EP2983869A1 - Procédé et ensemble de correction d'erreurs de pose d'un système cinématique ainsi que programme d'ordinateur correspondant et support d'enregistrement correspondant lisible par ordinateur - Google Patents

Procédé et ensemble de correction d'erreurs de pose d'un système cinématique ainsi que programme d'ordinateur correspondant et support d'enregistrement correspondant lisible par ordinateur

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Publication number
EP2983869A1
EP2983869A1 EP14707339.9A EP14707339A EP2983869A1 EP 2983869 A1 EP2983869 A1 EP 2983869A1 EP 14707339 A EP14707339 A EP 14707339A EP 2983869 A1 EP2983869 A1 EP 2983869A1
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EP
European Patent Office
Prior art keywords
kinematics
configuration
function
poses
pose
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP14707339.9A
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German (de)
English (en)
Inventor
Johannes Gottlieb
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Individual
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Individual
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Filing date
Publication date
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Publication of EP2983869A1 publication Critical patent/EP2983869A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39017—Forward calibration, find actual pose world space for given joint configuration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39018—Inverse calibration, find exact joint angles for given location in world space

Definitions

  • the present invention relates to a method and apparatus for correcting pose errors of kinematics, and to a corresponding computer program and computer readable storage medium which are particularly useful for extending correction to classes of parallel and serial robot kinematics that are not specifically designed to achieve the utmost Accuracies have been constructed, but preferably have a high reproducibility.
  • the essential terms are defined below.
  • the pose of kinematics as a function of an element of configuration space is defined by a number of geometry parameters called the "kinematic model" of this kinematics.
  • Lukas Beyer Increasing the accuracy of industrial robots, especially with parallel kinematics. Dissertation, Helmut Schmidt University Hamburg. Shaker Verlag, Aachen 2005, ISBN 3-8322-3681 -3.
  • the pose error compensation based on parameter identification has a number of disadvantages.
  • the parameter identification is here present task class is burdened with considerable problems in the identification of the parameters determined (non-convexity of the error functionalities, ie ambiguity, numerical instabilities, etc.).
  • the determined parameters replace the constructional geometry parameters of the elaborate kinematic model and thus invalidate the precision in manufacturing and assembly of the kinematics components.
  • the object of the invention was therefore to provide a method and an arrangement for calibrating a kinematics and a corresponding computer program and a corresponding computer-readable storage medium, which avoid the disadvantages described above and in particular allow to determine loadable error measures for a variety of parallel and serial robot kinematics ,
  • DE 10 201 1 079 764 B3 an alternative will be shown.
  • the developing optical sensor technology should be taken into account.
  • a particular advantage of the invention is that kinematics for all feasible poses are corrected with high precision. This is achieved by kinematics being moved into a number of poses p (x) in the method according to the invention for posse error correction of kinematics.
  • the poses p (x) can be predefined poses.
  • the poses p (x) are predetermined by a random algorithm.
  • the pose p (x) is taken with a predetermined accuracy of the kinematics.
  • a first configuration vector x * belonging to the pose p (x) is determined by evaluating data which the kinetic kinematics of the pose in the assumed pose p (x) describe.
  • a preferred embodiment of the invention provides that the first configuration vectors x * belonging to the poses p (x) are determined by reading out for each of the poses p (x) data which the kinetic kinematics of the respective pose (p) x) describe.
  • a configuration vector describes the actuator deflection or actuator position of a kinematics. In a preferred embodiment, provision is made for the actuated actuator deflections to be used as actuator deflections belonging to a pose p (x).
  • the Aktorausschitch the kinematics are read out itself.
  • the kinematics is guided along a path, wherein first configuration vectors x * are determined at certain points of the path.
  • the associated poses can be measured before, after or simultaneously with the determination of the first configuration vectors x * .
  • the control function is defined so that the kinematics is moved to the pose DK (x) when the kinematics assumes the actuator displacement or actuator position x.
  • the pose which the kinematics in application of the control function on a
  • the pose actually assumed during activation, movement or commanding of the kinematics using the configuration vector x is referred to as the measured pose gDK (x) for the configuration vector x.
  • the external influences and / or actions may be, for example, external force variables and / or temperature influences.
  • influences of thermal expansions or deformations by weight or inertial forces in the operation of the kinematics are determined and compensated by a corresponding transformation of the configuration space.
  • the influence of external forces and moments in various poses is thus initially either measured in the course of a calibration process or determined by simulation calculation.
  • the effects of the influences are then stored in tabular form as corrective differences of the actuator deflections for different locations of the configuration space, in order then to be evaluated in the way of the transformation of the configuration space in the operation of the kinematics.
  • Each control function DK includes a reverse mapping, the so-called inverse kinematics IK.
  • the actuator position x is determined for a pose p which (theoretically) leads to the pose p when the activation function is applied to the vector x.
