WO2015170361A1 - Procédé d'étalonnage de robot à câbles - Google Patents

Procédé d'étalonnage de robot à câbles Download PDF

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Publication number
WO2015170361A1
WO2015170361A1 PCT/JP2014/002420 JP2014002420W WO2015170361A1 WO 2015170361 A1 WO2015170361 A1 WO 2015170361A1 JP 2014002420 W JP2014002420 W JP 2014002420W WO 2015170361 A1 WO2015170361 A1 WO 2015170361A1
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WO
WIPO (PCT)
Prior art keywords
pulley
cable
movable platform
pulleys
cables
Prior art date
Application number
PCT/JP2014/002420
Other languages
English (en)
Japanese (ja)
Inventor
一弘 小菅
アーロン ピーターソン
Original Assignee
野村ユニソン株式会社
国立大学法人東北大学
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.)
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Application filed by 野村ユニソン株式会社, 国立大学法人東北大学 filed Critical 野村ユニソン株式会社
Priority to PCT/JP2014/002420 priority Critical patent/WO2015170361A1/fr
Publication of WO2015170361A1 publication Critical patent/WO2015170361A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables
    • 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
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49253—Position in space by controlling length of two, more cables, wires

Definitions

  • the present invention relates to a cable robot calibration method including a plurality of cables and a movable platform to which one end sides of the plurality of cables are connected and movable in a three-dimensional direction.
  • a cable robot including a plurality of cables and a movable platform in which one end sides of the plurality of cables are connected and movable in a three-dimensional direction is known (for example, see Patent Document 1).
  • one end side of four cables is connected to the upper end side of the movable platform, and one end side of eight cables is connected to the lower end side of the movable platform.
  • the other end side of the 12 cables is wound around a reel, and the reel is connected to a motor.
  • the reel and the motor are arranged on the lower end side of the cable robot.
  • the cable connected to the upper end side of the movable platform is hung on a pulley attached to the upper end side of the frame of the cable robot.
  • the cable connected to the lower end side of the movable platform is hung on a pulley attached to the lower end side of the frame.
  • an object of the present invention is to propose a cable robot calibration method that enables the cable robot to be calibrated using functions originally provided in the cable robot.
  • a cable robot calibration method includes a plurality of cables of seven or more, a movable platform to which one end sides of the plurality of cables are connected and movable in a three-dimensional direction, and a plurality of cables A plurality of reels around which the other end of each cable is wound, a plurality of motors that rotate each of the plurality of reels, a plurality of encoders that detect the amount of rotation of each of the plurality of motors, and a horizontal rotation One or more pulleys that rotate as the axial direction of the plurality of pulleys, each of which has a plurality of cables, and a plurality of pulleys that rotate with the vertical direction as the axis of rotation.
  • a plurality of pulley holding members to be held in the plurality, a plurality of rotation center axes serving as respective rotation centers of the plurality of pulley holding members, and a plurality of rotations A method for calibrating a cable robot including a frame to which a mandrel is attached, wherein among the pulleys of the pulley unit, the pulley that the cable drawn from the reel first contacts is the first pulley, and the pulley of the pulley unit has Among these, if the pulley that the cable drawn from the movable platform first contacts is the second pulley, the position of each of the plurality of first pulleys with respect to a predetermined origin and the plurality of cables when the movable platform is at a predetermined reference position A parameter estimation step for estimating the length from each second pulley to the movable platform, and a position of each of the plurality of first pulleys estimated in the parameter estimation step as an estimated pulley position.
  • Each of multiple cables When the length from 2 pulleys to the movable platform is the estimated cable length, after the parameter estimation step, the plurality of motors are driven to move the movable platform to a plurality of different positions, and each of the plurality of positions has a movable platform.
  • a cable length measurement step for calculating a length from each second pulley to the movable platform of each of the plurality of cables based on a detection result and an estimated cable length of each of the plurality of encoders; and a cable length measurement step If the measured cable length is the length from the second pulley of each of the cables calculated in step 4 to the movable platform, each position when the movable platform is moved in the cable length measurement step based on the measured cable length.
  • Mobile platform in The position with respect to the origin and the inclination with respect to the predetermined reference coordinate system are specified, and the positions of the plurality of first pulleys with respect to the origin and the plurality of cables when the movable platform is at the reference position based on the actually measured cable length.
  • the cable robot calibration method of the present invention includes the above-described parameter estimation step, cable length measurement step, parameter identification step, and termination determination step.
