EP3606704A1 - Verfahren zum bestimmen unbekannter transformationen - Google Patents
Verfahren zum bestimmen unbekannter transformationenInfo
- Publication number
- EP3606704A1 EP3606704A1 EP18715652.6A EP18715652A EP3606704A1 EP 3606704 A1 EP3606704 A1 EP 3606704A1 EP 18715652 A EP18715652 A EP 18715652A EP 3606704 A1 EP3606704 A1 EP 3606704A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- rotation
- axis
- robot
- calibration objects
- optimized
- 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- Withdrawn
Links
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- 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
- G05B2219/39003—Move end effector on ellipse, circle, sphere
-
- 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
- G05B2219/39024—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
- G05B2219/39045—Camera on end effector detects reference pattern
-
- 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
- G05B2219/39057—Hand eye calibration, eye, camera on hand, end effector
Definitions
- the invention relates to a method for determining unknown
- Robot model in the form of a technical algorithm with one or more specified parameters, which describes the theoretical spatial position of the robot in dependence on one or more control variables; Controlling the theoretical spatial desired position of the robot with a
- Robot controller according to the robot model; Detecting the actual spatial actual position of the robot during operation by a sensor device
- Manipulator in particular a robot, comprising the steps of approaching various poses of the manipulator; Capture a position of a
- Manipulatorgliedes by means of an external 3D position detection device in the respective pose; and compensating the kinematic deviation based on the detected position of the manipulator member. From DE 10 2008 060 052 A1 a method is known for the compensation of a kinematic deviation, in particular a temperature drift, of a
- Manipulator in particular a robot, comprising the steps of approaching various poses of the manipulator; Capture a position of a
- Manipulatorgliedes by means of an external 3D position detection device in the respective pose; and compensating the kinematic deviation based on the detected position of the manipulator member.
- performing comprising the following method steps: setting up a mobile, suitable for measuring the robot arm camera system at the place of application of the industrial robot; at least indirectly measuring a stationary robot base coordinate system associated with the robot arm with respect to the camera system; Driving the robot arm such that the
- Fastening device assumes predetermined nominal positions and / or desired poses within the working space; Determining the actual positions and / or actual poses of the fastening device by means of the camera system; Determining an error between the actual positions and / or actual poses and the target positions and / or target poses.
- EP 1 584 426 A1 is measuring system comprising a robot with a
- a tool attached to the front end of an arm thereof and a light receiving device; the measuring system comprising means for displacing the robot to a home position; Means, one of which
- Illustration of the centering tip of the tool, which is attached to the front end of the arm of the robot, from the light receiving device is thereby detected to determine the position of the tool center on a light-receiving surface of the light-receiving device, the image of which is focused on the light-receiving surface;
- Light receiving surface is moved to a predetermined point on the light receiving surface; Means for moving the robot around the particular one
- Tool mounting surface of the robot is determined, using the position of the robot, which has been changed and stored for each of a plurality of initial positions, while the position of the
- the invention has for its object to improve a method mentioned above.
- the method can be used for calibration.
- the transformations can form a kinematic chain.
- the transformations can be done by using four
- the process can be performed using an industrial robot.
- the industrial robot may have a base.
- the base can be assigned a basic coordinate system.
- the base coordinate system can be a Cartesian coordinate system.
- the base coordinate system may have an origin.
- the industrial robot may have a manipulator.
- the manipulator may have multiple arm portions and multiple joints. The joints may serve to articulate the manipulator to the base and / or to articulate the arm portions together.
- the industrial robot can have a Tool Center Point (TCP).
- TCP can be assigned a TCP coordinate system.
- the TCP coordinate system can to be a Cartesian coordinate system.
- the TCP coordinate system may have an origin. Relative assignment of the base coordinate system and the TCP coordinate system to each other may be known.
- the industrial robot may have an effector.
- the effector may be an end effector.
- the effector may be a sensor device.
- the sensor device can have a camera.
- the effector may be associated with an effector coordinate system.
- the effector coordinate system may be a Cartesian coordinate system.
- the effector coordinate system may have an origin. Relative mapping of the base coordinate system and the effector coordinate system to each other may be known. A relative association of the TCP coordinate system and the effector coordinate system with each other may be known.
- the origin of the base coordinate system may form a first reference point.
- the origin of the TCP coordinate system can be a second one
- the origin of the effector coordinate system can form a third reference point.
- Calibration objects can form fourth reference points.
- the calibration objects can be measurement marks.
- the measuring marks can each have any geometry.
- a first transformation can be a transformation between the first
- a second transformation may be a transformation between the second reference point and the third reference point.
- a third transformation may be a transformation between the third reference point and the fourth reference point.
- Transformation may be a transformation between the first reference point and the fourth reference point.
- the first transformation can be known.
- the second transformation may be unknown.
