KR101469205B1 - Method for setting the mobile manipulator onto the workbench - Google Patents

Method for setting the mobile manipulator onto the workbench Download PDF

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Publication number
KR101469205B1
KR101469205B1 KR1020140017483A KR20140017483A KR101469205B1 KR 101469205 B1 KR101469205 B1 KR 101469205B1 KR 1020140017483 A KR1020140017483 A KR 1020140017483A KR 20140017483 A KR20140017483 A KR 20140017483A KR 101469205 B1 KR101469205 B1 KR 101469205B1
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South Korea
Prior art keywords
error
linear laser
axis
mobile manipulator
mobile
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KR1020140017483A
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Korean (ko)
Inventor
최태용
도현민
박찬훈
박동일
경진호
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한국기계연구원
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • 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
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a method for setting a mobile manipulator onto a workbench by which the mobile manipulator is guided to be fixed to an operation position of the workbench so that robot system operation precision can be improved. The present invention includes a step in which the mobile manipulator is moved to the workbench; a step in which a plurality of first linear laser beams are emitted downward from the workbench and a second linear laser beam is emitted from the workbench toward the mobile manipulator; a step in which a first camera mounted on an upper portion of the mobile base receives the first linear laser beams and a second camera mounted on one side of the mobile manipulator receives the second linear laser beam; a step in which the pattern images of the received first linear laser beams are compared to the preset pattern images of the first linear laser beams to acquire a left-right X-axis error, a front-back Y-axis error, and a yaw error with respect to an up-down Z axis and the pattern image of the received second linear laser beam is compared to the preset pattern image of the second linear laser beam to acquire a Z-axis error, a roll error with respect to a Y-axis, and a pitch error value with respect to an X-axis; and a step in which the operation position of the mobile manipulator is corrected based on the acquired error values.

Description

[0001] The present invention relates to a mobile manipulator,

The present invention relates to a method for setting a mobile manipulator to a working position of a work platform and more particularly to a method for setting a mobile manipulator to a working position of a work table, And correcting the operation position of the mobile manipulator through the obtained error value, thereby improving the work precision of the robot system.

Generally, robots are developed to maximize work efficiency by promoting human safety through industrial development and being put into hard work such as human being. In particular, robots are widely used in fields requiring high precision and high risk, and can be classified into a robot that operates in a fixed state and a robot that moves in accordance with a working position.

Fixed robots are mainly used to move objects to move from a specific position to another position with the same operation as a human arm, and a mobile robot is used for a main purpose of moving an article in a short distance or a long distance .

Such robots have functions similar to those of a human upper limb and are also called manipulators because they work to move objects by gripping objects by mechanical hand or the like corresponding to the extremities of the robot.

On the other hand, since the conventional manipulator has been used mainly in the field of processing work in a limited work space, the accuracy of recognizing the manipulator's working position is not so important. However, since the current manipulator carries out various tasks while moving, it is important to set the manipulator to the working position after moving the manipulator correctly when the manipulator commands the manipulator in an environment.

Accordingly, when the manipulator is set to the working position of the workbench, the error value is measured as to how much the manipulator is shifted in the yaw direction with respect to the X axis, the Y axis, and the Z axis from the working position, The manipulator is moved in the X-axis, the Y-axis, and the Yaw direction by an error value measured through the mobile base disposed at the lower side of the manipulator, thereby setting the manipulator to the working position.

However, when the manipulator is set on the workbench by moving the mobile base as described above, since the position can not be corrected by the three-dimensional space (Z, Pitch, Roll), the accuracy of the moving platform is lowered, .

Accordingly, in order to improve the working accuracy of the robot system, it is necessary to acquire error values for the Z axis, the pitch direction, and the roll direction as well as the error values for the X axis, Y axis, and Yaw direction A method of correcting the operation position of the manipulator by an error value obtained by the above method is needed.

