CN118061206B - Robot TCP calibration device, method, computer equipment and storage medium - Google Patents
Robot TCP calibration device, method, computer equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The invention relates to the technical field of robot calibration, in particular to a robot TCP calibration device, a method, computer equipment and a storage medium. The invention expands the calibration range to the measurable range of all the pull rope type displacement sensors, does not depend on human eyes to judge the tip position of the thimble, ensures the calibration precision, and has the advantages of unconstrained calibration position, more flexible calibration process, easier operation and lower cost.
Description
Technical Field
The invention relates to the technical field of robot calibration, in particular to a robot TCP calibration device, a method, computer equipment and a storage medium.
Background
With the progress of technology, the application range of industrial robots is gradually expanding and continues to expand, and plays an increasingly important role in the manufacturing industry. During robot operation, the operator determines the relative position between the tool and the workpiece through the tool center point TCP (Tool Centre Point), and the operator operates the robot either manually or automatically, essentially operating the TCP motions. Therefore, whether the tool center point is calibrated accurately or not can be directly determined on the working performance of the industrial robot.
The common TCP calibration method can be divided into two types, namely, the method is realized by adopting an external reference mode, namely, a laser tracker, an external measuring machine, a machine vision mode and the like, but the operation process and the algorithm are complex, and the use cost is higher.
Another type of method is by means of robot self-alignment, such as changing the robot tool to an object with an apparent tip, pointing the tip of the object to another object with an apparent tip in space, touching from four directions, robot pose in four states, and calculating TCP with the four-point method. However, this method requires the use of the human eye for position determination, is less accurate and not repeatable, and loses accuracy when the position between the robotic tool and the tip object is switched.
Meanwhile, for the geometric centers of tools such as a sucker and a clamping jaw, the method is not easy to mark the center point of the tool and is complex in operation.
Disclosure of Invention
The invention aims to solve the problems, and provides a robot TCP calibration device, a method, computer equipment and a storage medium, which are suitable for the TCP calibration process of tools such as a sucker, a clamping jaw and the like, and can accurately obtain the geometric center of a TCP by matching with a pull rope type displacement sensor, so that the operation is easier, the algorithm is simpler and the cost is lower.
The robot TCP calibration device provided by the invention comprises a calibration tool and a data processing tool; the calibration tool is connected with a tool end of the robot, and the data processing tool acquires and calculates the TCP of the robot according to the data of the calibration tool and the acquired attitude information of the robot; the calibration tool comprises a pull rope type displacement sensor, an installation bottom plate, a guide pulley, a reference plate, a self-locking universal joint and a self-centering clamping jaw; the number of the stay cord type displacement sensors is not less than three and the stay cord type displacement sensors are arranged on the mounting bottom plate; the number of the guide pulleys is consistent with that of the stay rope type displacement sensors, and the guide pulleys are used for fixing the traction direction of ropes in the stay rope type displacement sensors; the free ends of the ropes in the stay rope type displacement sensor are fixed on the bottom surface of the reference disc, the self-locking universal joint is fixed on the top surface of the reference disc, the joint center point of the self-locking universal joint is fixed relative to the reference disc, and the stay rope type displacement sensor measures the center point position of the reference disc, so that the position of the joint center point is obtained; the self-centering clamping jaw is arranged on the self-locking universal joint, and the tool end is connected with the self-locking universal joint through the self-centering clamping jaw.
Further, the data processing tool comprises a display screen, a signal collector and a controller; the signal collector collects position data collected by the pull rope type displacement sensor, the position data are transmitted to the display screen and the controller, and the controller calculates TCP of the robot according to the position data; the display screen displays the position of the center point and the attitude information of the robot and the TCP thereof.
Further, the signal collector is integrated on the pull-rope type displacement sensor.