  • the estimated pulley position is estimated based on the specific pulley position
  • the estimated cable length is estimated based on the specific cable length. Therefore, according to the cable robot calibration method of the present invention, the cable robot can be calibrated by using the function originally provided in the cable robot.
  • the cable robot when N is an integer of 7 or more, the cable robot includes N cables, and in the cable length measurement step, the movable platform is moved to a plurality of different positions at least 4N locations, and the measured cable length is determined. Is preferably calculated. With this configuration, it is possible to specify various parameters with high accuracy in the parameter specifying step.
  • the parameter specifying step specifies a position relative to the origin of the movable platform and an inclination relative to the reference coordinate system at each position when the movable platform is moved in the cable length measuring step based on the actually measured cable length.
  • a parameter specifying step, and a second parameter specifying step for specifying the specific pulley position and the specific cable length based on the measured cable length and the position and inclination of the movable platform specified in the first parameter specifying step. preferable.
  • the parameter specifying step includes an abnormal value excluding step of excluding abnormal values from the position and inclination of the movable platform specified in the first parameter specifying step
  • the second parameter specifying step includes an abnormal value excluding step. It is preferable that the specific pulley position and the specific cable length are specified based on the position and inclination of the movable platform excluding the position and inclination of the movable platform excluded in step 1 and the actually measured cable length. If comprised in this way, it will become possible to pinpoint a specific pulley position and a specific cable length with a sufficient precision in a 2nd parameter specific step.
  • the cable robot calibration method minimizes the difference between the specific pulley positions of the plurality of pulleys and the estimated pulley positions of the plurality of pulleys between the parameter specifying step and the end determining step.
  • the pulley position correction step for correcting the specific pulley position so that the specific cable length is the estimated cable length in the parameter estimation step after the end determination step, and the specific pulley position corrected in the pulley position correction step Is an estimated pulley position. If comprised in this way, it will become possible to raise the precision of the calibration of a cable robot.
  • a plurality of motors are controlled by proportional differential control, and after the start of the calibration of the cable robot, the cable length after the predetermined number of times is controlled.
  • the height measuring step it is preferable to control a plurality of motors by robust control.
  • the cable robot can be calibrated by using the function originally provided in the cable robot.
  • FIG. 4 is a plan view showing a movable platform, a pulley and the like from the FF direction of FIG. It is an enlarged view of the G section of FIG. It is a flowchart which shows the flow of the calibration method concerning embodiment of this invention.
  • FIG. 1 is a front view of a cable robot 1 that is calibrated by a calibration method according to an embodiment of the present invention.
  • FIG. 2 is a plan view of the cable robot 1 shown in FIG.
  • FIG. 3 is a front view for explaining the configurations of the E part and the movable platform 3 in FIG. 1.
  • FIG. 4 is a plan view showing the movable platform 3 and the pulleys 10, 11 and the like from the FF direction of FIG.
  • the cable robot 1 of this embodiment is a robot for moving a video camera used for sports broadcasting or the like in the air.
  • This cable robot 1 includes a frame 2, a movable platform 3 on which a video camera (not shown) is mounted, eight cables 4 connected at one end to the movable platform 3, and the other end of the eight cables 4.
  • the movable platform 3 is supported by eight cables 4 and is movable in a three-dimensional direction.
  • the frame 2 is formed so that its outer shape is a substantially rectangular parallelepiped shape.
  • the frame 2 includes four support columns 6 arranged at four corners. A space formed by the four struts 6 is a moving space in which the movable platform 3 moves.
  • the movable platform 3 is formed in a substantially rectangular parallelepiped shape.
  • One end side of four of the eight cables 4 is connected to the upper end side of the movable platform 3, and one end side of the remaining four cables 4 is connected to the lower end side of the movable platform 3. Yes.
  • one end side of four of the eight cables 4 is connected to the vicinity of four corners on the upper end side of the movable platform 3, and one end side of the remaining four cables 4 is connected to the movable platform 3. It is connected in the vicinity of the four corners on the lower end side.
  • the movable platform 3 includes a connecting member 8 to which one end side of the cable 4 is connected at the tip side.
  • the connecting member 8 is rotatable with respect to the main body of the movable platform 3 so that the cable 4 is not twisted.
  • the cable supply winding mechanism 5 is attached to the lower end side of the frame 2.
  • the cable supply winding mechanism 5 includes a reel around which the other end of the cable 4 is wound, a motor that rotates the reel, a power transmission mechanism that transmits the power of the motor to the reel, and an encoder that detects the amount of rotation of the motor.
  • the power transmission mechanism includes a ball screw spline arranged concentrically with the reel. The ball screw spline and the motor are connected via a pulley and a belt.