- the third transformation may be known.
- the fourth transformation may be unknown.
- a first transformation may be a transformation between the second reference point and the third reference point.
- a second transformation may be a transformation between the second reference point and the fourth Be reference point.
- a third transformation may be a transformation between the first reference point and the fourth reference point.
- Transformation may be a transformation between the first reference point and the third reference point.
- the plurality of calibration objects may be stationary and the at least one sensor device may be rotated to the plurality of calibration objects.
- the at least one sensor device may be stationary and the plurality
- Calibration objects can be rotated to the at least one sensor device.
- the multiple calibration objects can be sensed during rotation by means of the at least one sensor device. If the sensor device has a camera, the multiple calibration objects can be recorded while rotating using the camera.
- the translation information and the rotation information can form 6D transformations.
- the first rotation axis and the second rotation axis may be non-parallel to each other.
- the at least one sensor device and the plurality of calibration objects can be rotated relative to one another by at least one further rotation axis inclined to the first rotation axis and to the second rotation axis in order to provide further translation information for each of the calibration objects and further
- Rotation information can be determined for each of the calibration objects at least one further optimized rotation axis and at least one further rotation center.
- An intersection of the first optimized rotation axis, the second optimized rotation axis and the at least one further optimized rotation axis may be determined.
- the at least one sensor device can be assigned to a known coordinate system. The known
- Coordinate system can be a robot coordinate system.
- Intersection point at least two sensor devices can be assigned to each other.
- the at least one sensor device can be assigned to the known coordinate system by means of the Bingham distribution.
- the least two sensors can be assigned to the known coordinate system by means of the Bingham distribution.
- Sensor devices can be assigned to each other using the Bingham distribution.
- the at least one sensor device and the plurality of calibration objects can be rotated relative to one another by means of an industrial robot.
- the industrial robot can rotate around two robot axes.
- the two robot axes can be robot own axes.
- the method can be used to calibrate an industrial robot, a mobile robot
- the invention thus provides inter alia a calibration method for robot hand-eye calibration and / or camera-to-camera calibration.
- the method is based on a recording of optical measuring marks with a camera system mounted on a robot during a rotational movement of the robot. For each marker a 6D transformation (position and rotation) can be obtained. Optimization techniques allow many observed markers during rotation to determine the axis and center of rotation of the robot. Will this step with another
- Configuration of the robot repeated for example, a tilting of the robot about a vertical axis, again the axis and the center of the rotation can be determined.
- the intersection of these two lines may correspond to a known point in a robot coordinate system. This allows an assignment from camera to robot coordinate system. Likewise, a determination of a relative position of the cameras is possible with several cameras.
- a hand eye calibration can also be enabled in cases where the robot can not move a known calibration object in the field of view of the cameras. This may include: Calibration without knowledge of one
- Robot kinematics thereby also calibrating cameras on any mechanically coupled system without knowing the location.
- Calibration can be performed using a simple, realizable motion procedure. It is sufficient if the robot turns around its own axis of rotation.
- a calibration without knowledge of a geometry of a calibration object is made possible.
- the calibration object can be a marker.
- the calibration object does not have to have an exact geometry. Statements about inaccuracy directions of the calibration are made possible. Inferences are made possible in which direction inaccuracies prevail. These can be used directly during calibration to obtain high-quality autonomous calibration.
- the method can also perform autonomous validation based on observation of measurement markers, that is, it can be determined whether the calibration is still valid / accurate enough and, if not, automatic re-calibration can be initiated. This is made possible by not having to mount a calibration object. Calibration is possible for non-overlapping cameras and / or for cameras with very different viewing angles. A calibration pattern does not have to be visible in all cameras.
- calibration is simplified. Calibration is also possible with unknown robot kinematics. A robot kinematics does not have to be known. An external tracking system can be omitted. A calibration is also possible with unknown geometry of a calibration object, such as a measurement mark. A geometry of a calibration object, such as a measurement mark, need not be known. A negative influence by inaccuracies in one
- Calibration object such as measuring mark
- a calibration will also partial invisibility of a calibration object, such as measurement mark, allows.
- a possibility of movement during the calibration is increased.
- a camera-camera calibration is also made possible if coverage or joint visibility of a calibration object, such as a measurement mark, is not guaranteed.
- a complexity of a calibration object can be reduced. An accurate calibration can be performed even if a hand-eye calibration is not possible.
- FIG. 1 shows a detection of a plurality of measurement marks and a determination of
- Fig. 2 is a determining a representative axis of rotation
- FIG. 1 shows a detection of a plurality of measuring marks 100, 102, 104 and a determination of rotational axes 106, 108, 110 in front view and in plan view.
- the method is here performed for calibrating an industrial robot.
- the method may also be used to calibrate a mobile platform, multiple vehicle cameras, or a service robot.