According to the robot TCP calibration device provided by the invention, the robot TCP calibration method for inverse solution calibration provided by the invention specifically comprises the following steps:
A1: the tool end of the robot is in locking connection with the self-centering clamping jaw, and the position relation between the joint center point and the tool center point of the tool end in the coordinate system of the end flange of the robot is obtained;
A2: controlling the robot to drive the reference disc to move to the effective measurement range of all the stay rope type displacement sensors by the robot, and recording the data of all the stay rope type displacement sensors at the moment 、/>、/>、……、/>，/>Calculating to obtain the position/>, of the joint center point at the momentAnd recording the position/>, of the center point of the end flange of the current robotAnd pose of the current robot/>；
A3: the gesture of the robot is regulated to ensure that the reference disc is always in the effective measurement range of all the stay cord type displacement sensors, and the data of all the stay cord type displacement sensors at the moment are read、/>、/>、……、/>Calculating to obtain the position/>, of the joint center point at the momentAnd recording the position/>, of the center point of the end flange of the current robotAnd pose of the current robot/>；
A4: repeating the step A3 for M times, and recording the joint center point position of the reference disc when M times of movements are performed.../>And the attitude of the robot when M times of adjustment are performedAnd the position/>, of the center point of the corresponding robot end flange；
A5: according to the positionAnd gesture/>And joint center point position.../>Calculating the position/>, relative to the center point of the robot tail end flange, of the center point of the current jointCombining positional relationship/>Calculating the TCP of the robot as/>；
Further, the process of calculating the center point position in the inverse solution calibration method is as follows:
Current i-th position of pull-string displacement sensor I=1, 2,3, …, N, j=1, 2,3, …, M, when the ith pull-cord type displacement sensor measures the spatial coordinates of the point on the current reference disc as/>Current joint center point relative to point/>The position of (2) is/>Let the current joint center point positionThe method comprises the following steps of:
；
according to the current measurement distance of the ith pull-rope type displacement sensor as follows The method comprises the following steps:
；
Obtaining an equation set according to the measurement distances of all the current stay rope type displacement sensors:
；
obtaining joint center point position by least square method 。
Further, the position is obtained in step A5The method specifically comprises the following steps:
According to the pose of the robot at the jth measurement And position/>Obtaining homogeneous transformation matrix/>, of joint center point position in spatial position of base coordinate system of robotThe method comprises the following steps:
；
；
Wherein, 、/>、/>、/>、/>、/>、/>、/>、/>For gesture/>Nine parameters in the rotation matrix of/>、/>、/>For position/>Three parameters in the matrix of (a); /(I)The position coordinates of the joint center point in the base coordinate system during the jth measurement are represented;
since the position change of the joint center point in the base coordinate system is consistent with the position change of the joint center point in the coordinate system of the robot end flange, an equation is obtained:
；
Wherein, The position coordinates of the joint center point in a base coordinate system during the 1 st measurement are represented; /(I)Representing the joint center point position at the jth measurement, i.e./>；/>The joint center point position at the 1 st measurement;
and (3) carrying out optimal solution by using a least square method, namely:
；
Finally solve the position 。
According to the robot TCP calibration device provided by the invention, the invention further provides a four-point calibration robot TCP calibration method, which specifically comprises the following steps:
B1: the tool end of the robot is locked and connected with the self-centering clamping jaw, and the position relation between the joint center point and the tool center point in the coordinate system of the end flange of the robot is obtained ；
B2: controlling the robot to drive the reference disc to move to the effective measurement range of all the stay rope type displacement sensors by the robot, and recording the data of all the stay rope type displacement sensors at the moment、/>、/>、……、/>，/>Calculating to obtain the position/>, of the joint center pointAnd recording the initial position of the reference disc, and recording the position/>, of the center point of the end flange of the current robotAnd pose of the current robot/>；
B3: the gesture of the robot is adjusted, the reference disc is returned to the initial position, and the data of the pull rope type displacement sensor is again the data、/>、/>、……、/>Recording the position/>, of the center point of the end flange of the current robotAnd pose of the current robot/>；
