SE1050763A1

SE1050763A1 - En metod för att kalibrera en mobil robot

Info

Publication number: SE1050763A1
Application number: SE1050763A
Authority: SE
Inventors: Torgny Brogaardh
Original assignee: Abb Research Ltd
Priority date: 2010-07-08
Filing date: 2010-07-08
Publication date: 2010-07-12
Also published as: US20130123983A1; CN102985232B; CA2804553C; CN102985232A; US8868236B2; EP2590787B1; WO2012004232A3; BR112013000540A2; EP2590787A2; ES2470316T3; CA2804553A1; WO2012004232A2

Abstract

Foreliggande uppfinning avser en metod for att kalibrera en mobil robot (1) placerad pa en plattform (2), i forhallande till ett ar-betsobjektsomrade (5) med anvandning av en matenhet (3) monterad pa en robothandled. Metoden innehaller foljande steg for generering av ett automatiskt kalibreringsprogram:. - CAD-modeller av den mobila roboten, plattformen, maten-heten och arbetsobjektsomradet laddas in i ett Robot CAD system, - modellen av plattformen placeras i en optimal position for att kunna na hela arbetsomradet, - robotmodellen manipuleras till en position och orientering lamplig for matning av robotplaceringen, - en forsta 3D modell av ett stort sardrag (5) pa arbetsobjektsomradet erhalls, - robotmodellen manipuleras for att mata en andra 3D modell av atminstone ett detaljerat sardrag (7) pa arbetsobjektsomradet, och - robotmanipuleringarna sparas som ett robotkalibrerings-program tillsammans med 3D modellerna av atminstone ett sardrag, och foljande steg for att utfora kalibreringen: - anvandaren forflyttar den verkliga plattformen till en plats dar matningarna av det stora sardraget kan utforas, och - anvandaren startar kalibreringsprogrammet och kalibreringen utfors automatiskt.(Fig. 8)

Description

10 15 20 25 30 35 The robot includes a base portion and a plurality of parts mov- able relative the base portion. The base portion is mounted on a movable platform. A base coordinate system is defined in a fixed relation to the base portion. A work object coordinate system is defined at a work object located in the work area of the robot.

The work coordinate system is to be calibrated in relation to the base coordinate system.

The problem is that the calibration of a mobile robot relative a work object to obtain the accuracy needed for most industrial processes, is considered to be very difficult and time consum- ing.

OBJECTS AND SUMMARY OF THE INVENTION The object of the present invention is to provide an improved method for calibration of mobile robots relation to large work ob- jects.

This object is achieved by a method as defined in claim 1.

The method comprises the following steps for generation of an automatic calibration program: - CAD models of the mobile robot, the platform, meas- urement unit, and the work object area are loaded into a Robot CAD system, - for each work object area the model of the platform is placed in an optimal position and orientation to be able to reach the whole work area, - the robot model is manipulated until the measurement unit model is moved to a position and orientation suit- able for measurement of the robot placement, - the measurement unit model calculates and stores a first 3D model of a grand feature on the work object area, 10 15 20 25 30 35 - the robot model is manipulated to move the measure- ment unit model to measure a second 3D model of at least one detailed feature on the work object area, - the robot manipulations are stored as a robot calibration program together with the 3D-model of the at least one feature, and the following steps for performing the calibration: - the user moves the real platform to a place where measurements of the grand feature can be made, - the user starts the calibration program, and the follow- ing will be performed automatically: - 3D measurements are made of the grand feature and a third 3D model of the real grand feature is obtained and stored, - a best fit including model scaling and rotation is made between the first and the third 3D models, and the 6 DOF pose difference is calculated, - the mobile platform is instructed to move and reorient to compensate for the calculated pose difference, - the real robot is manipulated to move the measurement unit model to measure a forth 3D model of said at least one detailed feature on the work object area, - best fits are made between the second and forth 3D models, and - the work object coordinate system is adjusted relative the robot and the system informs the user that the cali- bration is ready.