  • the first and second configuration vectors x * and x belonging to the respective pose are evaluated in order to obtain a function for transforming the configuration space.
  • the correction value is a vector correction value.
  • the set of correction values thus becomes to further, preferably to all elements of the entire configuration space continued, preferably by interpolation, extrapolation and / or approximation.
  • these vectors of the configuration space can each be assigned a corrected associated vector from the configuration space by applying the correction value.
  • the mapping of second to corrected vectors x onto corrected vectors x * can be considered as a transformation of the configuration space.
  • the image of this transformation ie the value obtained by executing this transformation, is also a vector, which is usually an element of the configuration space. If it is an element of the configuration space, the direct kinematics DK is then applied to it. Otherwise, there is an unrealizable pose.
  • the calibrated drive function is therefore the successive execution of the function for transforming the configuration space and the (original) drive function to the vector x. To control, move or command the kinematics, the calibrated control function is now used instead of the (original) control function.
  • the kinematics is moved into the predetermined pose p with a predetermined accuracy.
  • the first configuration vector x * belonging to the pose p is determined, as described above, by reading out data describing the kinematics' actuator deflections in the assumed pose p.
  • the associated second configuration vector x is determined as IK (p).
  • Positioning the kinematics by specifying configuration vectors x 'before approaching the predefined pose has the particular advantage that the configuration vectors x' or x prescribed for determining the correction values can thereby be uniformly distributed in the configuration space KR.
  • the predetermined poses p are given by artefacts to be approached.
  • the approach of the poses p by means of measuring means happens.
  • the method steps for correcting the pose errors are carried out in a simulation, preferably with a computer-aided simulation, and / or with a computer-generated model of the kinematics. This is particularly advantageous for the correction of poses errors caused by external influences.
  • An advantage of performing the method by means of a simulation and / or a model is that the number of predetermined poses p (x) can be made very large, which increases the accuracy of the global transformation function obtained by interpolation, extrapolation and / or approximation becomes.
  • the actuator positions defined by the set of predetermined vectors x 'of the configuration space KR are distributed substantially uniformly in the configuration space. For example, if an actor is operating in an interval [a, b] (which may be, for example, a translational or rotational interval), then the interval according to this preferred embodiment is divided into n equal subintervals. The limits of these subintervals then serve as predefined components of the given configuration vectors x 'of the configuration space KR. This gives a uniformly distributed grid of points in the configuration space KR.
  • a correction value is assigned to each of these points, and from this assignment for the points discretely distributed in the configuration space KR, the function for transforming the configuration space is determined by interpolation, approximation or extrapolation, which assigns a correction value to each point or vector of the configuration space KR.
  • this function which has been obtained by interpolation, approximation or extrapolation, is continued to values of the configuration space which exceed the intervals which can be achieved by kinematics.
  • a pose correction is obtained by a corrective transformation of the configuration space.
  • the corrective transformation of the configuration space is distinguished by the fact that, starting from a finite subset of the configuration space, a vectorial correction sum is determined for each element x of this set, and the function given by this is extended to the entire configuration space by a suitable extension of the definition area, and the correcting function Transformation for the entire configuration space by the addition of the correction sum obtained by means of the extended function with the identical self-mapping of the configuration space to itself.
  • the corrected realization of a pose p in a kinematics individual is obtained by first obtaining an element of the configuration space from the desired pose p by applying the inverse kinematics IK, adding to this element a correction value belonging to this element, and then commanding the pose.
  • sample quantity of a right-angled grid in the configuration space is used as the predetermined configuration vectors (sample quantity) of the configuration space.
  • the right edge is a multidimensional box.
  • a preferred embodiment provides that the interval dividing scalars of the actuator intervals do not comprise at least some of the endpoints of the actuator deflections, such that the right edge written into the configuration space is a true subset of the configuration space.
  • the correction function is obtained by means of extrapolation.
  • it is provided to completely or partially cover the configuration space with finite elements. The corners of the finite elements are measured as a sample.
  • n-simplexes are used as finite elements.
  • the dimension n corresponds to the degree of freedom DOF of the kinematics.
  • correction values for this sample quantity are determined as described above. These are then barycentric interpolated inside the individual simplexes or extrapolated to the outside. On the basis of these correction values, a transformation of the configuration space is defined as described above.
  • An arrangement according to the invention has at least one chip and / or processor and is set up such that a method for correcting poses errors of the kinematics is preferably executable in interaction with kinematics, the method comprising the following steps:
  • a computer program according to the invention makes it possible for a data processing device, after it has been stored in storage means of the Data processing device has been loaded, preferably in conjunction with a kinematics perform a method for correcting poses errors of kinematics, the method comprising the steps of:
