EP3542233A1 - Mesure d'un axe de déplacement d'un robot - Google Patents

Mesure d'un axe de déplacement d'un robot

Info

Publication number
EP3542233A1
EP3542233A1 EP17803784.2A EP17803784A EP3542233A1 EP 3542233 A1 EP3542233 A1 EP 3542233A1 EP 17803784 A EP17803784 A EP 17803784A EP 3542233 A1 EP3542233 A1 EP 3542233A1
Authority
EP
European Patent Office
Prior art keywords
axis
robot arm
movement axis
point
coordinate system
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Withdrawn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
EP17803784.2A
Other languages
German (de)
English (en)
Inventor
Manfred Hüttenhofer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
Original Assignee
KUKA Deutschland GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by KUKA Deutschland GmbH filed Critical KUKA Deutschland GmbH
Publication of EP3542233A1 publication Critical patent/EP3542233A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37067—Calibrate work surface, reference markings on object, work surface
    • 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
    • G05B2219/39051—Calibration cooperating manipulators, closed kinematic chain by alignment
    • 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
    • G05B2219/39056—On line relative position error and orientation error calibration

Definitions

  • the present invention relates to a method and a means for measuring a movement axis of a robot having a robot arm, as well as a
  • a kinematic model is useful, the positions of the additional axis q r and positions of points P on the turntable 13 relative to the robot arm 1 1 linked together, for example, with a
  • Additional axis q t is movable relative to the environment U, in particular a kinematic model may be appropriate, the positions of the additional axis q t and poses of the robot arm 11 with positions of the tool 12 relative to (points P de) r environment linked, for example in the form of a so-called
  • Such kinematic models generally have one or more transformations between coordinate systems, each of which convert two coordinate systems into each other, in particular environment-fixed coordinate systems, by means of which
  • the kinematic model may, for example, have a transformation between a rotationally fixed and an environmental or robot-arm-fixed coordinate system
  • Coordinate system for example, a transformation between an environment and a robot arm base fixed coordinate system, in particular only this transformation or additionally associated transformation between this robot arm base fixed coordinate system and a tool or roboterarmspitzenfesten coordinate system.
  • Movement axis which is usually - as well as the orientation
  • a robot has a single or multi-axis robotic arm, which in a further development has at least four,
  • the robot in particular in addition to the robot arm, has at least one (further) movement axis, in particular at least one so-called additional axis.
  • this (additional or further movement) axis is measured, in particular by means according to an embodiment of the present invention, which is or is used for this purpose, in particular hardware and / or software, in particular program technology becomes.
  • the method according to an embodiment of the present invention comprises the steps:
  • the means for measuring a movement axis or according to an embodiment of the present invention comprises according to:
  • Robot arm in a or the first pose, wherein the movement axis has a or the first position
  • the robot arm itself is advantageously used for measuring the movement axis, in particular determining a (two-dimensional) orientation, whereby an external measuring system can be omitted in a further development.
  • the movement axis is an (additional) axis through which a
  • Machine part in particular a tool or workpiece, in particular a so-called positioning, on which the tool or workpiece for
  • the movement axis is an (additional) axis through which the robot arm, in particular a base of the robot arm, relative to a
  • internal or stationary environment in particular a work cell, a floor, a wall, ceiling or the like, is movable or is moved or which is set up for this purpose or is used.
  • a method or means according to the invention is particularly suitable.
  • the point repeatedly approached with the robot arm is movable relative to the robot arm, in particular a base of the robot arm, by or by adjusting the movement axis.
  • the point can be environmentally safe, in particular if the robot arm is movable or moved relative to the environment through the movement axis, since by moving the robot arm relative to the environment, an environmentally stable point is also moved relative to the robot arm.
  • the point in a further development may be robot-resistant, in particular if a machine part is or can be moved relative to the robot arm by the movement axis, in particular thus a positionally fixed point.
  • the point is given by a geometric design, in particular depression or elevation, in particular an edge, corner, a paragraph or the like. This can facilitate starting up with the robotic arm.
  • the orientation of the movement axis is determined such that a deviation between changes in a position of the point relative to the robot arm in the assumed poses of the robot arm and theoretical changes of this position due to an adjustment of
  • Movement axis is minimized in the corresponding positions of the movement axis.
  • the movement axis is a rotary or rotary axis.
  • Motion axis i. a rotation about the axis of motion, theoretically along a circle. Accordingly, the orientation of the movement axis can be determined so that actual positions of the point, which are determined on the basis of the determined when approaching the robot arm poses, as close as possible to a circle around the correspondingly oriented movement axis.
  • the movement axis is a translatory or linear axis. Then the position of the point changes due to an adjustment of the
  • Motion axis i. a displacement along or in the movement axis, theoretically along a straight line. Accordingly, the orientation of the
  • Movement axis are determined so that changes in the actual positions of the point, which are determined on the basis of the determined when approaching with the robot arm poses, as parallel as possible to the corresponding oriented
  • the method comprises the step: determining a position of the movement axis, in particular a two-dimensional position, in particular perpendicular to the
  • Movement axis based on the poses of the robot arm, in particular so on