  • the ball screw spline rotates, and the reel moves linearly in the axial direction while rotating.
  • the reel moves in the axial direction while rotating so that the feeding position of the cable 4 from the reel and the winding position of the cable 4 to the reel do not move from a certain position.
  • Each of the four cables 4 connected to the upper end side of the movable platform 3 is hung on pulleys 10 and 11 arranged on the upper end side of each of the four columns 6. That is, each of the four cables 4 drawn from the upper end side of the movable platform 3 is hung on the pulleys 10 and 11 disposed on the upper end sides of the four columns 6 and then the lower end side of the frame 2. Is wound around the reel of the cable supply winding mechanism 5. On the other hand, each of the four cables 4 connected to the lower end side of the movable platform 3 is hung on pulleys 12 to 14 arranged at substantially center positions of the four columns 6.
  • each of the four cables 4 drawn from the lower end side of the movable platform 3 is hung on the pulleys 12 to 14 arranged at substantially the center positions of the four columns 6 and then the lower end of the frame 2. Is wound around the reel of the cable supply winding mechanism 5.
  • the movable platform 3 of the present embodiment can move to both the area above the pulleys 12 to 14 and the area below the pulleys 12 to 14 (see FIG. 1).
  • the eight cables 4 are used when the movable platform 3 is in the region above the pulleys 12 to 14 and when the movable platform 3 is in the region below the pulleys 12 to 14. All pull the movable platform 3. Further, when the movable platform 3 is in the region above the pulleys 12 to 14, the four cables 4 connected to the upper end side of the movable platform 3 support the weight of the movable platform 3, and than the pulleys 12 to 14. When the movable platform 3 is in the lower region, the eight cables 4 support the weight of the movable platform 3.
  • the pulleys 10 and 11 are held by a pulley holding member 15 so as to be able to rotate with the horizontal direction as the axial direction of rotation.
  • the pulley 10 and the pulley 11 are disposed so as to be adjacent to each other in a direction orthogonal to the axial direction of the rotation and the vertical direction.
  • the pitch circle diameter of the pulley 10 and the pitch circle diameter of the pulley 11 are equal.
  • the rotation center of the pulley 10 and the rotation center of the pulley 11 are arranged at the same height.
  • the pulley holding member 15 is formed with a rotation center shaft 15a protruding downward.
  • the frame 2 includes a support member 16 fixed to the upper end side of the support column 6, and the rotation center shaft 15 a is rotatably attached to the support member 16. That is, the pulley holding member 15 is rotatable about the rotation center axis 15a and with the vertical direction as the axis direction of rotation.
  • the pulley 10 is arranged such that the cable 4 drawn from the reel of the cable supply winding mechanism 5 first contacts the pulley 10 and the cable 4 drawn from the movable platform 3 first contacts the pulley 11.
  • the pulley 11 is disposed outside and the pulley 11 is disposed inside.
  • the pulley 10 of this embodiment is a first pulley, and the pulley 11 is a second pulley.
  • the pulley 10 and the pulley 11 constitute a pulley section.
  • the pulleys 12 to 14 are held by a pulley holding member 17 so as to be able to rotate with the horizontal direction as the axis direction of rotation.
  • the pulley 12 and the pulley 13 are disposed so as to be adjacent to each other in a direction perpendicular to the axial direction of the rotation and the vertical direction.
  • the pulley 13 and the pulley 14 are arrange
  • the pitch circle diameter of the pulley 12, the pitch circle diameter of the pulley 13, and the pitch circle diameter of the pulley 14 are equal.
  • the rotation center of the pulley 12 and the rotation center of the pulley 13 are arranged at the same height, and the rotation center of the pulley 13 and the rotation center of the pulley 14 are arranged at the same position in the adjacent direction of the pulley 12 and the pulley 13. Has been.
  • the pulley holding member 17 is formed with a rotation center shaft 17a protruding downward.
  • the frame 2 includes a support member 18 that is fixed at a substantially central position of the support column 6, and a rotation center shaft 17 a is rotatably attached to the support member 18. That is, the pulley holding member 17 is rotatable about the rotation center axis 17a and with the vertical direction as the axis direction of rotation.
  • the shaft center of the rotation center shaft 15a and the shaft center of the rotation center shaft 17a of the pulley holding member 15 rotatably attached to the support members 16 and 18 fixed to the same column 6 Match.