  • the computer program according to the invention has a modular structure, wherein individual modules are installed on different parts of the data processing device.
  • Advantageous embodiments additionally provide computer programs by which further method steps or method sequences specified in the description can be executed.
  • a further aspect of the invention relates to computer-readable data which comprise at least parts of the calibrated drive function determined by the method according to the invention and / or at least parts of the correction values determined by the method according to the invention.
  • Such computer programs and / or computer-readable data can be made available for download (for a fee or free of charge, freely accessible or password-protected) in a data or communication network, for example.
  • the computer programs thus provided can then be made usable by a method in which the computer programs and / or computer-readable data are downloaded from an electronic data network, such as from the Internet, to a data processing device connected to the data network.
  • an electronic data network such as from the Internet
  • a further aspect of the invention relates to a computer-readable storage medium on which data are stored which comprise at least parts of the calibrated activation function determined by the method according to the invention and / or at least parts of the correction values determined by the method according to the invention.
  • the calibration is a sequence of two consecutively executed compensations, wherein the first iteratively in the working space on a predetermined finite sample amount so that a predetermined accuracy when approaching the desired poses is achieved by an iteration of successively executed poses.
  • This method is used in particular when approaching precisely placed artifacts which define the given poses.
  • the second compensation is based on reading out the actuator deflections associated with the poses and determining a corresponding correction map in the configuration space. The second correction thus takes place in the configuration space, first on the actuator deflections associated with the sample set, ie coordinates in the configuration space, and then after interpolation in a transformation of the configuration space.
  • a particular advantage of the invention is that the location determinations made therewith with high accuracy on each official normals, such as. the original meter, can be returned.
  • Another advantage of the invention is that, due to the calibrated driving function, the positioning accuracy of the calibrated kinematics is global, i. for the entire workspace, is improved.
  • the specified poses are approached iteratively. This can happen in special cases by starting artifacts. In higher-dimensional workspaces and with a large sample volume, however, this is generally not very practicable.
  • high accuracy external measuring means such as e.g. a coordinate measuring machine, a multi-dimensional laser tracer, etc., are used to iteratively reach the desired poses.
  • the proposed method of transforming the configuration space can be used not only in active kinematics (robots), but also in kinematics, which serve the purpose of Posentown, such as coordinate measuring machines. Their accuracy is also increased using the method of transforming the configuration space presented here.
  • the calibration presented here is also extended to these kinematics of coordinate measuring machines, and all other kinematics that serve even Posentownen. These kinematics can wholly or partly have non-driven actuators, which however allow a deflection determination. The results of the pose measurements made by these kinematics are determined by determining the actuator deflections.
  • the calibration includes the following steps:
  • the presented new method measures the positioning error in points obtained from a "map" of the configuration space.
  • the configuration space is particularly simple in shape and usually in the shape of a right edge, the uniform distribution of test points in this space is easy to realize
  • a uniform distribution of checkpoints in the configuration space also requires a uniform distribution in the workspace, due to constructive and functional constraints in the design of kinematics, assuming that a small pose change is caused by a small change in configuration space
  • a small change in configuration space will only result in a small change in the workspace.
  • exogenous poses errors can be, for example, pose errors which are caused by external force variables and / or by thermoelastic deformations of the kinematics.
  • a correction matrix is assigned to each element of the posology set for collecting the data. This matrix is valid in relation to a single pose.
  • Every given force magnitude system can be described by two three-dimensional vectors, a force vector and a force vector Moment vector, where the force vector acts on the canonical reference point (point of attack).
  • each force vector can be shifted in parallel as desired, taking into account the dislocation moment ("displacement moment") that occurs in this case.
  • Poses change expresses. Such a pose change can be determined with finite element software such as ANSYS.
  • the forces or moments acting on the actuators can be determined.
  • a Hooke spring constant is assigned to each actuator, which results from model observation or measurement. As a result, changes in Aktorausschitch arise immediately.
  • Each force magnitude system can be divided into 6 components as shown above, since the force vector and moment vector each have 3 components.
  • correction vectors dx can be obtained by data acquisition, such as measurement of the assumed poses and / or readout of data describing the actuator deflections, on a real kinematics. Alternatively or additionally, the correction vectors dx can also be evaluated by evaluating
  • the model describes the geometric, kinematic and / or dynamic properties of kinematics.
  • the model of the kinematics is applied simulatively with defined external effects. For example, effects of
  • Force variables or temperatures are simulated on the kinematics movements. Such external influences can be simulated by finite element software, for example.