The calibration is prepared in a CAD-based off line robot pro- gramming tool. lf a 3D CAD-model exists it is suitable to make the preparation of the calibration off line, since then the calibra- tion in the workshop will be possible to perform automatically. lt is assumed that a 3D measurement unit is mounted on the robot wrist flange, preferably using a precision tool exchanger. When a calibration program is made there are two main problems to be solved. At first the placement of the mobile platform during the 10 15 20 25 30 35 processing must be determined, measured and controlled and then the work object coordinate system must be accurately measured to be used in the process programs executed by the robot. ln order to obtain an automatic mobile platform placement it is proposed that a 3D model of a part of the work object is used as a reference when the robot is on a safe distance from the work object.

By scaling and rotation, a prepared 3D model is adjusted to fit the 3D model obtained from measurements and the pose differ- ence is used to control the pose of the mobile platform. The ref- erence pose is where maximum reach ability is obtained for the robot according to earlier off-line analysis. For the accurate de- termination of the work coordinate system, local 3D features are measured with high accuracy and a best fit is made to prepared 3D models. The differences between the poses of the measured and prepared 3D models are used to compensate for the work object coordinate system deviation when the robot processing program is executed. ln the following, these main concepts are described in more detail and functionalities to make the calibra- tion as easy as possible are proposed.

BRIEF DESCRIPTION OF THE DRAWINGS The invention will now be explained more closely by the descrip- tion of different embodiments of the invention and with reference to the appended figures.

Fig. 1 shows a work object and a 3D model of the work object.

Fig. 2 shows a mobile robot, a measurement unit mounted on the robot, and a work object.

Fig. 3 shows the measurement unit measuring a feature of the work object. 10 15 20 25 30 35 Fig. 4 shows the robot holding a tool during programming of the robot.

Fig. 5 shows that the robot is moved to the first part of a sec- ond identical work object.

Fig. 6 shows that the operator starts the processing program.

Fig. 7 shows off-line preparation of calibration and program- ming.

Fig. 8 shows performing calibration and process program exe- cuüon.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION Two scenarios for the calibration of a robot in relation to a large work object are proposed. ln the first scenario all the calibration activities are made by the robot user in the workshop and in the second scenario the calibration is prepared in a CAD-based off line robot programming tool. lf a 3D CAD-model exists the best solution is to make the preparation of the calibration off line since then the calibration in the workshop will be possible to perform automatically.

The present invention proposes possibilities to calibrate a robot in relation to a large work object, both in the case of robot pro- gramming made by teach in and in the case of CAD-based robot programming. One result of the analysis is that off-line pro- gramming will have an even more important role for mobile ro- bots since this can make the calibration and programming more or less automatic. The concept described is based on the use of a 3D measurement unit, which for example could be a line scan- ner, a surface scanner, a stereoscopic camera system or an in- terferometer arrangement. ln order to use such a device the ro- 10 15 20 25 30 35 bot system should be equipped with a tool exchanger and the measurement unit must be protected from dust and liquids when not in use. ln cases when the unit does not interfere with the processing tool it could remain on the robot wrist during proc- essing if a tight locking mechanism is used.

A. Concept with manual calibration and programming. ln many cases there are no CAD models of the work objects to be processed and calibration and programming must be made manually. This means that the use of the mobile robot must re- lay on the skill of its operator and the robot system should help the operator as much as possible to understand the results from the calibration process using the 3D measurement unit. ln the following a scenario is made on how calibration and program- ming could be made in this case. A large heavy object needing processing on four sides will be used to illustrate the calibration activities. Figure 1 shows an example of large heavy object and a corresponding 3D CAD model.

Figure 2 shows a mobile robot 1 positioned on a platform 2, a measurement unit 3 mounted on the wrist of the robot, and a work object 4.

Step 1: The robot 1 on the platform is moved to a first process- ing area 5 of the work object 4.