Published Patent Application No. 10-2002-0014573 (published Feb. 25, 2002)

The present invention provides a method of setting a work table of a mobile manipulator, which can improve a work precision of a robot system by setting a mobile manipulator to a working position of a work table.

According to another aspect of the present invention, there is provided a method of setting a work table of a mobile manipulator, the method comprising: moving the mobile manipulator to a work table; Irradiating a plurality of first linear laser beams downward from the workbench and irradiating a second linear laser beam from the workbench toward the mobile manipulator; Receiving the first linear laser beams through a first camera mounted on the mobile base and receiving the second linear laser beam through a second camera mounted on one side of the mobile manipulator; The pattern image of the received first linear laser beams is compared with the pattern image of the first linear laser beams set in advance, so that the X-axis error in the lateral direction, the Y-axis error in the front-rear direction, and the Yaw ), Compares the pattern image of the received second linear laser beam with the pattern image of the second linear laser beam set in advance, and calculates a Z-axis error, a roll error with respect to the Y-axis, and a pitch Obtaining an error value; And correcting the working position of the mobile manipulator based on the obtained error values

According to the present invention, it is possible to automatically control the position and operation of the mobile manipulator according to the work position on the workbench, even after moving the mobile manipulator from the workbench. Accordingly, the reference coordinate system does not change during the operation of the mobile manipulator, and the working precision of the robot system can be improved.

Further, based on the result of comparing the pattern image of the laser beams with the pattern image of the preset laser beams through the relatively inexpensive laser receiving camera, the error value in the X axis, Y axis, and Yaw direction as well as Z It is possible to correct the operating position of the mobile manipulator by an error value obtained by obtaining an error value with respect to an axis, a pitch direction, and a roll direction, thereby enabling high-precision position control with a small cost .

1 is a block diagram illustrating a method for setting a workbench of a mobile manipulator according to an embodiment of the present invention.
Fig. 2 is a view of the work station fixing device of the mobile manipulator for implementing the method of setting the work platform of the mobile manipulator in Fig. 1; Fig.
FIG. 3 is a diagram for explaining a process for setting a work position of a mobile base in FIG. 2;
FIG. 4 is a diagram for explaining a process for controlling the operating positions of both arms of the mobile manipulator in FIG. 2;

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram for explaining a method of setting a work table of a mobile manipulator according to an embodiment of the present invention, and FIG. 2 is a view illustrating a work table fixing device of a mobile manipulator for implementing a method of setting a work table of the mobile manipulator. Here, the workstation setting method 100 of the mobile manipulator is used to improve the working accuracy of the robot system by guiding the mobile manipulator to be fixed to the work position on the work platform.

1 and 2, a method 100 of setting a workstation of a mobile manipulator includes moving a mobile manipulator to a workbench 110, irradiating the first linear laser beams and the second linear laser beam The method includes receiving (130) receiving first linear laser beams and a second linear laser beam, obtaining (140) an error value of the first linear laser beams and a second linear laser beam, And a step 150 of correcting the working position. Here, the mobile manipulator 10 has a function similar to that of a human upper limb, and has a minimum of six (6) points so as to perform an operation of holding an object by a mechanical hand corresponding to the extremity thereof and spatially moving the object. Axis.

In step 110 of moving the mobile manipulator to the workbench, the mobile manipulator 10 is moved to the workbench 20 by moving the mobile base 30 disposed below the mobile manipulator. At this time, the movement of the mobile base 30 can be generally performed by using an Indoor GPS, an IR sensor, a LRF sensor, a vision sensor, and the like, which are used in a mobile robot. As the mobile base 30 moves, both the arm robots 10 disposed on the mobile base 30 are moved together with the mobile base 30 as well. Here, the method of moving the mobile base 30 onto the workbench 20 is a known technique and will not be described.

The step 120 of irradiating the first linear laser beams and the second linear laser beam irradiates a plurality of first linear laser beams 121 downwardly from the work table 20 and transfers the first linear laser beams 121 from the work table 20 to the mobile manipulator 10, To irradiate one second linear laser beam 122 toward the second linear laser beam 122. [ At this time, the first linear laser beams 121 may be irradiated at least two or more in the Y-axis direction.