  • a model of a kinematics is moved in a computer simulation according to a predetermined number of first configuration vectors of a configuration space, wherein a control function is applied to the configuration vectors and wherein the model of the kinematics is simulatively loaded with defined external influences. Subsequently, the poses of the kinematics model assumed as a result of the movement in the simulation are recorded. The inverse function of the drive function is applied to these detected poses to obtain second configuration vectors.
  • a correction value is determined in each case by evaluating the part of the first and of the associated second configuration vectors.
  • a function for transforming the configuration space is subsequently determined and a corrected activation function defined as Successive execution of first the function for the transformation of the configuration space and then the control function.
  • This corrected control function compensates for external influences.
  • this method has already been described in the patent DE 10 201 1 079 764 B3.
  • a preferred embodiment envisages using this method for pose error correction for the correction of externally induced poses errors, the method for evaluating data, in particular at least first and second
  • Such a method for correcting poses errors of a kinematics comprises the following steps:
  • Dx M * S, with: dx: Vector of the change of the actuator deflections
  • TCP Tool Center Point
  • correction matrices can now be interpolated, extrapolated and / or approximated to the entire configuration space. For any vector x of the
  • Configuration space is thus defined a correction matrix, which together with the 6 Components of the resultant of the force-magnitude system defines a displacement dx in the configuration space. This is a compensation of the acting
  • a correction vector M is assigned to a configuration vector x, which was determined in the pose gDK (x), which was determined by using the
  • Control function was approached on x (where usually applies: gDK (x) + DK (x)). This is the case, for example, if the correction matrix is determined on the basis of a model of the ideal kinematics.
  • a correction vector M is assigned to a configuration vector x, which was determined in the pose DK (x). This is the case, for example, if the correction matrix is determined on the basis of a model in which the corrected activation function (without consideration of exogenous pose errors) is already being applied.
  • correction matrices of the sample set are then analyzed by interpolation,
  • the correction matrix associated with the pose is first calculated and then multiplied by the temperature drift to obtain correcting leg length changes.
  • the determination of the global correction map is analogous to that for the correction of the power system.
  • correction quantities (and global correction maps) for other external influences can be determined in an analogous manner.
  • Correction and correction of exogenous temperature influence can be made in combination by measuring the intrinsic correction, e.g. at three different temperatures in the relevant temperature range makes (one goes from one
  • Another case of exogenous poses errors that can be compensated relates to a time-dependent heating and / or heating in which parts of a kinematics are exposed to different temperatures, as occurs, for example, when a kinematics is heated from the tool.
  • the present invention uses
  • Configuration space is assigned a correction matrix.
  • FIG. 1 shows an illustration of a first exemplary embodiment of a
  • Figure 2 is an illustration of a second embodiment of a
  • Figure 3 is an illustration of a third embodiment of a
  • FIG. 4 is an illustration for comparing second and third
  • the desired pose is p (x)
  • the kinematics are determined in a step 100 according to the determined configuration vector x, i. by applying the control function to the
  • Configuration vector x moves. As a rule, this movement leads to a pose gDK (x) due to intrinsic errors, which deviates from the desired pose p (x).
  • the assumed pose is measured and drawn as the pose gDK (x) measured at x.
  • the kinematics is moved in step 102 into the desired pose p (x). This can be done by manually or otherwise fed back approaching the predetermined pose p (x) or by minimizing distance. If the kinematics have assumed the desired pose p (x), in a step 104 the actuator deflections x * corresponding to the first configuration vector are read out.
  • a correction value dx is determined, which in a exemplary embodiment is a correction vector.
  • Such a correction value is determined for all poses of the sample quantity and subsequently a correction function is determined on the entire configuration space KR by means of interpolation, extrapolation and / or approximation.
  • the configuration vector x * corresponds to the kinetic kinematics of the kinematics when the kinematics assume the pose p (x).
  • FIG. 2 illustrates an exemplary embodiment for correcting pose errors caused, for example, by an external force magnitude acting on the kinematics, for example caused by a tool mounted in the TCP.
  • the determination of the correction matrices M can be carried out on a real kinematics, the kinematics being subjected to defined real force quantities.
  • the determination of the correction matrices M can also be carried out with the aid of a simulation of a model of a kinematics, wherein the kinematics model is subjected to simulated force variables.
  • An embodiment will now be described, with an ideal driving function applied to the kinematic model.
  • An ideal drive function is understood to be a drive function which has not yet been corrected for intrinsic errors.
  • the kinematics model assumes the pose p '(x).
  • the kinematics model is moved into the desired pose p (x) and in step 204 the associated configuration vector x * is read out.
  • the correction values dx and the global correction function are now respectively determined for the defined force variables.
  • the kinematics model subjected to the simulated force magnitude is moved.
  • the kinematics model takes the pose p '(x).
  • the inverse drive function is applied to obtain an associated configuration vector x * .
  • a correction value dx is determined.
  • a correction function is determined on the entire configuration space KR by means of interpolation, extrapolation and / or approximation.
