second acting force until the first acting force and the second acting force are lower than a first acting force threshold value.
9. The method of calibrating a pose of a robot and a table according to claim 4, wherein the step of controlling the mechanical arm to adjust the pose of the first calibration member to a position where the Z-axis direction of the first calibration member coincides with the axis of the calibration hole comprises:
acquiring a second torque applied to the free end of the first calibration member along the X-axis direction of the first calibration member and a third torque applied to the free end of the first calibration member along the Y-axis direction of the first calibration member;
and controlling the mechanical arm to drive the first calibration piece to swing reciprocally around the X-axis direction and swing reciprocally around the Y-axis direction in sequence based on the second torque and the third torque until the second torque reaches a second preset torque range and the third torque reaches a third preset torque range.
10. The method of calibrating a relative pose of a robot and a table according to any of claims 4-9, further comprising, after the step of controlling the mechanical arm to drive the first calibration piece to move to a position where the free end of the first calibration piece is within the opening range of the calibration hole;
acquiring acting force applied to the free end of the first calibration piece;
And if the acting force is smaller than a second acting force threshold value, controlling the mechanical arm to drive the first calibration piece to be inserted into the calibration hole along the depth direction of the hole.
11. The utility model provides a relative position appearance calibration system of robot and workstation which characterized in that includes:
the robot comprises a base and a mechanical arm connected to the base, wherein a first calibration piece is arranged on the mechanical arm;
the workbench is provided with a second calibration piece; and
the processor is used for controlling the mechanical arm to drive the first calibration piece to be matched with the second calibration piece so as to enable the pose of the first calibration piece relative to the second calibration piece to be restrained to a preset pose;
acquiring a first mapping relation between the coordinate system of the first calibration piece and the coordinate system of the base;
determining a target mapping relation between the coordinate system of the workbench and the coordinate system of the base according to the first mapping relation, the second preset mapping relation and the third preset mapping relation;
the second preset mapping relationship is a mapping relationship between the coordinate system of the first calibration member and the coordinate system of the second calibration member when the first calibration member is in the preset pose, and the third preset mapping relationship is a mapping relationship between the coordinate system of the second calibration member and the coordinate system of the workbench.
12. The robot and table relative pose calibration system according to claim 11, wherein said second calibration member comprises a calibration hole having an inner contour matching an outer contour of said first calibration member.
13. The robot-to-table relative pose calibration system according to claim 12, wherein the first calibration member is configured with a projection on a side surface in the insertion direction, and the orifice edge of the calibration hole is configured with a detent groove communicating with the calibration hole and extending in the hole depth direction.
14. The robot and table relative pose calibration system according to claim 12, wherein the aperture edge of the calibration aperture is further configured with a guide surface.
15. A robot comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, performs the steps of the robot-to-table pose calibration method according to any of claims 1 to 10.
16. A computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor performs the steps of the robot-to-table pose calibration method according to any of claims 1 to 10.
CN202310266219.5A 2023-03-17 2023-03-17 Relative pose calibration method and system of robot and workbench and robot Pending CN116276910A (en)

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CN117066843A (en) * 2023-10-08 2023-11-17 荣耀终端有限公司 Method and apparatus for assembling product components

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117066843A (en) * 2023-10-08 2023-11-17 荣耀终端有限公司 Method and apparatus for assembling product components
CN117066843B (en) * 2023-10-08 2024-05-10 荣耀终端有限公司 Method and apparatus for assembling product components

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