TWI806111B - Method of tool calibration for robot arm - Google Patents
Method of tool calibration for robot arm Download PDFInfo
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- TWI806111B TWI806111B TW110127814A TW110127814A TWI806111B TW I806111 B TWI806111 B TW I806111B TW 110127814 A TW110127814 A TW 110127814A TW 110127814 A TW110127814 A TW 110127814A TW I806111 B TWI806111 B TW I806111B
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本發明有關一種機械手臂,尤其關於機器手臂的工具校正方法,校正速度快且精度高,以避免耗時的逐一修正工具的點位或路徑。 The invention relates to a mechanical arm, in particular to a tool calibration method of the robotic arm, which has high calibration speed and high precision, so as to avoid time-consuming correction of the points or paths of tools one by one.
機械手臂末端安裝各式裝置而進行不同的任務,各式裝置例如是電爪或對應不同任務的工具。安裝於機械手臂末端的各式裝置,於使用前都需設定相對應的基準點,或稱工具中心點(tool center point,TCP),使控制裝置控制機械手臂帶動末端的裝置移動時,裝置的移動路徑與設定路徑相符。後續一旦因不同任務的需求,進行電爪、工具的更換或拆裝,需重新檢查裝置的基準點(TCP),確保末端的裝置安裝後,不會導致機械手臂以非預期的點位及移動路徑帶動末端的裝置運行,例如不會以偏移的末端的裝置夾取工件,造成工件夾取失敗,甚至是導致機械手臂與周遭的其他設備發生撞機。一般檢查末端的安裝位置是否符合初始設定,需將所有原先已經完成的機械手臂末端的點位、路徑,全部重新檢視而決定是否修正,以確保符合原先設定的點位與路徑。 Various devices are installed at the end of the robotic arm to perform different tasks, such as electric grippers or tools corresponding to different tasks. All kinds of devices installed at the end of the robot arm need to set the corresponding reference point, or tool center point (TCP) before use, so that when the control device controls the robot arm to drive the end device to move, the device's The moving path matches the set path. Once the electric grippers and tools are replaced or disassembled due to the needs of different tasks, the reference point (TCP) of the device needs to be rechecked to ensure that after the device at the end is installed, it will not cause the robot arm to move at an unexpected point or position. The path drives the device at the end to run. For example, the device at the end that deviates will not be used to grip the workpiece, which will cause the workpiece to fail to grip, or even cause the robot arm to collide with other surrounding equipment. Generally, check whether the installation position of the end conforms to the initial setting. It is necessary to re-examine all the points and paths of the end of the robotic arm that have been completed before and decide whether to correct it, so as to ensure that the points and paths of the original settings are consistent.
然而,逐一檢視與修正機械手臂末端的點位與移動路徑,十分費時費力,不符合各產業高效率的需求,且精度不高。故,本發明提出一種機器手臂的工具校正方法,快速檢視工具的位置,以決定是否補償工 具的點位與移動路徑。 However, it is time-consuming and labor-intensive to inspect and correct the points and moving paths of the end of the robot arm one by one, which does not meet the high efficiency requirements of various industries, and the accuracy is not high. Therefore, the present invention proposes a tool calibration method for a robot arm, which quickly checks the position of the tool to determine whether to compensate the tool The point and movement path of the tool.
本發明之目的提供一種機器手臂的工具校正方法,藉由工具運行移動路徑,運算工具的校正值。 The object of the present invention is to provide a tool calibration method of a robot arm, which calculates the calibration value of the tool through the running path of the tool.
為了達到前述發明的目的,本發明機器手臂的工具校正方法,依據第一移動路徑帶動工具,與第一光束交會於第一交會點,與第二光束交會於第二交會點。及,依據第二移動路徑帶動工具,與第一光束交會於第三交會點,與第二光束交會於第四交會點。再者,依據第一至第四交會點的位置運算出工具的一校正值。 In order to achieve the purpose of the aforementioned invention, the tool calibration method of the robotic arm of the present invention drives the tool according to the first moving path, intersects the first beam at the first intersection point, and intersects the second beam at the second intersection point. And, drive the tool according to the second moving path, intersect with the first beam at the third intersection point, and intersect with the second beam at the fourth intersection point. Furthermore, a correction value of the tool is calculated according to the positions of the first to the fourth intersection points.