  • the cable 4 drawn from the reel of the cable supply winding mechanism 5 first contacts the pulley 12, and the cable 4 drawn from the movable platform 3 when in the region above the pulleys 12 to 14 is
  • the pulley 12 is arranged on the outside so that the cable 4 drawn out from the movable platform 3 first contacts the pulley 13 when first contacting the pulley 13 and in the region below the pulleys 12-14.
  • the pulleys 13 and 14 are disposed inside.
  • the pulley 12 of this embodiment is a first pulley, and the pulleys 13 and 14 are second pulleys.
  • the pulleys 12 to 14 constitute a pulley section.
  • the movable platform 3 is moved to an arbitrary position in the frame 2 by controlling the drive of the motor based on the detection result of the encoder constituting the cable supply winding mechanism 5. To do.
  • FIG. 5 is an enlarged view of a portion G in FIG.
  • FIG. 6 is a flowchart showing a flow of the calibration method according to the embodiment of the present invention.
  • a predetermined origin for specifying the position of the movable platform 3 or the like in the cable robot 1 is defined as “Ob” (see FIGS. 3 and 4).
  • the representative point of the movable platform 3 is “Oe” (see FIGS. 3 and 4).
  • the representative point Oe is, for example, the center of mass of the movable platform 3.
  • the following relational expression is established.
  • “r” is a three-dimensional vector representing the position (relative position) of the representative point Oe with respect to the origin Ob.
  • “r” is the position of the movable platform 3 with respect to the origin Ob.
  • “R” is the inclination of the movable platform 3 with respect to the reference coordinate system (xb-yb-zb coordinate system) (specifically, the inclination of the coordinate system of the movable platform 3 with respect to the reference coordinate system (xe-ye-ze coordinate system)).
  • Representing a 3 ⁇ 3 rotation matrix That is, “R” is a 3 ⁇ 3 rotation matrix representing the attitude of the movable platform 3.
  • “bi” is a three-dimensional vector representing the position of the contact portion between each of the eight pulleys 10 and 12 and each of the eight cables 4 with respect to the origin Ob.
  • the contact portions of each of the eight pulleys 10 and 12 and each of the eight cables 4 coincide with the axes of the rotation center shafts 15a and 17a. ing.
  • “lp” is a distance in the horizontal direction between the contact portion between the pulleys 10 and 12 and the cable 4 and the center of the pulleys 11, 13, and 14 (see FIG. 3).
  • “lri” shown in Expression (4) is the length of each of the four cables 4 connected to the upper end side of the movable platform 3 in contact with the pulley 11.
  • “lri” represented by the above formula (5) is the four cables 4 connected to the lower end side of the movable platform 3 when the movable platform 3 is in the region above the pulleys 12 to 14.
  • the length of each of the portions in contact with the pulley 13 and “lri” shown by the following equation (5) is when the movable platform 3 is in the region below the pulleys 12 to 14.
  • the cable 4 does not extend.
  • the axial directions of the rotation center axes 15a and 17a are not inclined with respect to the vertical direction (vertical direction).
  • the cable robot 1 is calibrated as follows. That is, as shown in FIG. 6, in the calibration of the cable robot 1, first, the positions of the eight pulleys 10 and 12 with respect to the origin Ob (specifically, each of the eight pulleys 10 and 12 and 8 From the pulleys 11, 13, 14 to the movable platform 3 of each of the eight cables 4 when the movable platform 3 is at a predetermined reference position. Is estimated (step S1).
  • step S1 for example, the movable platform 3 is fixed at a predetermined position of the frame 2, and this fixed position is set as a reference position of the movable platform 3. Moreover, in step S1 of this form, from the design dimension, each of the eight pulleys 10 and 12 with respect to the origin Ob, and each of the eight cables 4 when the movable platform 3 is at the reference position, The length from the pulleys 11, 13, and 14 to the movable platform 3 is estimated. Note that the lengths from the pulleys 11, 13, and 14 to the movable platform 3 of each of the eight cables 4 when the movable platform 3 is at the reference position may be measured using a measure or the like.
  • step S1 the positions of the eight pulleys 10 and 12 with respect to the origin Ob are estimated as a three-dimensional vector, and the positions of the eight pulleys 10 and 12 are expressed by 3 rows and 8 columns of Equation (7). It is shown as a matrix. Further, the length from the pulleys 11, 13, 14 of the eight cables 4 to the movable platform 3 when the movable platform 3 is at the reference position is represented by a matrix of 1 row and 8 columns in Expression (8).