  • the uncorrected ideal driving function is applied to the corrected configuration vector x korr in step 302.
  • the corrected drive function which compensates for the exogenous influences of the force magnitude F, is defined in this embodiment as a successive execution of first the correction function and then the ideal drive function.
  • the respective correction functions are carried out one after the other and the ideal control function is applied to the image of the configuration vector x among the successively executed correction functions.
  • the ideal control function is used in the simulation. If, on the other hand, the correction function is determined on a real kinematics, either the ideal control function or the control function corrected by the intrinsic errors can be used to control in steps 200, 300 or 302.
  • Figure 4 illustrates the differences between these two approaches.
  • the kinematics is moved into the desired pose p (x) in step 402, and the configuration vector x ** is determined from the read-out actuator deflections in step 404.
  • a corrected control function which compensates both the intrinsic and the exogenous errors, results from the successive execution of the first and second correction functions, which maps the configuration vector x onto the configuration vector x ** and the subsequent application of the uncorrected activation function to the configuration vector x *. * .
  • the uncorrected control function is used to move the kinematics during the determination of the correction function for compensation of exogenous actions, the kinematics moves under the action of the force magnitude F to the pose P2 '(x), from where the kinematics in step 406 into the desired pose p (x) is moved, and it finally results in the correction value d 2 x.
  • a third correction function is determined as described above, which corrects both the intrinsic and the exogenous actions.
  • the same third correction function is also obtained if one uses the corrected activation function for movement of the kinematics, which is already adjusted for the intrinsic errors, but determines the correction value by evaluating the configuration vectors x and x ** , which then becomes d 2 x results.
  • a corrected control function which compensates both the intrinsic and the exogenous errors, then results from the successive execution of the third correction function, which maps the configuration vector x onto the configuration vector x ** and the subsequent application of the uncorrected activation function to the configuration vector x ** ,
  • kinematics refers to both the class of serial and parallel kinematics, as well as combinations of both classes. They include, for example, robots, machine tools, processing machines, manipulators, coordinate measuring machines, solid state robots. Furthermore, we also refer to kinematics that are provided with redundancy sensors.
  • An actuator is a technical device that converts an input variable (electrical voltage, digital value, etc.) into a physically realized parameter or converts it into the change of a physical parameter that represents a degree of freedom of kinematics ,
  • the deflection of the actuators can be determined for example from a known relationship between deflection and input quantity, or be realized for example by special measuring devices.
  • Actuators are those technical components whose deflections are the elements of the
  • the actuators include, in particular, linear actuators, rotary adjusters and linear measuring devices and rotary measuring devices, actuators made of memory alloys, piezoceramics, pneumatic or hydraulic implementations, etc. Freedom of Kinematics (DOF, Degree Of Freedom)
  • DOF is defined as the number of degrees of freedom of a kinematics.
  • the number of actuators is DOF for the kinematics suitable for the method. If there is redundancy, i. If the number of actuators exceeds the DOF, then DOF actuators are selected and considered according to the invention during the calibration.
  • Pose (P) Under the heading of a kinematics we understand here the combination of position and orientation or components and subsets thereof of all relevant for the kinematics movable rigid bodies.
  • the pose is associated with a single solid body. According to the invention, however, it is also possible to calibrate kinematics consisting of several sub-kinematics with respective relevant rigid bodies.
  • Pose space is understood to mean either the set of all poses theoretically achievable by kinematics or else a suitable superset of these poses, such as e.g. the special Euclidean group SE (3) in the Gough manipulator.
  • KR Configuration space
  • DK Direct kinematics
  • a direct kinematics is a function that assigns the corresponding pose from the pose space to an element from the configuration space.
  • DK KR-> PR This assignment is done in a theoretical way and is based on the constructional geometry parameters of the kinematics. In practice, the reversible uniqueness is ensured, without restriction of generality, a reversible unambiguous mapping is assumed here.
  • the direct kinematics is stored as a function in a control computer.
  • the workspace is that part of the pose space intended for the operation of the kinematics. He is the set of poses a robot can take and take in normal operation.
  • IK Inverse kinematics
  • An inverse kinematics is a function that assigns the associated element from the configuration space to every pose in the pose space.
  • IK is the reverse mapping of DK.
  • GDK Measured direct kinematics
  • the pose actually taken in this configuration can be determined metrologically - for example by means of a coordinate measuring machine.
  • the mapping from the elements of KR to the pose actually taken is called measured direct kinematics (GDK).
  • GDK maps the configuration space into the workspace:
  • a set of elements of the configuration space that is provided for the calibration measurements is selected.
  • KDK PM Corrected Direct Kinematics on PM
  • Gough manipulators are also called
  • N k N k ⁇ 1, 2,3 ... k ⁇ , ke N
  • Q (i) Q (i) is the number of interval divisions at the actuator i
  • Orientation This refers to how a body is oriented in three-dimensional space.
  • the set of orientations in three-dimensional space is called a special orthogonal group SO (3).