此外,機械手臂帶動工具往上或往下位移後,依據一第三移動路徑帶動工具,與第一光束交會於第五交會點,與第二光束交會於第六交會點,依據第一至第六交會點的位置運算出工具相關一旋轉運動的校正值。 In addition, after the mechanical arm drives the tool to move up or down, it drives the tool according to a third moving path, intersects with the first beam at the fifth intersection point, and intersects with the second beam at the sixth intersection point, according to the first to the first The positions of the six intersection points calculate the correction value for the tool-related-rotational motion.
10:機械手臂 10: Mechanical arm
11:底座 11: base
12:軸臂 12: shaft arm
20:末端 20: end
30:工具 30: Tools
40:控制裝置 40: Control device
50:三角形 50: triangle
51:三角形 51: triangle
52:三角形 52: Triangle
53:三角形 53: triangle
A0:第一移動路徑 A0: The first moving path
A1:第二移動路徑 A1: Second moving path
A2:第三移動路徑 A2: The third moving path
A3:第四移動路徑 A3: The fourth moving path
A4:第五移動路徑 A4: The fifth movement path
A5:第六移動路徑 A5: The sixth movement path
A6:第七移動路徑 A6: The seventh moving path
B:底邊 B: Bottom
B1:底邊 B1: Bottom
H:高度 H: height
M1:距離 M1: Distance
N1:距離 N1: distance
N2:距離 N2: distance
X:X軸方向 X: X axis direction
△X1:運算結果 △X1: operation result
△X2:運算結果 △X2: operation result
△X5:運算結果 △X5: operation result
△X6:運算結果 △X6: operation result
X0:第一交會點 X0: the first intersection point
X1:第三交會點 X1: the third intersection point
X2:第五交會點 X2: Fifth intersection point
X3:交會點 X3: intersection point
X4:交會點 X4: intersection point
X5:交會點 X5: Rendezvous point
X6:交會點 X6: Intersection point
X-ray:光束 X-ray: light beam
Y:Y軸方向 Y: Y axis direction
Y0:第二交會點 Y0: Second intersection point
Y1:第四交會點 Y1: The fourth intersection point
Y2:第六交會點 Y2: The sixth intersection point
Y3:交會點 Y3: intersection point
Y4:交會點 Y4: intersection point
Y-ray:光束 Y-ray: light beam
Z:Z軸方向 Z: Z axis direction
Z0:位置 Z0: position
Z1:位置 Z1: position
Zx:交會點 Zx: intersection point
Zxy:交會點 Zxy: intersection point
θ:偏移角度 θ: offset angle
第一圖為本發明機械手臂與工具的示意圖。 The first figure is a schematic diagram of the robot arm and tool of the present invention.
第二圖為本發明量測工具於X、Y軸方向之初始狀態的第一示意圖。 The second figure is the first schematic diagram of the initial state of the measuring tool of the present invention in the X and Y axis directions.
第三圖為本發明檢測工具於X、Y軸方向之校正值的第一示意圖。 The third figure is the first schematic diagram of the calibration value of the detection tool in the X and Y axis directions of the present invention.
第四圖為本發明檢測工具於X、Y軸方向旋轉之校正值的示意圖。 The fourth figure is a schematic diagram of the correction value of the detection tool of the present invention rotated in the X and Y axis directions.
第五圖為本發明運算工具於X、Y軸方向旋轉之校正值的第一示意圖。 The fifth figure is the first schematic diagram of the correction value of the calculation tool of the present invention rotated in the X and Y axis directions.
第六圖為本發明量測工具於Z軸方向之初始狀態的第一示意圖。 The sixth figure is the first schematic diagram of the initial state of the measuring tool of the present invention in the Z-axis direction.
第七圖為本發明量測工具於Z軸方向之初始狀態的第二示意圖。 The seventh figure is the second schematic diagram of the initial state of the measuring tool of the present invention in the Z-axis direction.