The step 130 of receiving the first linear laser beams and the second linear laser beam receives the first linear laser beams 121 through the first camera 131 mounted on the mobile base 30, And receives a second linear laser beam 122 through a second camera 132 mounted on one side of the first linear laser beam 10.

In the step 140 of obtaining the error values of the first linear laser beams and the second linear laser beam, a pattern image of the received first linear laser beams 121 and a pattern image of the first linear laser beams 121 Axis error in the horizontal direction, the Y-axis error in the horizontal direction, the Y-axis error in the front-rear direction, and the Y-axis error with respect to the vertical Z-axis are obtained, and the pattern image of the received second linear laser beam 122 The pattern images of the second linear laser beam 122 are compared to obtain a Z-axis error, a roll error with respect to the Y-axis, and a pitch error value with respect to the X-axis. Here, the step 140 of obtaining the error values of the first linear laser beams and the second linear laser beam may control the X-axis error, the Y-axis error, and the yaw error to be 0, Pitch) error, and a detailed process will be described later.

The pattern image of the first linear laser beams 121 is transmitted to the first camera 131 via the first linear laser beams 121 when the mobile manipulator 10 is fixed and fixed at the working position of the workbench 20, And the pattern image of the second linear laser beam 122 that has been set in advance is stored in the second position when the mobile manipulator 10 is fixed and fixed at the working position of the work table 20, An image obtained by receiving the linear laser beam 122 through the second camera 132 and storing it as a pattern image.

In the step 150 of correcting the working position of the mobile manipulator, the position of the mobile manipulator 10 is corrected based on the obtained error values.

The step 150 of correcting the working position of the mobile manipulator with reference to FIGS. 3 and 4 will now be described in more detail. Here, for convenience, the pattern images of the first linear laser beams 121 and the second linear laser beams 122 actually received are referred to as " L1 and L3 ", respectively, and the predetermined first linear laser beams 121 And the pattern images of the second linear laser beam 122 are assumed to be "L2, L4 ", respectively.

First, the step of correcting the working position of the mobile manipulator 150 includes comparing the X-axis error, the Y-axis error, and the y-axis error obtained from the step 140 of obtaining the error values of the first linear laser beams and the second linear laser beam And moves the mobile base 30 by an error.

For example, when the pattern image L1 of the received first linear laser beams and the pattern image L2 of the preset first linear laser beams are as shown in Fig. 3, the two received first linear lasers The center of the pattern image (L1) of the beams is imaginary and both ends of the pattern image (L1) are imaginary, and then the center point of the rectangle r5 is obtained. Then, calculate p5, which is the center of the rectangle, and measure the error between the X and Y axes based on the points r5 and p5. That is, after measuring the distance that the point r5 is shifted from the preset point p5 to the X axis and the Y axis direction, the mobile base 30 is moved in the X axis direction and the Y axis direction to the position where the point r5 and the point p5 coincide with each other .

Accordingly, the mobile base 30 is moved in the X-axis, the Y-axis, and the yaw direction according to the error value obtained from the step 140 of obtaining the error values of the first linear laser beams and the second linear laser beams The mobile manipulator 10 moves to the work position of the work table 20 and is set.

Then, during the operation of the mobile manipulator 10, the operation position of the robot arm is adjusted by the Z-axis error, the roll error, and the pitch error obtained from the step 140 of obtaining the error values of the first and second laser beams .

For example, when the pattern image L3 of the received second linear laser beam and the pattern image L4 of the preset second linear laser beam are as shown in Fig. 4, The pattern image L4 is compared with the pattern image L3 of the received second linear laser beam to measure the error in the Z-axis direction. That is, the distance is measured as to how much the pattern image L3 of the second linear laser beam received from the previously set pattern image L4 of the second linear laser beam is shifted in the Z-axis direction, And controls the operation position so that the arm can be operated in an increasing and decreasing manner at the time of operation of the arm.