  • k1 to k8 are values corresponding to li in equation (6). That is, k1 to k8 are the lengths of the eight cables 4 from the point tp to the movable platform 3, and the lengths of the portions of the eight cables 4 that are in contact with the pulleys 11, 13, and 14, respectively. It is a value corresponding to the sum of In the following description, the position of each of the eight pulleys 10 and 12 estimated in step S1 with respect to the origin Ob is defined as the estimated pulley position, and each of the pulleys 11, 13, and 8 of the eight cables 4 estimated in step S1. The length from 14 to the movable platform 3 is the estimated cable length.
  • step S2 the motor of the cable supply winding mechanism 5 is driven to move the movable platform 3 to a plurality of different positions, and the pulleys 11 of each of the eight cables 4 when the movable platform 3 is at each of the plurality of positions. , 13, 14 to the movable platform 3 is obtained (step S2).
  • step S2 the movable platform 3 is located at each of a plurality of positions based on the detection result of each of the encoders of the cable supply winding mechanism 5 and the estimated cable length (k1 to k8) estimated in step S1. The length from the pulleys 11, 13, 14 to the movable platform 3 of each of the eight cables 4 is calculated.
  • the length li from the pulleys 11, 13, 14 to the movable platform 3 of each of the eight cables 4 when the movable platform 3 is present at each of a plurality of positions. Is calculated.
  • ⁇ li is the amount of change in the length of the cable 4 calculated from the rotation amount of the motor (that is, the rotation amount of the reel) detected by the encoder and the outer diameter of the reel.
  • the movable platform 3 is moved to 45 different positions, and the lengths li of the eight cables 4 at the 45 positions are calculated.
  • the length li calculated in step S2 is assumed to be the actually measured cable length li.
  • step S3 the position r and the slope R at which the value of the expression (10) is minimized are specified at each of the 45 locations using, for example, the Nelder-Mead simplex method.
  • Expression (10) “Ljreal” is an actually measured cable length li of eight cables 4 at each of 45 positions, and is a matrix of 1 row ⁇ 8 columns. “Zj” is the minimum height of the representative point Oe when the movable platform 3 is moved to 45 positions, and “kg” is a constant obtained experimentally.
  • step S2 if there is a case where the cable 4 is slack when there is the movable platform 3 at each of the 45 positions, there is an abnormality in the 45 positions r and inclinations R specified in step S3. Contains the value. Therefore, after that, abnormal values are excluded from the 45 positions r and slopes R specified in step S3 (step S4).
  • step S5 based on the actually measured cable length li, the positions bi of the eight pulleys 10 and 12 with respect to the origin Ob, and the pulleys 11 and 13 of the plurality of cables 4 when the movable platform 3 is at the reference position. , 14 to the movable platform 3 are identified (step S5). Specifically, in step S5, based on the position r and inclination R specified in step S3 and the measured cable length li, the position bi with respect to the origin Ob of each of the eight pulleys 10 and 12, and the reference position The lengths ki from the pulleys 11, 13, and 14 to the movable platform 3 of each of the eight cables 4 when the movable platform 3 is present are specified.
  • step S5 among the remaining positions r and slope R obtained by removing the position r and slope R excluded in step S4 from the 45 positions r and slope R specified in step S3.
  • the length ki is a value corresponding to li in Equation (6).
  • step S5 for example, the position bi and the length ki at which the value of Expression (11) is minimized are specified by using the Broden-Fletcher-Goldfarb-Shanno (BFGS) quasi-Newton method.
  • BFGS Broden-Fletcher-Goldfarb-Shanno
  • the position bi specified in step S5 is set as a specific pulley position bi
  • the length ki specified in step S5 is set as a specific cable length ki.
  • step S6 the difference between the specific pulley position bi of each of the eight pulleys 10 and 12 specified in step S5 and the estimated pulley position of each of the eight pulleys 10 and 12 estimated in step S1 is minimized.
  • the specific pulley position bi is corrected (step S6).
  • “b” is defined as shown in Expression (12)
  • “A” is defined as shown in Expression (13)
  • Ra and ra that minimize Expression (14) are first calculated in Step S6. .
  • step S6 based on the calculated Ra and ra, the specific pulley positions bi of the eight pulleys 10 and 12 specified in step S5 are translated and rotated for correction.
  • step S7 for example, when the difference between the specific cable length ki specified in the previous step S5 and the specific cable length ki specified in the current step S5 is within a predetermined range, and / or When the difference between the corrected specific pulley position bi obtained in step S6 and the corrected specific pulley position bi obtained in step S6 is within a predetermined range, it is determined that the calibration is to be ended. If this condition is not satisfied, it returns to step S1 and determines that the calibration is continued. In this case, the steps S1 to S6 are executed at least twice.