B4: repeating the step B3 twice, and respectively recording the gesture of the robot、/>And the position/>, of the center point of the corresponding robot end flange、/>；
B5: according to the position、/>、/>、/>Gesture/>、/>、/>、/>Calculating the position/>, of the joint center point relative to the center point of the robot end flangeCombining positional relationship/>Calculating the TCP of the robot as/>。
Further, the calculating the center point position in the step B2 includes:
Position of i-th pull-rope type displacement sensor I=1, 2, 3, 4, the ith pull-string displacement sensor measures the spatial coordinates of the point on the reference disc as/>Center point of joint relative to pointThe position of (2) is/>Let joint center position/>The method comprises the following steps of:
；
according to the measurement distance of the ith pull-rope type displacement sensor The method comprises the following steps:
；
And obtaining an equation set according to the measurement distances of all the stay cord displacement sensors:
；
obtaining joint center point position by least square method 。
Further, solving the position in step B5The method specifically comprises the following steps:
from the pose of the robot at the a-th measurement And position/>Obtaining homogeneous transformation matrix/>, of joint center point position in spatial position of base coordinate system of robotThe method comprises the following steps:
；
；
Wherein, ，/>、/>、/>、/>、/>、/>、/>、/>、/>For gesture/>Nine parameters in the rotation matrix of/>、/>、/>For position/>Three parameters in the matrix of (a); represents the/> The position coordinates of the joint center point in the basic coordinate system during secondary measurement;
the positions of the joint center points in all the pull rope type displacement sensors are unchanged, namely:
；
Obtaining an equation set:
；
Solving to obtain the position 。
The invention provides a computer device comprising at least one processor and a memory in communication with the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the inverse solution calibration robotic TCP calibration method or the four-point calibration robotic TCP calibration method provided by the invention.
The invention provides a non-transient computer readable storage medium storing computer instructions for causing a computer to execute the robot TCP calibration method of inverse solution calibration or the robot TCP calibration method of four-point calibration.
Compared with the prior art, the invention has the following beneficial effects:
According to the invention, tools such as a sucker, a clamping jaw and the like are matched with the pull rope type displacement sensor to effectively mark and acquire the geometric center of the TCP, and meanwhile, the calibration range is enlarged to be within the measurable range of all pull rope type displacement sensors; compared with a method for calibrating TCP through an external reference sensor such as a laser tracker, a club instrument, a visual camera and the like, the method is easier to operate, simpler in algorithm and lower in cost.
Drawings
Fig. 1 is a block diagram of a TCP calibration device for a robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a use process of a TCP calibration device for a robot according to an embodiment of the invention;
fig. 3 is a flowchart of a robot TCP calibration method for inverse solution calibration provided according to an embodiment of the present invention;
fig. 4 is a flowchart of a four-point calibration robot TCP calibration method according to an embodiment of the invention;
Fig. 5 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
Reference numerals: robot 1, pull-cord displacement sensor 2, mounting base plate 3, guide pulley 4, reference disk 5, self-locking gimbal 6, self-centering jaw 7, display screen 8, signal collector 9, controller 10, computer device 11, processing unit 12, system memory 13, bus 14, RAM15, storage system 16, cache memory 17, program modules 18, utility 19, external device 20, display 21, network adapter 22, I/O interface 23.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting the invention.
According to the robot TCP calibration device, method, computer equipment and storage medium provided by the invention, tools such as the sucker, the clamping jaw and the like are matched with the pull rope type displacement sensor, so that the geometric center of the TCP is accurately obtained, the operation is easier, the algorithm is simpler, and the cost is lower.
Fig. 1 and fig. 2 respectively show a structure of a TCP calibration device for a robot and a use process thereof according to an embodiment of the present invention.
As shown in fig. 1 and fig. 2, the TCP calibration device for a robot provided by the embodiment of the invention includes a calibration tool and a data processing tool. The calibration tool is connected with the tool end of the robot 1, and the data processing tool acquires and calculates the TCP of the robot 1 according to the data of the calibration tool and the acquired attitude information of the robot 1.
