CN116638518A - Positioning accuracy compensation method and device, electronic equipment and storage medium - Google Patents
Positioning accuracy compensation method and device, electronic equipment and storage medium Download PDFInfo
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- CN116638518A CN116638518A CN202310667935.4A CN202310667935A CN116638518A CN 116638518 A CN116638518 A CN 116638518A CN 202310667935 A CN202310667935 A CN 202310667935A CN 116638518 A CN116638518 A CN 116638518A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- 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
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- 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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Abstract
The invention discloses a positioning accuracy compensation method, a positioning accuracy compensation device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a connecting rod deformation parameter of a mechanical arm; correcting DH parameters of the mechanical arm based on the connecting rod deformation parameters of the mechanical arm to obtain corrected DH parameters; and transmitting the corrected DH parameters to a controller of the mechanical arm so as to finish the positioning accuracy compensation of the mechanical arm. Compared with the prior art, the technical scheme considers the connecting rod deformation of the mechanical arm, corrects the DH parameter of the mechanical arm according to the connecting rod deformation parameter of the mechanical arm, reduces the influence of the connecting rod deformation on the positioning precision of the mechanical arm, and accordingly improves the positioning precision of the mechanical arm.
Description
Technical Field
The present invention relates to the field of mechanical arm positioning technologies, and in particular, to a positioning accuracy compensation method, a positioning accuracy compensation device, an electronic device, and a storage medium.
Background
The absolute positioning accuracy of the robot is an important index for evaluating the performance of the mechanical arm and is mainly subjected to combined action of geometric errors such as machining errors, assembly errors, part wear and the like and non-geometric errors.
The existing method for improving the absolute positioning accuracy generally adopts a parameter calibration method, namely, the actual kinematic parameters of the robot are identified through an advanced measurement technology, and the parameters in the controller are corrected or some control algorithms are added to improve the absolute positioning accuracy. With the continuous development of vision technology, a vision closed-loop calibration method is generally adopted when the parameters of the mechanical arm are calibrated, such as a three-coordinate instrument or a laser tracker.
The error model constructed by calibrating through the visual technology is a geometric error model, but in the processes of heavy load assembly, carrying and the like, non-geometric factors (joints, connecting rod deformation and the like) play a leading role on the terminal precision, and the problem of low positioning precision exists only by calibrating the geometric parameters.
Disclosure of Invention
The invention provides a positioning precision compensation method, a positioning precision compensation device, electronic equipment and a storage medium, so as to improve the positioning precision of a mechanical arm.
According to an aspect of the present invention, there is provided a positioning accuracy compensation method including:
acquiring a connecting rod deformation parameter of a mechanical arm;
correcting DH parameters of the mechanical arm based on the connecting rod deformation parameters of the mechanical arm to obtain corrected DH parameters;
and transmitting the corrected DH parameters to a controller of the mechanical arm so as to finish the positioning accuracy compensation of the mechanical arm.
According to another aspect of the present invention, there is provided a positioning accuracy compensating apparatus including:
the deformation parameter acquisition module is used for acquiring the deformation parameters of the connecting rod of the mechanical arm;
the DH parameter correction module is used for correcting the DH parameter of the mechanical arm based on the connecting rod deformation parameter of the mechanical arm to obtain a corrected DH parameter;
and the correction parameter transmission module is used for transmitting the corrected DH parameters to the controller of the mechanical arm so as to finish the positioning accuracy compensation of the mechanical arm.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor;
and a memory communicatively coupled to the at least one processor;
wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the positioning accuracy compensation method according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the positioning accuracy compensation method according to any one of the embodiments of the present invention when executed.
According to the technical scheme, the mechanical arm DH parameters are corrected by acquiring the connecting rod deformation parameters of the mechanical arm and further based on the connecting rod deformation parameters of the mechanical arm, corrected DH parameters are obtained, and the corrected DH parameters are transmitted to the controller of the mechanical arm so as to finish the positioning accuracy compensation of the mechanical arm.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a positioning accuracy compensation method according to a first embodiment of the present invention;
FIG. 2 is a flowchart of a positioning accuracy compensation method according to a second embodiment of the present invention;
FIG. 3 is a schematic cross-sectional view of a link for a mechanical arm according to a second embodiment of the present invention;
FIG. 4 is a flowchart of a positioning accuracy compensation method according to a third embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a positioning accuracy compensating device according to a fourth embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device implementing a positioning accuracy compensation method according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a positioning accuracy compensation method according to an embodiment of the present invention, where the method may be performed by a positioning accuracy compensation device in real time during a movement process of a mechanical arm, and the positioning accuracy compensation device may be implemented in hardware and/or software, for example, the positioning accuracy compensation device may be configured in an upper computer. As shown in fig. 1, the method includes:
s110, acquiring a connecting rod deformation parameter of the mechanical arm.