第八圖為本發明量測工具於X、Y軸方向之初始狀態的第二示意圖。 Figure 8 is a second schematic diagram of the initial state of the measuring tool of the present invention in the directions of X and Y axes.
第九圖為本發明檢測工具於X、Y軸方向之校正值的第二示意圖。 Figure 9 is a second schematic diagram of the calibration values of the detection tool in the X and Y directions of the present invention.
第十圖為本發明運算工具於X、Y軸方向旋轉之校正值的第二示意圖。 Figure 10 is a second schematic diagram of the calibration value of the computing tool rotated in the X and Y directions of the present invention.
有關本發明為達成上述目的,所採用之技術手段及其功效,茲舉實施例,並配合圖式加以說明如下。 Relevant present invention is to achieve above-mentioned object, the technical means that adopts and effect thereof, give embodiment hereby, and cooperate drawing to illustrate as follows.
請參閱第一圖,其為本發明機械手臂與工具的示意圖。如圖所示,機械手臂10包含一底座11與複數軸臂12,且於機械手臂10的末端20安裝有一工具30,圖中工具30為示意之用,工具30種類不影響本發明的實施。控制裝置40控制機械手臂10可以帶動工具30於X、Y、Z軸方向上移動。在控制工具30執行任務前需先設定工具30的基準點,或稱工具中心點(tool center point,TCP)、參考點(reference point)等等,以正確拾取工件,並避免機械手臂10發生撞機,其中,工具30執行的工作內容不影響實施例的說明。
Please refer to the first figure, which is a schematic diagram of the robot arm and tool of the present invention. As shown in the figure, the
請參閱第二圖,其為本發明量測工具於X、Y軸方向之初始狀態的第一示意圖。如圖所示,設置兩光束裝置,例如雷射光裝置,以投射出第一光束X-ray與第二光束Y-ray,而用於量測工具30於X、Y軸方向之初始狀態。如此,在設定工具30的基準點後,機械手臂10帶動工具30移動,使兩個光束X-ray、Y-ray位於工具30的尖端與末端之間的相鄰空間。爾後,控制裝置40控制機械手臂10帶動工具30依據第一移動路徑A0移動,並與第一光束X-ray交會於第一交會點X0,與第二光束Y-ray交會於第二交會點Y0。紀錄工具30在設定基準點後的初始移動路徑,即第一移動路徑A0,以
用於執行工具校正,其中,第一移動路徑A0、第一交會點X0及第二交會點Y0可以記錄在適當的儲存裝置中,於此不加以贅述。此外,兩個光束X-ray、Y-ray相交為90°直角,而工具30相對於兩個光束X-ray、Y-ray為45°角。所以,第一種機械手臂的工具校正方法可以稱為45°校正,但是本發明的工具校正方法不限制工具30與兩光束X-ray、Y-ray的角度。
Please refer to the second figure, which is the first schematic diagram of the initial state of the measurement tool of the present invention in the directions of the X and Y axes. As shown in the figure, a two-beam device, such as a laser device, is provided to project a first beam X-ray and a second beam Y-ray for measuring the initial state of the
請參閱第三圖,其為本發明檢測工具於X、Y軸方向之校正值的第一示意圖。當工具30重新安裝、調整或更換後,需再次確認工具30的安裝狀態,例如是否偏移而不同於初始設定的基準點。所以,機械手臂10帶動工具30依據第二移動路徑A1移動,並與第一光束X-ray交會於第三交會點X1,與第二光束Y-ray交會於第四交會點Y1,爾後同樣紀錄第二移動路徑A1、第三交會點X1與第四交會點Y1,如此控制裝置40依據第一至第四交會點X0、X1、Y0、Y1的位置運算出工具30的校正值。再者,第一移動路徑A0僅是繪出作說明之用,在檢測工具30於X、Y軸方向之校正值時,工具30無需再次依據第一移動路徑A0運動。
Please refer to the third figure, which is the first schematic diagram of the calibration values of the detection tool in the X and Y directions of the present invention. When the