  • step S7 for example, the remaining position r and inclination R obtained by removing the position r and inclination R excluded in step S4 from the 45 positions r and inclination R specified in step S3, and the actual cable length Based on the length li, the pulley position bi and the specific cable length ki are specified in the same manner as in step S5. Further, the pulley position bi specified in step S7 and the specific pulley position bi specified in step S5 (that is, specified based on the 35 positions r and the inclination R and the measured cable length li).
  • step S1 after step S7 the estimated pulley position is estimated based on the specific pulley position bi, and the estimated cable length is estimated based on the specific cable length ki.
  • the corrected specific pulley position bi obtained in step S6 is set as the estimated pulley position
  • the specific cable length ki specified in step S5 is set as the estimated cable length.
  • step S2 after the calibration of the cable robot 1 is started, in step S2 up to a predetermined number of times, the movable platform 3 is controlled by controlling each of the eight motors of the cable supply winding mechanism 5 by proportional differential control. move.
  • step S2 after the calibration of the cable robot 1 is started, in step S2 after the predetermined number of times, the movable platform 3 is controlled by controlling each of the motors of the eight cable supply winding mechanisms 5 by robust control such as sliding mode control. move.
  • step S1 of this form is a parameter estimation step
  • step S2 is a cable length measurement step
  • step S3 is a first parameter specifying step
  • step S4 is an abnormal value exclusion step
  • Step S5 is a second parameter specifying step
  • step S6 is a pulley position correction step
  • step S7 is an end determination step.
  • the parameter specifying step is configured by steps S3 to S5.
  • steps S1 to S7 are executed in the calibration method of the present embodiment.
  • the estimated pulley position is estimated based on the specific pulley position bi
  • the estimated cable length is estimated based on the specific cable length ki. Therefore, according to the calibration method of the present embodiment, the cable robot 1 can be calibrated using the function originally provided in the cable robot 1.
  • step S3 after specifying the position r with respect to the origin Ob of the movable platform 3 at 45 locations and the inclination R of the movable platform 3 with respect to the reference coordinate system, in step S5, the position r specified in step S3. And the specific pulley position bi of each of the eight pulleys 10 and 12 and the specific cable length ki of each of the eight cables 4 are specified using the inclination R. Therefore, in this embodiment, for example, steps S3 and S4 are omitted, and in step S5, using the formula (11), the position r of the movable platform 3 with respect to the origin Ob at 45 locations, and the movable platform 3 with respect to the reference coordinate system.
  • step S5 This makes it possible to reduce the burden of computation processing.
  • step S4 abnormal values are excluded from the 45 positions r and slopes R specified in step S3. Further, in the present embodiment, in step S5, the remaining positions r and slopes R except for the position r and slope R excluded in step S4 from among the 45 positions r and slopes R specified in step S3.
  • step S6 the specific pulley positions bi of the eight pulleys 10 and 12 specified in step S5, the estimated pulley positions of the eight pulleys 10 and 12 estimated in step S1, and The specific pulley position bi is corrected so that the difference between the two is minimized.
  • step S1 after step S7 the corrected specific pulley position bi obtained in step S6 is set as the estimated pulley position. Therefore, in this embodiment, it is possible to increase the calibration accuracy of the cable robot 1.
  • step S5 there are 24 parameters for the position bi specified in step S5, and there are 8 parameters for the length ki specified in step S5. That is, although the number of parameters specified in step S5 is 32, in this embodiment, in step S2, the movable platform 3 is moved to 45 different positions, and the measured cable lengths at 45 different positions are obtained.
  • 32 parameters are specified based on 35 positions r and slopes R. That is, in this embodiment, 32 parameters are specified based on the position r and the slope R that are equal to or greater than the number of parameters. Therefore, in this embodiment, it is possible to specify 32 parameters with high accuracy in step S5.
  • step S2 after the calibration of the cable robot 1 is started, in step S2 up to a predetermined number of times, the movable platform 3 is moved by controlling each of the motors of the eight cable supply winding mechanisms 5 by proportional differential control, After the calibration of the cable robot 1 is started, in step S2 after the predetermined number of times, the movable platform 3 is moved by controlling each of the motors of the eight cable supply winding mechanisms 5 by robust control. Therefore, in this embodiment, even when the accuracy of the estimated pulley position and the estimated cable length estimated in step S1 up to the predetermined number of times after the start of the calibration of the cable robot 1 is low, the movable platform 3 is moved in step S2. It is possible to prevent the cable 4 from being disconnected.