In this embodiment, the mechanical arm may be used in a scenario of large load assembly, handling, etc., where the connecting rod portion of the mechanical arm may be deformed, thereby affecting the positioning accuracy of the mechanical arm. In order to improve the positioning accuracy of the mechanical arm, the embodiment considers the connecting rod deformation parameters of the mechanical arm, corrects the DH parameters of the mechanical arm through the connecting rod deformation parameters of the mechanical arm, enables the DH parameters to be more accurate, and further improves the positioning accuracy of the mechanical arm. Wherein, the connecting rod deformation parameter can be used for representing the arm connecting rod deformation size.
By way of example, whether the connecting rod is deformed or not can be detected by a sensor arranged in the mechanical arm, and the connecting rod deformation parameters of the mechanical arm are acquired.
S120, correcting the DH parameters of the mechanical arm based on the connecting rod deformation parameters of the mechanical arm to obtain corrected DH parameters.
The DH parameter of the mechanical arm can be a pre-calibrated known constant, and the position movement of the mechanical arm can be realized through the DH parameter. The DH parameters of the robotic arm may include, but are not limited to, link length, adjacent torsion angle, link offset, and joint angle.
For example, the deformation parameters of the connecting rod of the mechanical arm can be substituted into a pre-configured parameter correction model, so that correction of DH parameters of the mechanical arm is realized, and accuracy of the DH parameters is improved.
And S130, transmitting the corrected DH parameters to a controller of the mechanical arm so as to finish the positioning accuracy compensation of the mechanical arm.
In this embodiment, after obtaining the corrected DH parameter, the upper computer may transmit the corrected DH parameter to the controller of the mechanical arm, where the controller may compensate the positioning accuracy of the mechanical arm according to the corrected DH parameter, so as to reduce the influence of the deformation of the connecting rod on the absolute positioning accuracy performance of the mechanical arm.
According to the technical scheme, the mechanical arm DH parameters are corrected by acquiring the connecting rod deformation parameters of the mechanical arm and further based on the connecting rod deformation parameters of the mechanical arm, corrected DH parameters are obtained, and the corrected DH parameters are transmitted to the controller of the mechanical arm so as to finish the positioning accuracy compensation of the mechanical arm.
Example two
Fig. 2 is a flowchart of a positioning accuracy compensation method according to a second embodiment of the present invention, where the method according to the present embodiment may be combined with each of the alternatives in the positioning accuracy compensation method provided in the foregoing embodiment. The positioning accuracy compensation method provided by the embodiment is further optimized. Optionally, the acquiring the link deformation parameter of the mechanical arm includes: the method comprises the steps of obtaining the deformation parameters of a connecting rod of the mechanical arm through an optical fiber Bragg grating sensor, wherein the optical fiber Bragg grating sensor comprises a plurality of optical fiber components, and the optical fiber components are symmetrically buried in the connecting rod of the mechanical arm at equal intervals.
As shown in fig. 2, the method includes:
s210, acquiring a connecting rod deformation parameter of the mechanical arm through an optical fiber Bragg grating sensor, wherein the optical fiber Bragg grating sensor comprises a plurality of optical fiber components, and the optical fiber components are symmetrically embedded in the connecting rod of the mechanical arm at equal intervals.
In this embodiment, the mechanical arm is a serial mechanical arm, where the serial mechanical arm includes a joint and a link, the joint is used to connect two adjacent links, and the joint includes a rotational joint and a movement joint. The fiber bragg grating (Fiber Bragg Grating, FBG) sensor may be a buried FBG strain sensor with measurement accuracy on the micro-nano scale.
It should be noted that, the embedded installation sensor does not cause redundancy of external cables, optical fiber components in the fiber bragg grating sensor can be connected in series so as to facilitate wiring and installation in the serial mechanical ratio arm, and the optical fiber components are light in weight, so that influence on parameters such as mass center of mass of the connecting rod can be reduced. In addition, the FBG sensor has the characteristic of electromagnetic interference resistance, and can effectively shield the influence of noise signals on a measurement result.
Exemplary, fig. 3 is a schematic cross-sectional view of a mechanical arm link according to an embodiment of the present invention. In fig. 3, 1 (a), 1 (b), 1 (c) and 1 (d) are optical fiber components of the fiber bragg grating sensor, and each optical fiber component is symmetrically embedded in a connecting rod of the mechanical arm at equal intervals so as to realize uniformity and reliability of data sampling; 2 is a mechanical arm connecting rod, and 3 is a hollow part of the mechanical arm.