  • the position of the movement axis is (are) determined such that a deviation between changes in a position of the point relative to the robot arm in its assumed poses and theoretical changes in that position due to an adjustment of
  • a layer in the sense of the present invention may in each case be a one-, two- or three-dimensional layer, in particular a Cartesian layer, i. from a distance, in particular to a reference, in particular a
  • Coordinate system in one, two or three directions depending, in particular a (s) specify such a distance, in particular be.
  • a position within the meaning of the present invention may indicate or include a position, in particular a two- or three-dimensional and / or Cartesian position, in particular be and / or indicate a position in the sense of the present invention in an embodiment one, in particular two- or three-dimensional and / or Cartesian, position, or in particular be.
  • the method includes the step of calibrating one,
  • Robot arm linked together based on the determined orientation and / or position of the movement axis, in a development such that at the positions of the axis of movement in which the point was approached, which determined for this purpose based on the poses of the robot arm positions as well as possible with positions
  • the predetermined kinematic model can have a transformation dependent on the position of the movement axis between a first and a second coordinate system, which in a development can be linked in a known manner with one or more further transformations between further coordinate systems, in particular in a known manner additively and / or multiplicatively, for example by
  • this transformation of the given kinematic model between the first and second coordinate system for calibrating the kinematic model is replaced by a calibrated transformation also dependent on the position of the motion axis between the first and a calibrated coordinate system, or the kinematic model is calibrated thereby the calibrated coordinate system from the second coordinate system is given by:
  • the original second coordinate system which may be predetermined in a manner known per se on the basis of theoretical target values for the robot, is retained as far as possible and modified only insofar, in particular as little as possible a rotation axis twisted and possibly as little as possible perpendicular to
  • (Calibrated) kinematic model optimally map the determined orientation and optionally position of the movement axis, while the remaining degrees of freedom that were used in the selection or specification of the second coordinate system, remain as unchanged as possible.
  • the movement axis is adjusted in at least two, in particular at least three, further positions and in each case the point with the
  • Robot arm approached by moving the robot arm in a further pose, wherein the movement axis has this further position, and the orientation and / or position of the movement axis based on the poses of the robot arm, in particular based on the positions of the point determined based on the poses relative to the robot arm , determined by means of an averaging method, in particular a least squares method or the like.
  • a (two-dimensional) orientation of a translational axis can already be determined on the basis of two positions by moving parallel to a connection of these positions or a corresponding change in the position of the point moved by adjusting the translational movement axis
  • a (two-dimensional) position and a (two-dimensional) orientation of a rotary axis can already be determined on the basis of three positions by being arranged perpendicular to a plane through these positions so that the positions are as close as possible to a circle around the axis lie.
  • averaging method can here also measurement errors and the like minimized and accordingly the precision of the measurement can be increased.
  • the point is approached with a working tool that, in particular releasably, on the robot arm, in particular its tip or
  • End flange is arranged.
  • the kinematic model can be calibrated directly in the work process.
  • the point is approached with a specially arranged, in particular detachably, on the robot arm, in particular its tip or end flange, arranged measuring tool, which is not set up for processing and / or transporting workpieces or is used.
  • a specially arranged, in particular detachably, on the robot arm, in particular its tip or end flange, arranged measuring tool which is not set up for processing and / or transporting workpieces or is used.
  • a means in the sense of the present invention may be designed in terms of hardware and / or software, in particular a data or signal-connected, preferably digital, processing, in particular microprocessor unit (CPU) and / or a memory and / or bus system or multiple programs or program modules.
  • the CPU may be configured to execute instructions implemented as a program stored in a memory system, to capture input signals from a data bus, and / or
  • a storage system may comprise one or more, in particular different, storage media, in particular optical, magnetic, solid state and / or other non-volatile media.
  • the program may be arranged to be capable of embodying the methods described herein, such that the CPU may perform the steps of such
  • one or more, in particular all, steps of the method are completely or partially automated, in particular by the means for measuring the movement axis or its means. In one embodiment, this comprises the means for measuring the movement axis:
  • Deviation between changes in a position of the point relative to the robot arm in its assumed poses and theoretical changes in that position due to an adjustment of the axis of motion to their respective positions is minimized;
  • predetermined kinematic model the positions of the movement axis and positions of the point relative to the robot arm linked together, based on the determined orientation and / or position of the movement axis;
  • FIG. 1 shows a robot and a means for measuring a movement axis of the robot according to an embodiment of the present invention
  • Fig. 2 a calibration of a kinematic model according to this embodiment
  • FIG. 3 shows a robot and a means for measuring a movement axis of the robot according to a further embodiment of the present invention
  • 4 shows a calibration of a kinematic model according to this embodiment
  • 5 shows a method for measuring the movement axis of the robot according to both embodiments.
  • Fig. 1 shows a robot 10 with a six-axis robot arm 1 1, the base 14 with respect to an environment U is stationary. On the robot arm 11, a tool or button 12 is attached.