復參閱第三圖,當控制工具30移動之後,若第一交會點X0的位置相同於第三交會點X1的位置,第二交會點Y0的位置相同於第四交會點Y1的位置,表示工具30在重新安裝後的點位相同於初始基準點的點位,無需進行工具校正。若第一交會點X0的位置不同於第三交會點X1的位置,或/及第二交會點Y0的位置不同於第四交會點Y1的位置,表示工具30在重新安裝後的點位不同於初始基準點的點位,需進行工具校正。第三圖實施例是繪示需進行工具校正的示例,其中第一交會點X0與第二交會點Y0的距離為M1,第三交會點X1與第四交會點Y1的距離為N1,且左右兩側的三角形
50、51的頂角為90°、底角為45°,為一等腰三角形。所以,工具30在X軸方向的校正值,亦可以稱為偏移量,運算結果為△X1=|(M1-N1)|/2,其中|(M1-N1)|/2算出第二移動路徑A1上的三角形50、51的邊長,且因是等腰三角形,所以第二移動路徑A1與第一移動路徑A0間的三角形的邊長(即△X1)同樣是|(M1-N1)|/2。如此表示工具30從基準點的點位偏移至第二移動路徑A1上的點位,需補償校正值(即運算結果△X1)進行校正。此實施例是以工具30往第一移動路徑A0上方偏移,然而偏移方向也有可能往第一移動路徑A0下方偏移。此外,工具30在Y軸方向的校正值檢測方式如上述X軸方向的檢測方式,若工具30有偏移則校正值不為0,若無偏移校正值則為0,其餘不再覆述,
Referring again to the third figure, after the
請參閱第四圖,其為本發明檢測工具於X、Y軸方向旋轉之校正值的示意圖。第三圖實施例是檢測工具30於X、Y軸方向的點位與路徑是否偏移,而第四圖實施例是檢測工具30於X、Y軸方向的旋轉運動是否偏移(即檢測RX、RY)。所以當依據第三圖實施方式檢測完,獲得運算結果△X1後,控制裝置40控制工具30往上或往下位移,以檢測旋轉運動(如RX)是否有偏移。換言之,機械手臂10帶動工具30往上或往下移動後,依據第三移動路徑A2帶動工具30,與第一光束X-ray交會於第五交會點X2,與第二光束Y-ray交會於第六交會點Y2。如此,同樣獲得第一交會點X0與第二交會點Y0的距離同樣為M1,上移高度(即位移)為H,第五交會點X2與第六交會點Y2的距離為N2,最後相似第三圖實施例的運算方式,獲得運算結果△X2=|(M1-N2)|/2。
Please refer to the fourth figure, which is a schematic diagram of the correction value of the detection tool of the present invention rotated in the X and Y axis directions. The embodiment in the third figure is to detect whether the position and the path of the
此外,第四圖實施例是以帶動工具30從第二移動路徑A1的
位置往上位移至第三移動路徑A2的位置,即一高度H,作為說明。同樣的,第四圖中的第一移動路徑A0是用於對比第二移動路徑A1與第三移動路徑A2,在檢測過程中工具30無需再依據第一移動路徑A0動作。
In addition, the embodiment of the fourth figure is based on driving the
請參閱第五圖,其為本發明運算工具於X、Y軸方向旋轉之校正值的第一示意圖。在從第四圖實施例獲得運算結果△X1與△X2後,依據運算結果△X1與△X2可以獲知工具30在X軸方向的旋轉運動,是否有產生偏移。再者,工具30相關旋轉運動的校正值運算,請參閱第五圖所繪的說明圖形,第二交會點Y0與交會點X4的距離即為△X2,第二交會點Y0與交會點X3的距離即為△X1,所以實線三角形52的底邊B長度為B=|(△X1-△X2)|,且高度H已知,故旋轉運動的偏移量(即偏移角度)為θ=tan-1|(△X1-△X2)|/H,即校正值為θ。因此,工具30於X軸方向的旋轉運動需補償θ。同理,工具30於Y軸方向的旋轉運動的檢測方式如上所述。
Please refer to the fifth figure, which is the first schematic diagram of the correction value of the computing tool in the X and Y axis rotations of the present invention. After the calculation results ΔX1 and ΔX2 are obtained from the embodiment in the fourth figure, according to the calculation results ΔX1 and ΔX2, it can be known whether the
請參閱第六圖,其為本發明量測工具於Z軸方向之初始狀態的第一示意圖。如第一圖所示,機械手臂10可以帶動工具30在X、Y、Z三個方向上運動,而於Z軸方向的檢測方式如第六圖所示。首先,控制裝置40控制機械手臂10帶動工具30,從遠離第一光束X-ray朝向第一光束X-ray移動,直至碰觸第一光束X-ray,而交會於一交會點Zx,獲得工具30於Z軸方向上的初始狀態,其中機械手臂10的編碼器所對應的位置可以用於紀錄工具30的初始狀態。換言之,控制裝置40可以改為控制機械手臂10帶動工具30,從遠離第二光束Y-ray朝向第二光束Y-ray移動,而碰觸第二光束Y-ray,其亦是獲得工具30於Z軸方向的初始狀態的選項之一,非本發明所限。
Please refer to FIG. 6 , which is a first schematic diagram of the initial state of the measuring tool in the Z-axis direction of the present invention. As shown in the first figure, the
或者,請參閱第七圖,其為本發明量測工具於Z軸方向之初