S220, correcting the DH parameters of the mechanical arm based on the connecting rod deformation parameters of the mechanical arm to obtain corrected DH parameters.
And S230, transmitting the corrected DH parameters to a controller of the mechanical arm so as to finish the positioning accuracy compensation of the mechanical arm.
According to the technical scheme provided by the embodiment of the invention, all the optical fiber components in the optical fiber Bragg grating sensor are symmetrically buried in the connecting rod of the mechanical arm at equal intervals, so that the reliability of the acquired deformation parameters of the connecting rod is improved.
Example III
Fig. 4 is a flowchart of a positioning accuracy compensation method according to a third embodiment of the present invention, where the method according to the present embodiment may be combined with each of the alternatives in the positioning accuracy compensation method provided in the foregoing embodiment. The positioning accuracy compensation method provided by the embodiment is further optimized. Optionally, the link deformation parameters of the mechanical arm include adjacent link offset parameters and connected link rotation parameters; the step of correcting the DH parameter of the mechanical arm based on the connecting rod deformation parameter of the mechanical arm to obtain the corrected DH parameter comprises the following steps: inputting the offset parameters of the adjacent connecting rods and the rotation parameters of the connecting rods into a pre-configured deformation error determination model to obtain deformation error parameters; and determining the corrected DH parameters based on the deformation error parameters and the DH parameters of the mechanical arm.
As shown in fig. 4, the method includes:
s310, acquiring the connecting rod deformation parameters of the mechanical arm, wherein the connecting rod deformation parameters of the mechanical arm comprise adjacent connecting rod offset parameters and connecting rod rotation parameters.
Wherein the adjacent link offset parameter refers to a translation vector of the adjacent link segment. The link rotation parameter refers to the Euler angle of the link segment.
By way of example only, and not by way of limitation,the link offset parameters for link i-1 and the adjacent link of link i may be represented, where tx represents the translation vector in the x-axis direction, ty represents the translation vector in the y-axis direction, and tz represents the translation vector in the z-axis direction. />The link rotation parameters of link i-1 and link i may be represented, where rz represents the Euler angle in the z-axis direction, ry represents the Euler angle in the y-axis direction, and rx represents the Euler angle in the x-axis direction.
S320, inputting the adjacent connecting rod offset parameter and the connecting rod rotation parameter into a pre-configured deformation error determination model to obtain a deformation error parameter.
The deformation error determination model is a pre-configured mathematical calculation model and can be used for deformation error parameter calculation.
Illustratively, the deformation error determination model may be:
ΔTranslate＝{Δtx,Δty,Δtz}
ΔRotation＝{Δrz,Δry,Δrx}
Δrx＝arctan2(Δ(cos(ry)sin(rx)),Δ(cos(ry)cos(rx)))
Δrz＝arctan2(Δ(cos(ry)sin(rz)),Δ(cos(rz)cos(ry)))
wherein, deltaTranslate represents deformation error parameters corresponding to adjacent link offset parameters, deltatx, deltaty and Deltatz can be respectively determined by adjacent link offset parameters { tx, ty and tz } at different moments. Delta Rotation represents a deformation error parameter corresponding to the Rotation parameter of the connecting rod, and the Rotation parameter { rz, ry, rx } of the connecting rod can be substituted into the deformation error determination model to obtain Δrz, Δry, Δrx.
S330, determining the corrected DH parameters based on the deformation error parameters and the DH parameters of the mechanical arm.
Specifically, the deformation error parameter may be added to the DH parameter of the mechanical arm to obtain a corrected DH parameter.
Illustratively, the formula for determining the corrected DH parameters may be:
*α i ＝α i +Δrx
*a i ＝a i +Δtx
*θ i ＝θ i +Δrz
*d i ＝d i +Δtz
wherein a is i Representing the length of the connecting rod alpha i Represents the adjacent torsion angle, d i Represents the offset distance, theta i Indicating the joint rotation angle. * a, a i Representing corrected link length, # alpha i Represents the corrected adjacent torsion angle, # d i Represents the corrected link offset, # theta i Indicating the corrected joint rotation angle.
And S340, transmitting the corrected DH parameters to a controller of the mechanical arm so as to finish the positioning accuracy compensation of the mechanical arm.
The controller of the mechanical arm can perform the conversion of the connecting rod coordinate system according to the corrected DH parameters to obtain the real Cartesian space position of the deformed tail end, and further can calibrate the absolute positioning accuracy according to the real Cartesian space position of the deformed tail end.