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

Abstract

L'invention concerne un procédé et un ensemble permettant l'étalonnage d'un ensemble cinématique ainsi qu'un programme d'ordinateur correspondant et un support d'enregistrement correspondant lisible par ordinateur, qui peuvent être mis en œuvre en particulier pour étendre un étalonnage à des classes de cinématiques de robot parallèles et sérielles qui n'ont pas été spécialement construites pour atteindre des grandes précisions, mais qui présentent de préférence une reproductibilité élevée. Le procédé selon la présente invention comprend les étapes suivantes : - le déplacement de la cinématique de manière telle que la cinématique prenne un certain nombre de poses avec une précision pouvant être prédéfinie; - la définition de premiers vecteurs de configuration par une évaluation des données décrivant les excursions des actionneurs dans les poses prises; - la détermination d'une fonction pour la transformation de l'espace de configuration par une évaluation des premiers et de deuxièmes vecteurs de configuration, les deuxièmes vecteurs de configuration étant représentés respectivement par une fonction de commande sur une des poses; et - la définition d'une fonction de commande étalonnée à partir de l'exécution successive d'abord de la fonction de transformation de l'espace de configuration et ensuite de la fonction de commande.
EP14707339.9A 2013-02-04 2014-02-04 Procédé et ensemble de correction d'erreurs de pose d'un système cinématique ainsi que programme d'ordinateur correspondant et support d'enregistrement correspondant lisible par ordinateur Withdrawn EP2983869A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013101095.4A DE102013101095B4 (de) 2013-02-04 2013-02-04 Verfahren und Anordnung zur Korrektur von Posenfehlern einer Kinematik sowie ein entsprechendes Computerprogramm und ein entsprechendes computerlesbares Speichermedium
PCT/EP2014/052150 WO2014118387A1 (fr) 2013-02-04 2014-02-04 Procédé et ensemble de correction d'erreurs de pose d'un système cinématique ainsi que programme d'ordinateur correspondant et support d'enregistrement correspondant lisible par ordinateur

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EP2983869A1 true EP2983869A1 (fr) 2016-02-17

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US (1) US20160346931A1 (fr)
EP (1) EP2983869A1 (fr)
CN (1) CN105705302B (fr)
DE (1) DE102013101095B4 (fr)
WO (1) WO2014118387A1 (fr)

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US20160346931A1 (en) 2016-12-01
DE102013101095B4 (de) 2016-12-15

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