The calibrating tool comprises a pull rope type displacement sensor 2, a mounting bottom plate 3, a guide pulley 4, a datum plate 5, a self-locking universal joint 6 and a self-centering clamping jaw 7. The number of the stay rope type displacement sensors 2 is not less than three and is arranged on the mounting bottom plate 3, and the number of the guide pulleys 4 is consistent with the number of the stay rope type displacement sensors 2 and is used for fixing the traction direction of ropes in the stay rope type displacement sensors 2. The free ends of the ropes in the stay rope type displacement sensor 2 are fixed on the bottom surface of the reference disc 5, the self-locking universal joint 6 is fixed on the top surface of the reference disc 5, the joint center point of the self-locking universal joint 6 is fixed relative to the reference disc 5, the stay rope type displacement sensor 2 measures the center point position of the reference disc 5, and then the position of the joint center point of the self-locking universal joint 6 is obtained. The self-centering clamping jaw 7 is arranged on the self-locking universal joint 6, and the tool end is connected with the self-locking universal joint 6 through the self-centering clamping jaw 7.
In the embodiment of the invention, in order to provide uniform pulling force for the datum plate 5, the datum plate 5 has sufficient movement space, preferably 4 pull rope type displacement sensors 2 are arranged at the edge of the installation bottom plate 3 at equal intervals, and the 4 pull rope type displacement sensors 2 are provided with guide pulleys 4 in one-to-one correspondence, so that the free ends of ropes in the 4 pull rope type displacement sensors 2 are connected with the bottom surface of the datum plate 5 through the guide pulleys 4. The reference disk 5 is a planar reference disk, and may be any shape, and in order to find the center position of the reference disk 5, a circular reference disk is preferably used, and the center point position is the center position of the circular reference disk.
In the embodiment of the invention, the self-centering clamping jaw 7 and the self-locking universal joint 6 in the calibrating tool can be replaced by clamping jaws with self-universal joints or other connecting pieces with self-universal joints which can be connected with the tool end of the robot 1.
The data processing means comprises a display screen 8, a signal collector 9 and a controller 10. The signal collector 9 collects the position data collected by the pull rope type displacement sensor 2, then the position data are transmitted to the display screen 8 and the controller 10, the controller 10 calculates the TCP of the robot 1 according to the position data, and the display screen 8 displays the position of the central point, the attitude information of the robot 1 and the TCP thereof.
In the embodiment of the present invention, the display screen 8 may be integrated on the mounting base plate 3 or other parts, or may be other display modes such as a computer display, so as to provide sufficient movement space for the reference disc 5, preferably a computer display, and is connected to the signal collector 9 and the controller 10 through other data transmission devices such as an HDMI cable for data display. The signal collector 9 may be an external independent signal collector such as a laser measuring instrument, or may be integrated on the pull-cord type displacement sensor 2, and it is preferable to integrate the signal collector 9 on the pull-cord type displacement sensor 2. The controller 10 may be a separate controller or may be integrated on the signal collector 9, and in order to reduce the overall volume of the device, it is preferable to use a separate controller and place it under the mounting board 3.
Specific example 1:
The embodiment of the invention further provides a robot TCP calibration method based on the robot TCP calibration device.
Fig. 3 shows a flow of a robot TCP calibration method for inverse solution calibration according to an embodiment of the invention.
As shown in fig. 2 and fig. 3, the method for calibrating the TCP of the robot by inverse solution calibration provided by the embodiment of the invention specifically includes the following steps:
A1: and (3) locking and connecting the tool end of the robot 1 with the self-centering clamping jaw 7 to obtain the position relation between the joint center point and the tool center point of the tool end in the coordinate system of the robot end flange.