- the industrial robot has a base with a base coordinate system, a manipulator, a TCP coordinate system and a camera as an end effector with a camera coordinate system 1 12.
- the camera coordinate system 1 12 is a Cartesian coordinate system having an x-axis, a y-axis and a z-axis, wherein the z-axis corresponds to a viewing direction of the camera and the y-axis is directed downward.
- the process is used to calibrate the industrial robot.
- the industrial robot is rotated about a first axis of rotation and
- the cameras of several measuring marks 100, 102, 104 are used to record or scan.
- a complete 6D pose is obtained for each visible measurement mark 100, 102, 104, which describes a relation of the camera coordinate system 112 and the measurement mark 100, 102, 104.
- the respective first rotation axes 106, 108, 110 are determined.
- a representative first rotation axis 14 is determined.
- the representative first axis of rotation 1 14 is shown in the origin of the camera coordinate system 1 12 and is using the function
- Concentration parameter and F [ ⁇ 15 ⁇ 2 , ⁇ 3 ] are orthogonal basis vectors.
- an optimized first rotation axis 15 is determined from the representative first rotation axis 1 14 with a first rotation center 1 16 initially set arbitrarily.
- 2 shows a 3D cylinder 1 18 on which the measuring marks 102 lie, the optimized first axis of rotation 1 15 and a plane 120 in which the first center of rotation 1 16 lies.
- the industrial robot is rotated about a second rotation axis and the procedure described above is performed again to determine a second optimized rotation axis 122. If necessary, the
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017107593.3A DE102017107593B4 (de) | 2017-04-07 | 2017-04-07 | Verfahren zum Bestimmen unbekannter Transformationen |
PCT/EP2018/058416 WO2018185065A1 (de) | 2017-04-07 | 2018-04-03 | Verfahren zum bestimmen unbekannter transformationen |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3606704A1 true EP3606704A1 (de) | 2020-02-12 |
Family
ID=61899271
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18715652.6A Withdrawn EP3606704A1 (de) | 2017-04-07 | 2018-04-03 | Verfahren zum bestimmen unbekannter transformationen |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3606704A1 (de) |
DE (1) | DE102017107593B4 (de) |
WO (1) | WO2018185065A1 (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11911914B2 (en) | 2019-01-28 | 2024-02-27 | Cognex Corporation | System and method for automatic hand-eye calibration of vision system for robot motion |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19826395A1 (de) | 1998-06-12 | 1999-12-23 | Amatec Gmbh | Verfahren zum Erfassen und Kompensieren von kinematischen Veränderungen eines Roboters |
JP4191080B2 (ja) | 2004-04-07 | 2008-12-03 | ファナック株式会社 | 計測装置 |
DE102004024378B4 (de) * | 2004-05-17 | 2009-05-20 | Kuka Roboter Gmbh | Verfahren zur robotergestützten Vermessung von Objekten |
DE102008060052A1 (de) | 2008-12-02 | 2010-06-17 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zur Kompensation einer kinematischen Abweichung |
DE102009005495A1 (de) * | 2009-01-21 | 2010-07-22 | Kuka Roboter Gmbh | Manipulatorsystem und Verfahren zur Kompensation einer kinematischen Abweichung eines Manipulatorsystems |
DE102009014766B4 (de) * | 2009-03-25 | 2012-02-09 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Überlagerte Achsen bei einer Vorrichtung zur Bearbeitung eines Werkstücks mit einem Werkzeug |
JP4763074B2 (ja) * | 2009-08-03 | 2011-08-31 | ファナック株式会社 | ロボットのツール先端点の位置の計測装置および計測方法 |
DE102010031248A1 (de) | 2010-07-12 | 2012-01-12 | Kuka Roboter Gmbh | Verfahren zum Vermessen eines Roboterarms eines Industrieroboters |
EP2722136A1 (de) * | 2012-10-19 | 2014-04-23 | inos Automationssoftware GmbH | Verfahren zur Inline-Kalibrierung eines Industrieroboters, Kalibrierungssystem zum Ausführen des Verfahrens und Industrieroboter mit dem Kalibrierungssystem |
JP6108860B2 (ja) * | 2013-02-14 | 2017-04-05 | キヤノン株式会社 | ロボットシステム及びロボットシステムの制御方法 |
-
2017
- 2017-04-07 DE DE102017107593.3A patent/DE102017107593B4/de active Active
-
2018
- 2018-04-03 EP EP18715652.6A patent/EP3606704A1/de not_active Withdrawn
- 2018-04-03 WO PCT/EP2018/058416 patent/WO2018185065A1/de active Application Filing
Also Published As
Publication number | Publication date |
---|---|
DE102017107593B4 (de) | 2023-04-27 |
DE102017107593A1 (de) | 2018-10-11 |
WO2018185065A1 (de) | 2018-10-11 |
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