In some alternative embodiments, after obtaining the link deformation parameter of the mechanical arm, the method further includes: carrying out finite element analysis on the deformation parameters of the connecting rod of the mechanical arm to obtain a deformation relation matrix and a rigidity matrix; and transmitting the deformation relation matrix and the rigidity matrix to a controller of the mechanical arm so as to compensate the motion error of the mechanical arm.
The upper computer can discretize the acquired connecting rod deformation parameters of the mechanical arm through finite element analysis (Finite Element Analyses, FEA) to obtain a deformation relation matrix and a rigidity matrix between the force or moment and the deformation of each node, and further transmit the deformation relation matrix and the rigidity matrix to a controller of the mechanical arm, wherein the controller of the mechanical arm can compensate the motion error of the mechanical arm from the position ring and the impedance ring.
It should be noted that, the mechanical rigidity of the mechanical arm connecting rod determines the upper limit of the overall rigidity of the mechanical arm, the rigidity matrix obtained through finite element analysis comprises the upper limit of the mechanical rigidity of the connecting rod material, and then the controller of the mechanical arm can adjust the upper limit of the rigidity of the mechanical arm in the impedance movement mode according to the upper limit of the mechanical rigidity of the connecting rod material.
According to the technical scheme, the deformation error parameters are obtained by inputting the adjacent connecting rod offset parameters and the connecting rod rotation parameters into the pre-configured deformation error determination model, and further the corrected DH parameters are determined based on the deformation error parameters and the DH parameters of the mechanical arm, so that the influence of the connecting rod deformation on the positioning accuracy of the mechanical arm is reduced.
Example IV
Fig. 5 is a schematic structural diagram of a positioning accuracy compensation device according to a fourth embodiment of the present invention. As shown in fig. 5, the apparatus includes:
the deformation parameter obtaining module 410 is configured to obtain a deformation parameter of a connecting rod of the mechanical arm;
the DH parameter correction module 420 is configured to correct the DH parameter of the mechanical arm based on the link deformation parameter of the mechanical arm, to obtain a corrected DH parameter;
and the correction parameter transmission module 430 is configured to transmit the corrected DH parameter to the controller of the mechanical arm, so as to complete the positioning accuracy compensation of the mechanical arm.
According to the technical scheme, the mechanical arm DH parameters are corrected by acquiring the connecting rod deformation parameters of the mechanical arm and further based on the connecting rod deformation parameters of the mechanical arm, corrected DH parameters are obtained, and the corrected DH parameters are transmitted to the controller of the mechanical arm so as to finish the positioning accuracy compensation of the mechanical arm.
In some alternative embodiments, the link deformation parameters of the robotic arm include an adjacent link offset parameter and a connected link rotation parameter;
the DH parameter correction module 420 includes:
the deformation error determining unit is used for inputting the adjacent connecting rod offset parameter and the connecting rod rotation parameter into a pre-configured deformation error determining model to obtain a deformation error parameter;
and the DH parameter correction unit is used for determining a corrected DH parameter based on the deformation error parameter and the DH parameter of the mechanical arm.
In some alternative embodiments, the deformation parameter acquisition module 410 is further configured to:
the method comprises the steps of obtaining the deformation parameters of a connecting rod of the mechanical arm through an optical fiber Bragg grating sensor, wherein the optical fiber Bragg grating sensor comprises a plurality of optical fiber components, and the optical fiber components are symmetrically buried in the connecting rod of the mechanical arm at equal intervals.
In some alternative embodiments, the positioning accuracy compensating device further includes:
the finite element analysis module is used for carrying out finite element analysis on the connecting rod deformation parameters of the mechanical arm to obtain a deformation relation matrix and a rigidity matrix;
and the matrix transmission module is used for transmitting the deformation relation matrix and the rigidity matrix to the controller of the mechanical arm so as to compensate the motion error of the mechanical arm.
In some alternative embodiments, the robotic arm is a tandem robotic arm, wherein the tandem robotic arm includes a joint and a link, the joint is used to connect two adjacent links, and the joint includes a revolute joint and a movable joint.
In some alternative embodiments, the DH parameters of the robotic arm include link length, adjacent torsion angle, link offset, and joint angle.
The positioning accuracy compensation device provided by the embodiment of the invention can execute the positioning accuracy compensation method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example five
Fig. 6 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices (e.g., helmets, eyeglasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 6, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An I/O interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a positioning accuracy compensation method, which includes:
acquiring a connecting rod deformation parameter of a mechanical arm;
correcting DH parameters of the mechanical arm based on the connecting rod deformation parameters of the mechanical arm to obtain corrected DH parameters;
and transmitting the corrected DH parameters to a controller of the mechanical arm so as to finish the positioning accuracy compensation of the mechanical arm.