A2: the robot 1 is controlled to drive the reference disc 5 to move to the effective measurement range of all the stay rope type displacement sensors 2 by the robot 1, and the data of all the stay rope type displacement sensors 2 at the moment are recorded、/>、/>、……、/>，/>Calculating to obtain the position/>, of the joint center point at the momentAnd recording the position/>, of the center point of the end flange of the current robotAnd the current pose of robot 1/>。
A3: the posture of the robot 1 is adjusted so that the reference disk 5 is always within the effective measurement range of all the pull-string displacement sensors 2, and the data of all the pull-string displacement sensors 2 at that time are read、/>、/>、……、/>Calculating to obtain the position/>, of the joint center point at the momentAnd recording the position of the center point of the end flange of the current robotAnd the current pose of robot 1/>。
A4: repeating step A3 for M times, and recording the joint center point position of the reference disc 5 when M times of movements are performed.../>And the posture of the robot 1 when performing M times of adjustmentAnd the position/>, of the center point of the corresponding robot end flange。
In the embodiment of the present invention, let n=4, that is, 4 pull-rope type displacement sensors 2 are adopted, and repeat step A3 12 times, then the data measured by the 4 pull-rope type displacement sensors 2 each time is、/>、/>、/>，j=1、2、3、…、12。
The process of calculating the joint center point position in the step A2-the step A4 is as follows:
Current position of i-th pull-string displacement sensor 2 I=1, 2,3,4, where the i-th pull-string displacement sensor 2 measures the spatial coordinates of the point on the current reference disc 5 as/>Current joint center point relative to point/>The position of (2) is/>Let the current joint center point position/>The method comprises the following steps of:
；
the current measurement distance according to the ith pull-cord type displacement sensor 2 is The method comprises the following steps:
；
And obtaining an equation set according to the measurement distances of all the current pull-rope type displacement sensors 2:
；
obtaining joint center point position by least square method 。
A5: according to the positionAnd gesture/>And joint center point position.../>Calculating the position/>, relative to the center point of the robot tail end flange, of the center point of the current jointCombining positional relationship/>Calculate TCP of robot 1 as/>。
Further, the position is obtained in step A5The method specifically comprises the following steps:
according to the pose of the robot 1 at the jth measurement And position/>Obtaining homogeneous transformation matrix/>, of joint center point position in spatial position of base coordinate system of robot 1The method comprises the following steps:
；
；
Wherein, 、/>、/>、/>、/>、/>、/>、/>、/>For gesture/>Nine parameters in the rotation matrix of/>、/>、/>For position/>Three parameters in the matrix of the robot 1 can be directly obtained from the demonstrator of the robot; The position coordinates of the joint center point in the base coordinate system during the jth measurement are represented;
since the position change of the joint center point in the base coordinate system is consistent with the position change of the joint center point in the coordinate system of the robot end flange, an equation is obtained:
；
Wherein, The position coordinates of the joint center point in a base coordinate system during the 1 st measurement are represented; /(I)Representing the joint center point position at the jth measurement, i.e./>；/>The joint center point position at the 1 st measurement;
and (3) carrying out optimal solution by using a least square method, namely:
；
Finally solve the position 。
Specific example 2:
The embodiment of the invention further provides a robot TCP calibration method based on the robot TCP calibration device.
Fig. 4 shows a flow of a four-point calibration robot TCP calibration method according to an embodiment of the invention.
As shown in fig. 2 and fig. 4, the method for calibrating the TCP of the four-point calibration robot provided by the embodiment of the invention specifically includes the following steps:
B1: the tool end of the robot 1 is locked and connected with the self-centering clamping jaw 7, and the position relation between the joint center point and the tool center point in the coordinate system of the robot end flange is obtained 。
B2: the robot 1 is controlled to drive the reference disc 5 to move to the effective measurement range of all the stay rope type displacement sensors 2 by the robot 1, and the data of all the stay rope type displacement sensors 2 at the moment are recorded、/>、/>、……、/>，/>Calculating to obtain the position/>, of the joint center pointAnd recorded as the initial position of the reference disk 5, the position/>, of the center point of the end flange of the current robot is recordedAnd the current pose of robot 1/>. In this embodiment, n=4, i.e. 4 pull-string type displacement sensors 2 are also used.