始狀態的第二示意圖。第三種獲得工具30於Z軸方向的初始狀態的方式,即控制裝置40可以改為控制工具30,依據一高度從遠離第一光束X-ray與第二光束Y-ray朝向第一光束X-ray與第二光束Y-ray的交會點移動,而碰觸第一光束X-ray與第二光束Y-ray的交會點。所以,實施例中提供三種獲得工具30於Z軸方向的初始狀態的方式,可以由觸碰單一光束後確認,或觸碰兩個光束後確認,皆為設計選項之一。
Or, please refer to the seventh figure, which is the measurement tool of the present invention at the beginning of the Z-axis direction
The second schematic diagram of the initial state. The third way to obtain the initial state of the
獲得工具30於Z軸方向的初始位置(Z0)後,在工具30重新安裝或調整完畢,再次確認安裝後的工具30的Z軸方向的位置(Z1),兩者差異|(Z0-Z1)|即為工具30的Z軸方向的校正值的運算結果△Z=|(Z0-Z1)|。
After obtaining the initial position (Z0) of the
請參閱第八圖,其為本發明量測工具於X、Y軸方向之初始狀態的第二示意圖。第二至第五圖的工具校正方法可以稱為45°校正,而第八圖至第十圖的工具校正方法可以稱為十字校正,即工具30以第四移動路徑A3於X軸方向移動,與第二光束Y-ray相交於交會點Y3,獲得工具30於X軸方向的初始位置,其中,第四移動路徑A3與第五移動路徑A4分別正交(90°)於光束X-ray、Y-ray。同理,工具30以第五移動路徑A4於Y軸方向移動,與第一光束X-ray相交於交會點X5,獲得工具30於Y軸方向的初始位置。所以,當更換新工具30執行不同任務前,如第九圖,其為本發明檢測工具於X、Y軸方向之校正值的第二示意圖,獲得新的交會點Y4、X6,而新舊交會點的位差,如|(Y3-Y4)|與|(X5-X6)|的運算結果,即為X軸方向與Y軸方向的校正值。
Please refer to FIG. 8 , which is a second schematic diagram of the initial state of the measuring tool of the present invention in the directions of the X and Y axes. The tool calibration methods in the second to fifth figures can be called 45° correction, and the tool calibration methods in the eighth to tenth figures can be called cross correction, that is, the
再者,第九圖實施例中工具30運動於第四移動路徑A3、第
五移動路徑A4、第六移動路徑A5與第七移動路徑A6,而分別與兩光束X-ray、Y-ray相交於四個交會點Y3、X5、Y4、X6,且其可以是位於同一平面,用於運算出工具30於X、Y軸方向的檢測結果,或者如前述實施例,工具30移動至不同平面(不同高度)後,進行旋轉運動(RX、RY)之檢測,以獲得校正值的運算結果△X5、△X6。
Furthermore, in the embodiment of the ninth figure, the
請參閱第十圖,其為本發明運算工具於X、Y軸方向旋轉之校正值的第二示意圖。如第五圖實施例,第十圖繪出X軸方向的旋轉運動的偏移角度為θ=tan-1|(△X6-△X5)|/H,|(△X6-△X5)|為三角形53的底邊B1長度,而校正值為θ,其餘運算說明相似不再覆述。
Please refer to FIG. 10 , which is a second schematic diagram of the calibration value of the computing tool rotated in the X and Y directions of the present invention. As in the embodiment in the fifth figure, the tenth figure shows that the offset angle of the rotational motion in the X-axis direction is θ=tan -1 |(△X6-△X5)|/H, and |(△X6-△X5)| is The length of the base B1 of the
因此,本發明機器手臂的工具校正方法,依據一第一移動路徑帶動一工具,與一第一光束交會於一第一交會點,與一第二光束交會於一第二交會點。及,依據一第二移動路徑帶動工具,與第一光束交會於一第三交會點,與第二光束交會於一第四交會點。再者,依據第一至第四交會點的位置運算出工具的一校正值。 Therefore, the tool calibration method of the robotic arm of the present invention drives a tool according to a first moving path, intersects a first beam at a first intersection point, and intersects a second beam at a second intersection point. And, drive the tool according to a second moving path, meet the first light beam at a third meeting point, and meet the second light beam at a fourth meeting point. Furthermore, a correction value of the tool is calculated according to the positions of the first to the fourth intersection points.