  • a turntable 13 is about an additional axis of the robot 10 in the form of a
  • a controller 2 of the robot 10 carries out a method explained below with reference to FIGS. 1, 2 and 5 for measuring this movement axis q r .
  • a step S10 an excellent point P predetermined on the turntable 13, for example by a depression or the like, is approached by the tool or pushbutton 12, by moving the robot arm 11 into a corresponding pose, and storing the pose taken thereby.
  • a step S20 it is checked whether a predetermined number of poses have already been taken, in the exemplary embodiment, for example, at least three poses.
  • step S30 the
  • Movement axis q r adjusted to another position and then repeated step S10, in which the point P on the turntable 13 again approached with the tool or button 12 and the case occupied further pose is stored.
  • step S40 the corresponding positions of the rotationally fixed point P relative to the robot arm 11 are determined from the stored poses.
  • the positions can be determined and stored directly in step S10 instead of the poses.
  • Robot arm 11 in which he the point P at a first position qi the
  • a turn table fixed coordinate system ⁇ x ax, y ax, z ax ⁇ created, whose z-axis z ax (on a plane passing through P (qi), P q 2 ) and P (q 3 ) is perpendicular and is arranged in this by means of a least-squares method so that the sum of the squares of the distances of the positions P (qi), P (q2) and P (q 3 ) to a in Fig. 2 indicated by dashed lines to z ax is minimal.
  • the x-axis x ax of the coordinate system ⁇ x ax , y ax , z ax ) is aligned with a perpendicular from the position P (qi) on this z-axis z ax , its y-axis y ax forms with the x and the z-axis a legal system or the Cartesian coordinate system
  • the z-axis z ax thus aligned with the axis of motion q r, the two-dimensional position (in the drawing plane of Fig. 2) and two-dimensional orientation relative to the roboterarmbasisfesten coordinate system ⁇ x r0 b, y r0 b- z r0 b ⁇ so that in step S40 was determined.
  • the kinematic model has a transformation between the
  • This rotary table fixed coordinate system ⁇ x m0 d, ymod, z m0 d ⁇ of the kinematic model is chosen in a conventional manner so that its z-axis z m0 d is aligned with the theoretical axis of rotation of the turntable 13.
  • step S50 first a smallest possible displacement d (see Fig. 2) is determined which is the origin of the coordinate system ⁇ x m0 d, y mod, z m0 d ⁇ of the coordinate system
  • a calibrated coordinate system ⁇ x ca i, ycäi, z) is obtained from the (second) coordinate system ⁇ x m0 d, ymod, z m0 d ⁇ of the kinematic model specified on the basis of the theoretical target dimensions ca i ⁇ out.
  • FIGs. 3 to 5 show in Figs. 1, 2 and 5, respectively, a robot 10 and a (means 2 for) measuring a movement axis of this robot according to another embodiment of the present invention.
  • Corresponding features are identified by identical reference numerals, so that reference is made to the above description and will be discussed below only differences.
  • the additional axis is a translational axis q t for moving the base 14 of the robot arm 1 relative to the surroundings U.
  • step S 0 an excellent, predetermined for example by a depression or the like, environmentally safe point P is approached by the tool or button 12 by the robot arm 11 is moved into a corresponding pose, and stored the pose thereby taken.
  • step S20 the predetermined number of poses is five poses.
  • step S30 the movement axis q t is in each case adjusted to a further position.
  • step S40 the corresponding positions of the environmentally fixed point P relative to the robot arm 11 or its base 14 'are determined from the stored poses. In a modification, instead of the poses, these positions can also be determined and stored directly in step S10. 3 shows an example of this in solid lines a first pose of
  • Robot arm 1 wherein t he starts up the environment fixed point P in a first position qi the movement axis q, and in dashed lines a further, fifth pose of the robot arm 1 1, in which he the point P in a further, fifth position q 5 the axis of movement q t starts up, Fig. 4, the determined positions P (q), P (qs) of the point P as well as in the form filled in circles three intervening further positions of the point P at respective further positions of the movement axis q t and corresponding further, in Fig 3, other poses of the robotic arm relative to the robotic arm 11, as shown by the robot arm base
  • step S40 From the positions P (q-P (q 5 ), in step S40, an environmentally fixed one
  • the z-axis z ax is thus in turn aligned with the movement axis q t whose
  • a kinematic model the positions qi - q 5 of the movement axis q t and positions of the axes of the robot arm 1 1, which determine its pose, with positions P (qi) - P (q 5 ) of the environmentally fixed point P relative to the robot arm 1 , in particular its tool or button 12, linked, so for example, these positions to a position of the tool or button 12 relative to
  • the kinematic model has a transformation between the robot arm base fixed (first) coordinate system ⁇ x r0 b, y r0 b, z r0 b ⁇ and a
  • Kinematic model is usually chosen so that its z-axis z m0C i with the theoretical linear or additional axis for moving the base 14 of
  • Robot arm 1 1 is aligned.
  • Linear axis aligned coordinate system are still freely selectable, are selected based on the theoretical target dimensions.
  • step S50 the smallest possible rotation D is determined (only, ie without preceding (smallest possible) displacement), which determines the z-axis z m0 d of the coordinate system ⁇ mod. ymod, Zmod ⁇ parallel to the motion axis q t or z-axis z ax of the
  • Coordinate system ⁇ x ax , y ax , z ax ⁇ aligns.
  • the axis of rotation of this rotation D results from the cross or vector product of the z-axis z m0 d and the
  • Movement axis q t was adjusted, while in the four remaining of the six degrees of freedom, ie, the three-dimensional position of the origin and the orientation of x and y axis of the coordinate system around the movement axis q t , this original choice based on the theoretical target dimensions retained has been.
  • This results in an advantageous calibrated kinematic model that maps the actual movement axis q t well and at the same time retains the original choice on the basis of the theoretical target dimensions as far as possible.
  • a translatory axis and / or in the exemplary embodiment of FIGS. 3, 4 additionally or alternatively a rotational axis may be present.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