B3: the posture of the robot 1 is adjusted, the reference disk 5 is returned to the initial position, and the data of the pull-string type displacement sensor 2 is again set to be the initial position、/>、/>、……、/>Recording the position/>, of the center point of the end flange of the current robotAnd the current pose of robot 1/>。
B4: repeating the step B3 twice, and respectively recording the gesture of the robot 1、/>And the position/>, of the center point of the corresponding robot end flange、/>。
The process of calculating the joint center point position in step B2 to step B4 is identical to the process of calculating the joint center point position in step A2 to step A4 in embodiment 1, and will not be described here again.
B5: according to the position、/>、/>And/>Gesture/>、/>、/>And/>Calculating the position/>, of the joint center point relative to the center point of the robot end flangeCombining positional relationshipCalculate TCP of robot 1 as/>。
Further, solving the position in step B5The process of (1) specifically comprises:
from the pose of the robot 1 at the a-th measurement And position/>Obtaining homogeneous transformation matrix/>, of joint center point position in spatial position of base coordinate system of robot 1The method comprises the following steps:
；
；
Wherein, ，/>、/>、/>、/>、/>、/>、/>、/>、/>For gesture/>Nine parameters in the rotation matrix of/>、/>、/>For position/>Three parameters in the matrix of the robot 1 can be directly obtained through the demonstrator of the robot; /(I)Represents the/>The position coordinates of the joint center point in the basic coordinate system during secondary measurement;
the positions of the joint center points in all the pull rope type displacement sensors are unchanged, namely:
；
Obtaining an equation set:
；
Solving to obtain the position 。
Accordingly, the present invention also provides a computer device, a readable storage medium and a computer program product according to embodiments of the present invention.
Fig. 5 is a schematic structural diagram of a computer device 11 according to an embodiment of the present invention. Fig. 5 shows a block diagram of an exemplary computer device 11 suitable for use in implementing embodiments of the present invention. The computer device 11 shown in fig. 5 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments of the invention.
As shown in fig. 5, the computer device 11 is in the form of a general purpose computing device. The computer device 11 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, 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.
Components of computer device 11 may include, but are not limited to: one or more processors or processing units 12, a system memory 13, and a bus 14 that connects the various system components, including the system memory 13 and the processing unit 12.
Bus 14 represents one or more of several types of bus structures, including a memory bus or memory controller, a graphics accelerator port, a processor or local bus using any of a variety of bus architectures, and a peripheral bus. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Computer device 11 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 11 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 13 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 15 and/or cache memory 17. The computer device 11 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 16 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, commonly referred to as a "hard disk drive"). Although not shown in fig. 5, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be coupled to bus 14 through one or more data medium interfaces. The system memory 13 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the invention.
A program/utility 19 having a set (at least one) of program modules 18 may be stored in, for example, system memory 13, such program modules 18 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 18 generally perform the functions and/or methods of the embodiments described herein.
The computer device 11 may also communicate with one or more external devices 20 (e.g., keyboard, pointing device, display 21, etc.), one or more devices that enable a user to interact with the computer device 11, and/or any devices (e.g., network card, modem, etc.) that enable the computer device 11 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 23. Moreover, the computer device 11 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through a network adapter 22. As shown in fig. 5, the network adapter 22 communicates with other modules of the computer device 11 via the bus 14. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with computer device 11, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 12 executes various functional applications and data processing by running a program stored in the system memory 13, for example, implementing the inverse solution calibration robot TCP calibration method or the four-point calibration robot TCP calibration method provided by the embodiment of the present invention.
The embodiment of the application also provides a non-transient computer readable storage medium storing computer instructions, and a computer program is stored on the non-transient computer readable storage medium, wherein the program is executed by a processor, and the reverse solution calibration method or the four-point calibration method of the robot TCP are provided by all the embodiments of the application.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having 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), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The embodiment of the invention also provides a computer program product, which comprises a computer program, wherein the computer program realizes the robot TCP calibration method according to the inverse solution calibration or the four-point calibration when being executed by a processor.