  • the estimation is performed at the step S1 up to a predetermined number of times after the calibration of the cable robot 1 is started. If the accuracy of the estimated pulley position and the estimated cable length is low, the cable 4 may be disconnected in step S2.
  • step S3 In the form described above, after specifying the position r with respect to the origin Ob of the movable platform 3 at 45 locations and the inclination R of the movable platform 3 with respect to the reference coordinate system in step S3, the position specified in step S3 in step S5.
  • the specific pulley position bi of each of the eight pulleys 10 and 12 and the specific cable length ki of each of the eight cables 4 are specified using r and the inclination R.
  • steps S3 and S4 may be omitted.
  • step S5 using the expression (11) (that is, based on the actually measured cable length li (ie, Ljreal)), the position r with respect to the origin Ob of the movable platform 3 at the 35 locations, and the reference
  • the inclination R of the movable platform 3 with respect to the coordinate system, the specific pulley positions bi of the eight pulleys 10 and 12, and the specific cable lengths ki of the eight cables 4 may be specified by a single calculation. .
  • step S4 abnormal values are excluded from the 45 positions r and inclinations R specified in step S3. However, the supply and winding of the cable 4 are performed so that the cable 4 does not become slack. If taking is performed, step S4 may be omitted.
  • the specific pulley position bi is corrected in step S6. However, if the correction amount of the specific pulley position bi in step S6 is small, step S6 may be omitted.
  • step S2 the movable platform 3 is moved to 45 different positions and the measured cable length li at 45 different positions is calculated.
  • the movable platform 3 is moved. May be 46 or more, or 44 or less.
  • the number of parameters specified in step S5 is 32, in step S2 so that 32 parameters can be specified based on at least 32 positions r and slopes R in step S5. It is preferable that the number of positions for moving the movable platform 3 is set.
  • step S5 32 parameters can be specified based on at least 16 positions r and inclinations R. Further, according to the study by the present inventor, when 32 parameters are specified based on at least 35 positions r and inclinations R in step S5 as in the above-described form, 32 parameters are accurately determined. It becomes possible to specify. Therefore, considering that there are the position r and the inclination R that are excluded in step S4, the movable platform 3 is moved to 45 different positions in step S2 as in the above-described form, and the 45 different positions are moved. It is preferable to calculate the actual measured cable length li.
  • the number of cables 4 included in the cable robot 1 is eight, but the number of cables 4 included in the cable robot 1 may be seven, or may be nine or more. .
  • the range of “i” in formulas (1) to (6) and the like changes according to the number of cables 4 provided in the cable robot 1.
  • the cable 4 does not extend in the calibration.
  • the calibration can be performed on the assumption that the cable 4 extends.
  • the equations (1) to (6) may be changed in consideration of the elongation of the cable 4.
  • each of the four cables 4 connected to the upper end side of the movable platform 3 is hung on two pulleys 10 and 11 that are adjacent to each other in a direction orthogonal to the axial direction of the rotation and the vertical direction. ing.
  • each of the four cables 4 connected to the upper end side of the movable platform 3 is hung on three or more adjacent pulleys in a direction perpendicular to the axial direction and the vertical direction of the rotation.
  • the pulley portion is constituted by three or more pulleys.
  • each of the four cables 4 connected to the upper end side of the movable platform 3 may be hung on one pulley 10.
  • the pulley 10 is a first pulley and a second pulley.
  • the pulley 10 is constituted by the pulley 10.
  • each of the four cables 4 connected to the lower end side of the movable platform 3 has two pulleys 12 and 13 adjacent in the direction perpendicular to the axial direction and the vertical direction of the rotation. Is suspended on pulleys 12 to 14 including
  • each of the four cables 4 connected to the lower end side of the movable platform 3 includes a plurality of pulleys including three or more pulleys adjacent in the direction perpendicular to the axial direction and the vertical direction of the rotation. It may be hung on a pulley. In this case, a pulley part is comprised by the some pulley with which each of the four cables 4 is hung.
  • Each of the four cables 4 connected to the lower end side of the movable platform 3 may be hung on one pulley 12.
  • the pulley 12 is a first pulley and a second pulley.
  • the pulley portion is constituted by the pulley 12.
  • step S2 after the calibration of the cable robot 1 is started, the motors of the eight cable supply winding mechanisms 5 are controlled by proportional differential control in step S2 up to a predetermined number of times.
  • step S2 up to a predetermined number of times after the start of calibration of one, each of the eight motors of the cable supply winding mechanism 5 may be controlled by speed control.