After measuring the angle of the pattern image (L3) of the second linear laser beam received from the pattern image (L4) of the second linear laser beam set in advance, the measured value is compared with the motion of the robot arm And controls the operation position so that the operation can be performed.

On the other hand, when the yaw error is zero and the mobile base 30 is positioned right on the X- and Y-axis planes, the pitch error with respect to the X-axis is set to be the same as the line length Dy of the first laser beam in the Y- The relation "Ry = cos? * Dy" is established with respect to the line length Ry of the first laser beam actually received in the Y-axis direction,

When the roll error with respect to the Y axis is 0 and the laser beam is positioned right on the X- and Y-axis planes, that is, when the mobile manipulator 10 is positioned in the Z-axis direction, Quot; Rz = cos? * Dz "relation with the length Dz and the line length Rz of the second linear laser beam in the Z axis direction actually received,

The pitch error for the X axis can be obtained by controlling the yaw error to 0 when the roll error is zero or the roll error is not zero. That is, after the mobile base 30 is moved so that the obtained X-axis error, Y-axis error, and yaw error are 0, if the obtained roll error is zero, The difference between the length of Ry and the length of Dy which is the line of the second laser beam which is set in advance is measured and then the operation position is controlled so that the measured value can be increased or decreased during operation of the robot arm.

In addition, after moving the mobile base 30 so that the obtained X-axis error, Y-axis error, and yaw error are 0, when the obtained roll error is not 0, the control is performed so that the yaw error is 0, The difference between the length of the second laser beam in the Y-axis direction and the length of the second laser beam, Dy, which is a predetermined second laser beam, is measured and then the measured value is increased or decreased during operation of the robot arm Position.

Accordingly, the mobile base 30 deviating from the working position of the workbench 20 can be moved on the two-dimensional plane image (X, Y, Yaw) and the three-dimensional space Z The position of the mobile manipulator 10 can be accurately set at the working position of the workpiece, so that the accuracy of the robot system can be improved. .

Another embodiment of the step of correcting the working position of the mobile manipulator will be described with reference to FIGS. 3 and 4. FIG. In the present embodiment, the differences from the above-described embodiment will be mainly described.

The step 250 of correcting the working position of the mobile manipulator may include obtaining 140 the operating position of the robotic arm during operation of the mobile manipulator 10 by obtaining the error values of the first linear laser beams and the second linear laser beam, Axis error, the y-axis error, the yaw error, the roll error, and the pitch error, which are obtained from the X-axis error, the Y-axis error, and the Z-axis error. That is, the mobile base 30 merely moves the mobile manipulator 10, and the X, Y, and Z values obtained from the step 140 of obtaining the error values of the first linear laser beams and the second linear laser beam, Z, Yaw, Roll, and Pitch directions of the mobile manipulator 10 are controlled to be increased or decreased during operation of the arm of the mobile manipulator 10, thereby improving the work precision of the mobile manipulator 10.

As described above, the method for setting the workstation 100 of the mobile manipulator 10 automatically sets the position and the operation of the mobile manipulator 10 to the working position on the workbench 20 even after the mobile manipulator 10 is moved from the workbench 20 It becomes possible to control. Accordingly, the reference coordinate system does not change during the operation of the mobile manipulator 10, and the working precision of the robot system can be improved.

Further, it is possible to control both the mobile base 30 and both the arms of the mobile manipulator 10 based on the result of comparing the pattern image of the laser beams with the pattern image of the preset laser beams through the relatively inexpensive laser receiving camera So that it is possible to perform position control with high accuracy at low cost.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation and that those skilled in the art will recognize that various modifications and equivalent arrangements may be made therein. It will be possible. Accordingly, the true scope of protection of the present invention should be determined only by the appended claims.