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 disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are 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 (11)
1. The robot TCP calibration device is characterized by comprising a calibration tool and a data processing tool; the calibration tool is connected with a tool end of the robot, and the data processing tool acquires and calculates TCP of the robot according to the data of the calibration tool and the acquired attitude information of the robot; wherein,
The calibration tool comprises a pull rope type displacement sensor, an installation bottom plate, a guide pulley, a reference plate, a self-locking universal joint and a self-centering clamping jaw; the number of the pull rope type displacement sensors is not less than three and the pull rope type displacement sensors are arranged on the mounting bottom plate; the number of the guide pulleys is consistent with that of the pull rope type displacement sensors, and the guide pulleys are used for fixing the pulling direction of ropes in the pull rope type displacement sensors; the free ends of ropes in the stay rope type displacement sensor are fixed on the bottom surface of the datum plate, the self-locking universal joint is fixed on the top surface of the datum plate, the joint center point of the self-locking universal joint is fixed relative to the datum plate, and the stay rope type displacement sensor measures the center point position of the datum plate, so that the joint center point position is obtained; the self-centering clamping jaw is arranged on the self-locking universal joint, and the tool end is connected with the self-locking universal joint through the self-centering clamping jaw.
2. The robot TCP calibration device of claim 1, wherein said data processing means includes a display screen, a signal collector, and a controller; the signal collector collects position data collected by the pull rope type displacement sensor, the position data are transmitted to the display screen and the controller, and the controller calculates TCP of the robot according to the position data; the display screen displays the center point position and the posture information, and the TCP of the robot.
3. The robot TCP calibration device of claim 2, wherein the signal collector is integrated on the pull-cord type displacement sensor.
4. The robot TCP calibration method for inverse solution calibration, which is applicable to the robot TCP calibration device according to any one of claims 1 to 3, is characterized by comprising the following steps:
A1: the tool end of the robot is in locking connection with the self-centering clamping jaw, and the positional relation between the joint center point and the tool center point of the tool end in the coordinate system of the robot end flange is obtained ；
A2: controlling the robot to drive the reference disc to move to the effective measurement range of all the pull rope type displacement sensors, and recording the data of all the pull rope type displacement sensors at the moment、/>、/>、……、/>，Calculating to obtain the position/>, of the joint center point at the momentAnd recording the position/>, of the center point of the end flange of the current robotAnd pose of the current robot/>；
A3: adjusting the gesture of the robot to ensure that the reference disc is always in the effective measurement range of all the stay cord type displacement sensors, and reading the data of all the stay cord type displacement sensors at the moment、/>、/>、……、/>Calculating to obtain the position/>, of the joint center point at the momentAnd recording the position of the center point of the end flange of the current robotAnd pose of the current robot/>；
A4: repeating the step A3 for M times, and recording the joint center point position of the reference disc when the reference disc moves for M times.../>And pose/>, of the robot when making M adjustmentsAnd the position/>, of the center point of the corresponding robot end flange；
A5: according to the positionAnd the gesture/>And the position/>, of the joint center point.../>Calculating the position/>, relative to the center point of the tail end flange of the robot, of the center point of the current jointCombining the positional relationshipCalculating the TCP of the robot as/>。
5. The TCP calibration method of claim 4, wherein the calculating the joint center point position in step A2 includes:
Current i-th position of pull-string displacement sensor I=1, 2,3, …, N, j=1, 2,3, …, M, when the ith pull-cord type displacement sensor measures the spatial coordinates of the point on the current reference disc as/>Current joint center point relative to point/>The position of (2) is/>Let the current joint center point positionThe method comprises the following steps of:
；
according to the current measurement distance of the ith pull-rope type displacement sensor as follows The method comprises the following steps:
；
and obtaining an equation set according to the measurement distances of all the current stay cord displacement sensors:
；
obtaining the current joint center point position by using a least square method 。