The problem here for the user is to find a suitable placement of the mobile (or portable) platform. There will be a need to jog the robot to check that it reaches the intended area of the work ob- ject. lf not, the platform position and orientation is adjusted. lt should also be noted that the platform could have a lift to make it possible for the robot to reach a high work object. Sometimes it might be difficult for the user to see that the robot really reaches the whole area to be processed and it could be advan- 10 15 20 25 30 35 tageous to include a camera in the measurement unit making it possible for the user to see what the tool can reach.

Step 2: When a suitable placement of the platform 2 has been reached, the operator starts a program which picks the meas- urement unit from the tool exchanger. He moves the measure- ment unit 3 to obtain a 3D measurement of a relative large area of the work object.

The measured 3D point is transformed to a geometric 3D model, for example, using polygons, and saved for use when upcoming objects will be processed. For upcoming work objects this 3D model will be scaled and moved/rotated until it matches the 3D model measured when the platform is placed relative the other identical object. The 6DOF 3D model difference is then used to calculate a corrective movement of the platform.

Step 3: ln order to obtain an accurate 6 DOF calibration of the work object in relation to the robot, the operator jogs the robot such that the measurement unit gets close to at least one well defined 3D feature on the work object as shown in figure 3. Also here the user could benefit from a camera in the measurement unit to see the measurement area. Important then is that the ori- entation of the measurement unit is such that the perspective is useful. Of special importance is this when a line scanner is used and the robot needs to move the measurement unit during the scanning of the feature. ln order to facilitate the jogging of the robot to a feature the following functionality could be imple- mented: a) TCP is defined at the center of the measurement area, making it easy for the user to reorient the measurement unit. b) During manipulation the system continuously calculates the closest measured distance and stops the robot if this dis- tance is smaller than a configured value. c) Scanning area shown as an overlay on the displayed camera view. d) The sys- tem informs the user on the measurement accuracy that is ob- tained for the selected feature at the present distance. When a 10 15 20 25 30 35 line scanner is used more functionality could be necessary as e) automatically selected robot scanning movement (right angle to the measurement direction) is shown as an overlay on the cam- era view f) During the robot scanning movement the distance measured between the measurement unit and the feature is used to control the robot in such a way that collisions are avoided.

The 3D-model from the feature scanning is stored and the accu- racy with respect to position and orientation is displayed for the user. In order to know if measurements on more features are needed, the user also gets figures on the accuracy at different distances from the feature (using the accuracy values of the measured orientation). Knowing the size of the object the user can decide if measurements of more features are needed. The system also makes accuracy calculations for the measurements made according to step 2 when the placement of the platform is calculated. lf this calculation shows that the platform placement error is larger than the measured feature, the operator is urged to make a more accurate platform placement measurement or use a larger feature. The 3D geometrical model for each feature is stored as well as the program made by the user to move to the features. ln the case of a line scanner also the scanning movement is stored.

When a large plane work object is calibrated overlapping cali- bration can be made, meaning that at least one calibration fea- ture is used in two adjacent processing areas. lt is then possible to reduce the requirements on the calibration since the informa- tion that the features are in a common plane can be used. The knowledge of the gross shape of a large object can also be used for automatic movement of the mobile platform. For example, after the measurements of three features and the calculation of the work object plane, the platform can move parallel to the plane while the robot locks the measurement unit to the over- 10 15 20 25 30 35 lapping feature. The platform stops its movement when the robot arm reaches its work space limit.

Step 4: The operator programs the robot as shown in figure 4.

The programming is made in a work object coordinate system defined by the feature measurements. For example, the work object coordinate system could just be the wrist coordinate sys- tem for one position when a feature measurement was made.

The importance for upcoming work objects is that the relation between the defined work object coordinate system and the geometrical models of the measured features are exactly known.

This also means that it is important that the tool exchange is as accurate as required by the process.

Step 5: The robot on the platform 2 is moved to the first part of a second identical work object as seen in figure 5. Now the sys- tem has all the information from the calibration session and the user just needs to move the mobile robot to about the place it was during calibration and start the calibration program. The fol- lowing will then take place: - The program at first moves the measurement unit to the position for platform placement measurements, 3D measurements are made and a 3D model is saved.