  • the video camera is mounted on the movable platform 3, but an object other than the video camera may be mounted on the movable platform 3. That is, the cable robot 1 having the above-described form is a robot for moving the video camera in the air, but the cable robot 1 may be a robot used for other purposes.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

L'invention a pour but de fournir un procédé d'étalonnage de robot à câbles qui rende possible un étalonnage qui utilise des fonctions déjà présentes dans le robot à câbles. Pour atteindre ce but, l'invention porte sur un procédé étalonnage, dans lequel : les longueurs de câble, à partir de secondes poulies jusqu'à une plate-forme mobile lorsque la plate-forme mobile est dans différentes positions multiples, sont calculées sur la base de longueurs de câble estimées et de résultats de détection de codeur ; sur la base des longueurs de câble calculées, la position de la plate-forme mobile par rapport à une origine et la pente par rapport à un système de coordonnées standard de chacune de multiples positions de la plate-forme mobile, les positions des premières poulies par rapport à l'origine, et les longueurs des câbles à partir des secondes poulies jusqu'à la plate-forme mobile lorsque la plate-forme mobile est dans une position standard, sont spécifiées ; dans une étape (S1) après le passage par une étape (S7), des positions de poulie sont estimées sur la base des positions de poulie spécifiées, et des longueurs de câble sont estimées sur la base des longueurs de câble spécifiées.
PCT/JP2014/002420 2014-05-07 2014-05-07 Procédé d'étalonnage de robot à câbles WO2015170361A1 (fr)

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CN105690403A (zh) * 2016-04-18 2016-06-22 李伟民 一种钢索机器人
CN107422739A (zh) * 2017-06-19 2017-12-01 西北工业大学 一种空间机器人基座姿态的鲁棒控制方法
CN109360245A (zh) * 2018-10-26 2019-02-19 魔视智能科技(上海)有限公司 无人驾驶车辆多相机系统的外参数标定方法
CN113146576A (zh) * 2021-02-04 2021-07-23 合肥工业大学 一种取药系统、基于其的机器人及控制方法
IT202000004765A1 (it) * 2020-03-06 2021-09-06 Marchesini Group Spa Robot azionato a cavi
WO2021196381A1 (fr) * 2020-03-31 2021-10-07 合肥工业大学 Mécanisme de robot de pulvérisation hybride entraîné par câble et son procédé de fonctionnement
WO2023144111A1 (fr) * 2022-01-26 2023-08-03 Strauß, Jörn Véhicule de récolte et procédé de fonctionnement et d'étalonnage d'un véhicule de récolte
EP3946824A4 (fr) * 2019-04-05 2023-09-20 Jeanologia Teknoloji A.S. Calcul de position et d'orientation 3d et structure d'application robotique utilisant une unité de mesure inertielle (imu) et des capteurs de position de codeur de chaîne

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105690403A (zh) * 2016-04-18 2016-06-22 李伟民 一种钢索机器人
CN107422739A (zh) * 2017-06-19 2017-12-01 西北工业大学 一种空间机器人基座姿态的鲁棒控制方法
CN109360245A (zh) * 2018-10-26 2019-02-19 魔视智能科技(上海)有限公司 无人驾驶车辆多相机系统的外参数标定方法
CN109360245B (zh) * 2018-10-26 2021-07-06 魔视智能科技(上海)有限公司 无人驾驶车辆多相机系统的外参数标定方法
EP3946824A4 (fr) * 2019-04-05 2023-09-20 Jeanologia Teknoloji A.S. Calcul de position et d'orientation 3d et structure d'application robotique utilisant une unité de mesure inertielle (imu) et des capteurs de position de codeur de chaîne
IT202000004765A1 (it) * 2020-03-06 2021-09-06 Marchesini Group Spa Robot azionato a cavi
WO2021176413A1 (fr) * 2020-03-06 2021-09-10 Marchesini Group S.P.A. Robot mû par câble
WO2021196381A1 (fr) * 2020-03-31 2021-10-07 合肥工业大学 Mécanisme de robot de pulvérisation hybride entraîné par câble et son procédé de fonctionnement
US11325243B2 (en) 2020-03-31 2022-05-10 Hefei University Of Technology Flexible-rope-driven hybrid spray painting robot mechanism and operating method thereof
CN113146576A (zh) * 2021-02-04 2021-07-23 合肥工业大学 一种取药系统、基于其的机器人及控制方法
WO2023144111A1 (fr) * 2022-01-26 2023-08-03 Strauß, Jörn Véhicule de récolte et procédé de fonctionnement et d'étalonnage d'un véhicule de récolte

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