6. The TCP calibration method of claim 4, wherein said position is obtained in step A5The method specifically comprises the following steps:
from the pose of the robot at the jth measurement And position/>Obtaining a homogeneous transformation matrix/>, of the joint center point position, in the spatial position of the base coordinate system of the robotThe method comprises the following steps:
；
；
Wherein, 、/>、/>、/>、/>、/>、/>、/>、/>For the gesture/>Nine parameters in the rotation matrix of/>、/>、/>For the position/>Three parameters in the matrix of (a); /(I)The position coordinates of the joint center point in the base coordinate system during the jth measurement are represented;
Since the position change of the joint center point in the base coordinate system is consistent with the position change of the joint center point in the coordinate system of the robot terminal flange, an equation is obtained:
；
Wherein, The position coordinates of the joint center point in a base coordinate system during the 1 st measurement are represented; /(I)Representing the joint center point position at the jth measurement, i.e./>；/>The joint center point position at the 1 st measurement;
and (3) carrying out optimal solution by using a least square method, namely:
；
Finally solve the position 。
7. A four-point calibration robot TCP calibration method, which is suitable for the robot TCP calibration device according to any one of claims 1 to 3, and is characterized by comprising the following steps:
b1: the tool end of the robot is in locking connection with the self-centering clamping jaw, and the positional relation between the joint center point and the tool center point in the coordinate system of the robot end flange is obtained ；
B2: controlling the robot to drive the reference disc to move to the effective measurement range of all the pull rope type displacement sensors, and recording the data of all the pull rope type displacement sensors at the moment、/>、/>、……、/>，Calculating to obtain the position/>, of the joint center pointAnd recording the initial position of the reference disc, and recording the position/>, of the center point of the end flange of the current robotAnd pose of the current robot/>；
B3: the gesture of the robot is adjusted, the reference disc is returned to the initial position, and the data of the pull rope type displacement sensor is again the data、/>、/>、……、/>Recording the position/>, of the center point of the end flange of the current robotAnd pose of the current robot/>；
B4: repeating the step B3 twice, and respectively recording the gesture of the robot、/>And the position/>, of the center point of the corresponding robot end flange、/>；
B5: according to the position、/>、/>And/>And the gesture/>、/>、/>And/>Calculating the position/>, of the joint center point relative to the center point of the robot end flangeCombining the positional relationship/>Calculating the TCP of the robot as/>。
8. The method for calibrating the TCP of the four-point calibration robot according to claim 7, wherein the calculating the joint center point position in the step B2 includes:
Position of i-th pull-rope type displacement sensor I=1, 2, 3, 4, the ith pull-string displacement sensor measures the spatial coordinates of the point on the reference disc as/>The joint center point is relative to the pointThe position of (2) is/>Setting the central point position of the jointThe method comprises the following steps of:
；
according to the measurement distance of the ith pull-rope type displacement sensor The method comprises the following steps:
；
And obtaining an equation set according to the measurement distances of all the stay cord displacement sensors:
；
obtaining the joint center point position by using a least square method 。
9. The four-point calibration robotic TCP calibration method according to claim 7, wherein said step B5 solves said positionsThe method specifically comprises the following steps:
From the pose of the robot at the a-th measurement And position/>Obtaining a homogeneous transformation matrix/>, of the spatial position of the joint center point position of the base coordinate system of the robotThe method comprises the following steps:
；
；
Wherein, ，/>、/>、/>、/>、/>、/>、/>、/>、/>For the gesture/>Nine parameters in the rotation matrix of/>、/>、/>For the position/>Three parameters in the matrix of (a); represents the/> The position coordinates of the joint center point in the base coordinate system during secondary measurement;
the positions of the joint center points in all the pull rope type displacement sensors are unchanged, namely:
；
Obtaining an equation set:
；
Solving to obtain the position 。
10. A computer device comprising at least one processor and a memory communicatively coupled to the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the inverse solution calibration robotic TCP calibration method of any one of claims 4 to 6, or the four-point calibration robotic TCP calibration method of any one of claims 7 to 9.
11. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the inverse solution calibration robotic TCP calibration method of any one of claims 4 to 6 or the four-point calibration robotic TCP calibration method of any one of claims 7 to 9.
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