- A best fit including model scaling and rotation is made between the earlier and the new measured 3D models and the 6 DOF pose differences are calculated.

- The mobile platform is instructed to move and reorient to compensate for the calculated pose difference.

- With a correct placement of the mobile platform the lo- cal high precision feature measurement program is started and the robot arm moves the measurement unit to the measurement poses.

- At each measurement pose the programmed scanning movements are made if a line scanner is used.

- Local best fits are made between the previous 3D mod- els obtained at calibration and the new measured 3D 10 15 20 25 30 10 models. Moreover, a global best fit is made including the models of all the features. The local best fit is made for failure detection and the global to obtain the devia- tion of the work object coordinate system. A check is also made in relation to the low accuracy measurements made for the platform placement if a relation between features from feature calibration and platform placement calibration can be found.

- The work object coordinate system is adjusted and the system tells the user that the process programs can start.

Step 6: The operator starts the processing program as shown in figure 6. A tool exchange is made between the measurement unit and a processing tool 8 and the processing program is exe- cuted. lf necessary, touch up can be made of the program, this will not mean the need of new calibration. lt should be men- tioned that if local coordinate systems have been used when programming parts of the work object these should be defined in relation to the automatically generated work object coordinate system. Using an ABB system the user coordinate system should be used as a work object coordinate system and the ABB object coordinate system should be used as a local coordinate system.

B. Concept with calibration and programming based on CAD models.

Step 1: Off-line preparation of calibration and programming as shown in figure 7.

- The mobile robot and the work object is loaded into the Robot CAD system.

- The robot is moved around to obtain suitable work object ar- eas for processing. 10 15 20 25 30 35 11 For each work object area the mobile platform is placed in an optimal position and orientation to be able to reach the whole area.

When placement of the mobile robot has been determined for a work object area the measurement unit is moved to a posi- tion and orientation suitable for the measurement of the robot placement. The distance between the measurement unit and the work object should be big enough to avoid collisions when the operator makes a first rough placement of the mobile plat- form. lf the distance is too large, there is a risk that the placement accuracy is not good enough for finding the feature areas that will be scanned for calculation of the work object coordinate system. Therefore, an option is to find a second pose for the measurement unit closer to the work object to obtain a step- wise determination of the pose of the platform in relation to the work object.

For placement measurement, a grand feature of the object area is decided on, which could be the whole work object.

The off-line programming environment should have a model of the measurement unit functionality generating the 3D- model of the measured feature in the perspective as seen from the 3D measurement unit and also including an error model indicating the 6 DOF accuracy levels of the measure- ments. When moving the robot arm to a position in front of the work object the measurement area is indicated on the CAD model of the work object. The measured 3D model of this area as calculated by the model of the measurement unit is displayed together with the 6 DOF accuracy figures. lf a line scanner is used, a scan program is made, either by mov- ing the robot arm or automatically based on the obtained measurement area. The 3D models of the features and the robot arm programs for moving the measurement unit are stored for automatic mobile platform placement. ln cases where low accuracy processes will be used (as for example in some painting cases) the placement measurement may be 10 15 20 25 30 35 12 good enough for the process programming. When the calibra- tion is then made at site, the placement error compensation is at first made by the mobile platform and then the robot arm makes a new placement measurement and the residual error is compensated for by adjusting the work object (or robot base) coordinate system. For this the off line tool must assign a work object coordinate system related to the stored 3D model of the grand feature. The programs are in this case made in this work object coordinate system obtained from the grand feature.

When placement programming has been made, the next task in the general case is to select suitable features for the high accuracy calibration of the work object area. The robot arm is then moved to obtain a 3D model of at least one feature but up to 3 features may be needed dependent on accuracy re- quirements and feature geometry and size. The features should be selected such that the geometry is as equal as possible between different work object individuals. To obtain maximum accuracy from the feature geometry, orientation and distance of the measurement unit relative the feature is adjusted until the highest 6 DOF accuracy levels are ob- tained. ln order to make this adjustment simple the TCP is defined to be in the middle of the measurement range of the measurement unit. During manipulation of the measurement unit the off line tool should continuously calculate the closest measured distance and inform the user of this distance (colli- sion avoidance). Since the same measurement unit should be used for platform placement and high accuracy calibration the measurement range should be possible to change. For a scanner based on triangulation this can be made by a motor- ized manipulation of the optical angle between the laser and the detector and if necessary it should also be possible to control the distance between the laser and the detector.