In some embodiments, the positioning accuracy compensation method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the positioning accuracy compensation method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the positioning accuracy compensation method in any other suitable way (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. The positioning accuracy compensation method is characterized by comprising the following steps:
acquiring a connecting rod deformation parameter of a mechanical arm;
correcting DH parameters of the mechanical arm based on the connecting rod deformation parameters of the mechanical arm to obtain corrected DH parameters;
and transmitting the corrected DH parameters to a controller of the mechanical arm so as to finish the positioning accuracy compensation of the mechanical arm.
2. The method of claim 1, wherein the obtaining the link deformation parameter of the mechanical arm comprises:
the method comprises the steps of obtaining the deformation parameters of a connecting rod of the mechanical arm through an optical fiber Bragg grating sensor, wherein the optical fiber Bragg grating sensor comprises a plurality of optical fiber components, and the optical fiber components are symmetrically buried in the connecting rod of the mechanical arm at equal intervals.
3. The method of claim 1, wherein the link deformation parameters of the robotic arm include adjacent link offset parameters and connected link rotation parameters;
the step of correcting the DH parameter of the mechanical arm based on the connecting rod deformation parameter of the mechanical arm to obtain the corrected DH parameter comprises the following steps:
inputting the offset parameters of the adjacent connecting rods and the rotation parameters of the connecting rods into a pre-configured deformation error determination model to obtain deformation error parameters;
and determining the corrected DH parameters based on the deformation error parameters and the DH parameters of the mechanical arm.
4. A method according to any one of claims 1-3, further comprising, after obtaining the link deformation parameters of the robotic arm:
carrying out finite element analysis on the connecting rod deformation parameters of the mechanical arm to obtain a deformation relation matrix and a rigidity matrix;
and transmitting the deformation relation matrix and the rigidity matrix to a controller of the mechanical arm so as to compensate the motion error of the mechanical arm.
5. The method of claim 1, wherein DH parameters of the robotic arm comprise link length, adjacent torsion angle, link offset, and joint angle.
6. The method of claim 1, wherein the robotic arm is a tandem robotic arm, wherein the tandem robotic arm comprises a joint and a link, the joint for connecting two adjacent links, the joint comprising a revolute joint and a movable joint.
7. A positioning accuracy compensating apparatus, comprising:
the deformation parameter acquisition module is used for acquiring the deformation parameters of the connecting rod of the mechanical arm;
the DH parameter correction module is used for correcting the DH parameter of the mechanical arm based on the connecting rod deformation parameter of the mechanical arm to obtain a corrected DH parameter;
and the correction parameter transmission module is used for transmitting the corrected DH parameters to the controller of the mechanical arm so as to finish the positioning accuracy compensation of the mechanical arm.
8. The apparatus of claim 7, wherein the link deformation parameters of the robotic arm include adjacent link offset parameters and connected link rotation parameters;
the DH parameter correction module comprises:
the deformation error determining unit is used for inputting the adjacent connecting rod offset parameter and the connecting rod rotation parameter into a pre-configured deformation error determining model to obtain a deformation error parameter;
and the DH parameter correction unit is used for determining a corrected DH parameter based on the deformation error parameter and the DH parameter of the mechanical arm.
9. An electronic device, the electronic device comprising:
at least one processor;
and a memory communicatively coupled to the at least one processor;
wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the positioning accuracy compensation method of any one of claims 1-6.
10. A computer readable storage medium storing computer instructions for causing a processor to implement the positioning accuracy compensation method of any one of claims 1-6 when executed.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310086348.6A CN115972212A (en) | 2023-01-19 | 2023-01-19 | Positioning accuracy compensation method, positioning accuracy compensation device, electronic equipment and storage medium |
| CN2023100863486 | 2023-01-19 |
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| Publication Number | Publication Date |
|---|---|
| CN116638518A true CN116638518A (en) | 2023-08-25 |
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|---|---|---|---|
| CN202310086348.6A Pending CN115972212A (en) | 2023-01-19 | 2023-01-19 | Positioning accuracy compensation method, positioning accuracy compensation device, electronic equipment and storage medium |
| CN202310667935.4A Pending CN116638518A (en) | 2023-01-19 | 2023-06-07 | Positioning accuracy compensation method and device, electronic equipment and storage medium |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310086348.6A Pending CN115972212A (en) | 2023-01-19 | 2023-01-19 | Positioning accuracy compensation method, positioning accuracy compensation device, electronic equipment and storage medium |
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| CN (2) | CN115972212A (en) |
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| CN115972212A (en) | 2023-04-18 |
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