10. Mobile manipulator
20. Workbench
30 .. Mobile Base
100 .. How to set the workbench of the mobile manipulator
121. The first linear laser beam
122. The second linear laser beam
131 .. First camera
132 .. Second camera

Claims (5)

A method for fixing a mobile manipulator equipped with a robot on a mobile base to a working position of a workbench,
Moving the mobile manipulator to a workbench;
Irradiating at least two first linear laser beams from the workbench in the Y-axis direction downward and irradiating one second linear laser beam from the workbench toward the mobile manipulator;
Receiving the first linear laser beams through a first camera mounted on the mobile base and receiving the second linear laser beam through a second camera mounted on one side of the mobile manipulator;
The pattern image of the received first linear laser beams is compared with the pattern image of the first linear laser beams set in advance, so that the X-axis error in the lateral direction, the Y-axis error in the front-rear direction, and the Yaw ), Compares the pattern image of the received second linear laser beam with the pattern image of the second linear laser beam set in advance, and calculates a Z-axis error, a roll error with respect to the Y-axis, and a pitch Obtaining an error value; And
Correcting a working position of the mobile manipulator based on the obtained error values;
Wherein the mobile manipulator is a mobile manipulator. The method according to claim 1,
Wherein the obtaining of the error values of the first linear laser beams and the second linear laser beams comprises:
The mobile base is moved such that the X-axis error, the Y-axis error, and the yaw error are 0, and when the obtained roll error is not 0, the yaw error is controlled to be 0, And calculating a pitch error of the mobile manipulator. 3. The method according to claim 1 or 2,
The step of correcting the position of the mobile manipulator comprises:
Shifting the mobile base by the X-axis error, the Y-axis error, and the yaw error;
And correcting the operation position of the robot arm by adding or subtracting the Z-axis error, the roll error, and the pitch error during operation of the mobile manipulator. 3. The method according to claim 1 or 2,
The step of correcting the working position of the mobile manipulator comprises:
And correcting the operation position of the robot arm by adding and subtracting the X-axis error, the Y-axis error, the Z-axis error, the yaw error, the roll error, and the pitch error during operation of the mobile manipulator Characterized in that the mobile manipulator is mounted on a work platform. delete
KR1020140017483A 2014-02-14 2014-02-14 Method for setting the mobile manipulator onto the workbench KR101469205B1 (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105759720A (en) * 2016-04-29 2016-07-13 中南大学 Mechanical arm tracking and positioning on-line identification and correction method based on computer vision
CN106969734A (en) * 2015-12-16 2017-07-21 通用电气公司 Alignment system and method for component

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100552438B1 (en) * 2004-01-09 2006-02-20 (주)다사테크 Mobile Robot Charging Station Search Method
KR100854653B1 (en) * 2006-05-12 2008-08-27 주식회사 한울로보틱스 Localization system of the mobile robot using the charging station
KR100902115B1 (en) * 2006-12-02 2009-06-09 한국전자통신연구원 Apparatus and method for automatic robot recharging with a camera and non-visible light sensors
JP2012056044A (en) * 2010-09-10 2012-03-22 Toyota Motor Corp Robot and method for controlling the same

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100552438B1 (en) * 2004-01-09 2006-02-20 (주)다사테크 Mobile Robot Charging Station Search Method
KR100854653B1 (en) * 2006-05-12 2008-08-27 주식회사 한울로보틱스 Localization system of the mobile robot using the charging station
KR100902115B1 (en) * 2006-12-02 2009-06-09 한국전자통신연구원 Apparatus and method for automatic robot recharging with a camera and non-visible light sensors
JP2012056044A (en) * 2010-09-10 2012-03-22 Toyota Motor Corp Robot and method for controlling the same

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106969734A (en) * 2015-12-16 2017-07-21 通用电气公司 Alignment system and method for component
CN105759720A (en) * 2016-04-29 2016-07-13 中南大学 Mechanical arm tracking and positioning on-line identification and correction method based on computer vision

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