再者,機械手臂帶動工具往上或往下位移後,依據一第三移動路徑帶動工具,與第一光束交會於一第五交會點,與第二光束交會於一第六交會點,依據第一至第六交會點的位置運算出工具相關一旋轉運動的校正值。因此,本發明提供一種工具校正方法,校正速度快且精度高,以避免耗時的逐一修正工具的點位或路徑。 Furthermore, after the mechanical arm drives the tool to move up or down, it drives the tool according to a third moving path, intersects with the first beam at a fifth intersection point, and intersects with the second beam at a sixth intersection point, according to the first The positions of the first to sixth intersection points are used to calculate the correction value for the relative rotational movement of the tool. Therefore, the present invention provides a tool calibration method with fast calibration speed and high precision, so as to avoid time-consuming correction of tool points or paths one by one.
以上所述者,僅為用以方便說明本發明之實施例,本發明之範圍不限於該等實施例,凡依本發明所做的任何變更,於不脫離本發明之精神下,皆屬本發明申請專利之範圍。 The above-mentioned ones are only used to illustrate the embodiments of the present invention for convenience. The scope of the present invention is not limited to these embodiments. The scope of patent applications for inventions.
20:末端 20: end
30:工具 30: Tools
50:三角形 50: triangle
51:三角形 51: triangle
A0:第一移動路徑 A0: The first moving path
A1:第二移動路徑 A1: Second moving path
M1:距離 M1: Distance
N1:距離 N1: distance
△X:數值 △X: value
X0:第一交會點 X0: the first intersection point
X1:第三交會點 X1: the third intersection point
X-ray:光束 X-ray: light beam
Y0:第二交會點 Y0: Second intersection point
Y1:第四交會點 Y1: The fourth intersection point
Y-ray:光束 Y-ray: light beam
Claims (8)
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US20090157226A1 (en) * | 2004-11-19 | 2009-06-18 | Dynalog ,Inc. | Robot-cell calibration |
TW201924878A (en) * | 2017-12-05 | 2019-07-01 | 財團法人工業技術研究院 | Calibration device for robot and method thereof |
TW202005765A (en) * | 2018-07-06 | 2020-02-01 | 大陸商康碩電子(蘇州)有限公司 | Robotic arm calibration system and robotic arm calibration method |
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US20090157226A1 (en) * | 2004-11-19 | 2009-06-18 | Dynalog ,Inc. | Robot-cell calibration |
TW201924878A (en) * | 2017-12-05 | 2019-07-01 | 財團法人工業技術研究院 | Calibration device for robot and method thereof |
TW202005765A (en) * | 2018-07-06 | 2020-02-01 | 大陸商康碩電子(蘇州)有限公司 | Robotic arm calibration system and robotic arm calibration method |
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