Un procédé selon la revendication de mesure d'un axe de déplacement (qr ; qt d'un robot (10), qui comprend un bras de robot (11), comporte les étapes suivantes consistant à : - amener (S10) le bras du robot en un point (P) par déplacement du bras du robot à une première pose, l'axe de déplacement présentant une première position (q1) ; - décaler (S30) l'axe de déplacement dans au moins une autre position (q2, q3 ; q5) et amener le bras du robot au point (P) par déplacement du bras du robot à une autre pose, l'axe de déplacement présentant cette autre position ; et - déterminer (S40) une orientation (D) de l'axe de déplacement sur la base des poses du bras du robot.
EP17803784.2A 2016-11-21 2017-11-16 Mesure d'un axe de déplacement d'un robot Withdrawn EP3542233A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016013891.2A DE102016013891A1 (de) 2016-11-21 2016-11-21 Vermessen einer Bewegungsachse eines Roboters
PCT/EP2017/001340 WO2018091141A1 (fr) 2016-11-21 2017-11-16 Mesure d'un axe de déplacement d'un robot

Publications (1)

Publication Number Publication Date
EP3542233A1 true EP3542233A1 (fr) 2019-09-25

Family

ID=60450575

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17803784.2A Withdrawn EP3542233A1 (fr) 2016-11-21 2017-11-16 Mesure d'un axe de déplacement d'un robot

Country Status (4)

Country Link
EP (1) EP3542233A1 (fr)
CN (1) CN109997086A (fr)
DE (1) DE102016013891A1 (fr)
WO (1) WO2018091141A1 (fr)

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JP7396829B2 (ja) * 2019-07-31 2023-12-12 ファナック株式会社 ロボット座標系を設定する装置、ロボット制御装置、ロボットシステム、及び方法
FR3115482A1 (fr) * 2020-10-26 2022-04-29 Le Creneau Industriel Procédé d’étalonnage d’une cellule notamment robotique et cellule associée
CN114211484B (zh) * 2021-12-01 2023-08-18 北京长木谷医疗科技有限公司 前端工具位姿同步方法、电子设备及存储介质

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Also Published As

Publication number Publication date
DE102016013891A1 (de) 2018-05-24
CN109997086A (zh) 2019-07-09
WO2018091141A1 (fr) 2018-05-24

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