When deciding on the number of features needed, there should be a function in the off-line programming tool to calcu- late the position error at the border of the work object area 10 15 20 25 30 35 13 from the 6 DOF accuracy levels obtained by the measurement unit model.

- When the virtual feature measurements for a work object area have been made, the robot programs to move the measure- ment unit between the features are stored together with the 3D-models of the features and in the case of a line scanner also the scanning movement programs. Moreover, a work ob- ject coordinate system is defined related to the 3D-models of the features, for example the robot wrist coordinate system at a certain position when the robot is in one of the measure- ment positions. The processing programs are then made in relation to the defined work object coordinate system. This program also contains the tool exchange between the meas- urement unit to the process tool.

Step 2: Performing calibration and process program execution as shown in figure 8.

Since the system has all the information needed for calibration and programming from the off-line tool, the user just needs to move the mobile platform to a place where the grand feature measurements can be made. This means that the program to move the robot arm to the platform placement measurement arm pose is run and then the operator moves the platform to a suit- able location. Having a camera in the measurement unit it is possible for the system to show the operator the camera view with an overlay of the grand feature as generated by the off-line tool. When the platform is placed the operator starts the calibra- tion program and the following will be performed automatically: - 3D measurements are made of the grand feature 7 and a 3D model of the feature is obtained.

- A best fit including model scaling and rotation is made be- tween the CAD-generated and the measured 3D models and the 6 DOF pose difference is calculated.

- The mobile platform is instructed to move and reorient to compensate for the calculated pose difference. 10 15 14 With a correct placement of the mobile platform the high pre- cision feature measurement program is started and the robot arm moves the measurement unit to the feature measurement poses as generated by the off-line tool.

At each measurement pose the programmed scanning move- ments are made if a line scanner is used.

Best fits are made between the CAD-generated and the measured 3D feature models. A global best fit is made includ- ing the 3D models of all the off-line selected features and the work object deviation is calculated.

The work object coordinate system is adjusted and the sys- tem informs the user that the process programs can start.

The programs are executed and if necessary the user makes program adjustments.

Claims

10 15 20 25 30 35 CLAIM 15

1. A method for calibration of a mobile robot (1) positioned on a platform (2), in relation to a work object area (5) using a measurement unit (3) mounted on a robot wrist, the method in- cluding the following steps for generation of an automatic cali- bration program: CAD models of the mobile robot, the platform, meas- urement unit, and the work object area are loaded into a Robot CAD system, for each work object area the model of the platform is placed in an optimal position and orientation to be able to reach the whole work area, the robot model is manipulated until the measurement unit model is moved to a position and orientation suit- able for measurement of the robot placement, the measurement unit model calculates and stores a first 3D model of a grand feature on the work object area, the robot model is manipulated to move the measure- ment unit model to measure a second 3D model of at least one detailed feature on the work object area, the robot manipulations are stored as a robot calibration program together with the 3D-models, and the following steps for performing the calibration: the user moves the real platform to a place where measurements of the grand feature can be made, the user starts the calibration program, and the follow- ing will be performed automatically: 3D measurements are made of the grand feature and a third 3D model of the real grand feature is obtained and stored, a best fit including model scaling and rotation is made between the first and the third 3D models, and the 6 DOF pose difference is calculated, 10 16 the mobile platform is instructed to move and reorient to compensate for the calculated pose difference, the real robot is manipulated to move the measurement unit model to measure a forth 3D model of said at least one detailed feature 7 on the work object area, best fits are made between the second and forth 3D models, and the work object coordinate system is adjusted relative the robot and the system informs the user that the cali- bration is ready.