WO2018119642A1 - Procédé et dispositif d'étalonnage d'une origine de système de coordonnées d'outil d'un robot industriel - Google Patents

Procédé et dispositif d'étalonnage d'une origine de système de coordonnées d'outil d'un robot industriel Download PDF

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WO2018119642A1
WO2018119642A1 PCT/CN2016/112328 CN2016112328W WO2018119642A1 WO 2018119642 A1 WO2018119642 A1 WO 2018119642A1 CN 2016112328 W CN2016112328 W CN 2016112328W WO 2018119642 A1 WO2018119642 A1 WO 2018119642A1
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Prior art keywords
coordinate system
origin
tool
flange
sets
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PCT/CN2016/112328
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English (en)
Chinese (zh)
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叶根
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深圳配天智能技术研究院有限公司
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Priority to PCT/CN2016/112328 priority Critical patent/WO2018119642A1/fr
Priority to CN201680086636.XA priority patent/CN109311155B/zh
Publication of WO2018119642A1 publication Critical patent/WO2018119642A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type

Definitions

  • Embodiments of the present invention relate to the field of robots, and in particular, to a calibration method and apparatus for an origin of a tool coordinate system of an industrial robot.
  • the robot In the use of the robot, it is generally necessary to assemble tools at the end of the robot to achieve the corresponding functions. In order to obtain better processing results, it is often necessary to calibrate the position and posture of the tool relative to the robot end coordinate system (flange coordinate system) after the tool and equipment are completed.
  • the standard measurement tool is generally used to measure the coordinates of the tool coordinate system (Tool Center Point, TCP) in the flange coordinate system, and there are technical problems such as high cost and complicated operation.
  • the embodiment of the invention provides a calibration method and device for the origin of the tool coordinate system of the industrial robot, so as to solve at least part of the problems caused by the calibration of the origin of the tool coordinate system by means of a standard measuring tool in the prior art.
  • a technical solution adopted by the embodiment of the present invention is to provide a calibration method for the origin of the tool coordinate system of the industrial robot, comprising: controlling the robot to drive the tool to be calibrated installed at the end of the robot, so that the tool to be calibrated
  • the origin of the tool coordinate system reaches a fixed reference point along N different trajectories.
  • the connection between the origin of the flange coordinate system of the robot and the origin of the tool coordinate system does not coincide.
  • N is an integer greater than or equal to 3; respectively record the rotation angle of each axis of the robot when the origin of the tool coordinate system reaches the reference point; calculate the origin of the tool coordinate system in the flange coordinate system of the robot according to the recorded N sets of rotation angles Coordinate value.
  • the step of calculating the coordinate value of the tool coordinate system origin in the flange coordinate system of the robot according to the recorded N sets of rotation angles comprises: arbitrarily selecting three groups from the recorded N sets of rotation angles, and calculating a corresponding flange coordinate system.
  • the three sets of homogeneous matrices; the coordinate values of the origin of the tool coordinate system in the flange coordinate system are calculated by three sets of homogeneous matrices.
  • the three groups are randomly selected from the recorded N sets of rotation angles
  • the steps of calculating the three sets of homogeneous matrices of the corresponding flange coordinate system include: calculating the corresponding three sets of rotation angles by using the positive kinematics algorithm respectively
  • the three sets of homogeneous matrices of the flange coordinate system are expressed as:
  • R 1 , R 2 and R 3 are respectively 3 ⁇ 3 matrices for respectively indicating the direction of the flange coordinate system when the origin of the three tool coordinate system corresponding to the three sets of rotation angles reaches the reference point
  • O 1 , O 2 and O 3 are 3 ⁇ 1 matrices respectively, which are used to respectively represent the coordinates of the origin of the flange coordinate system when the origin of the three tool coordinate system corresponding to the three sets of rotation angles reaches the reference point.
  • the step of calculating the coordinate values of the tool coordinate system origin in the flange coordinate system by the three sets of homogeneous matrices includes: calculating the coordinate values of the tool coordinate system origin in the flange coordinate system by using the following formula:
  • O T is a 3 ⁇ 1 matrix, which is used to represent the coordinate value of the origin of the tool coordinate system in the flange coordinate system.
  • N is an integer greater than or equal to 4, the method further comprising: calculating a tool coordinate system origin in the flange coordinate system according to at least one of the three sets of homogeneous matrices, O T and the remaining at least one set of rotation angles The error of the coordinate value.
  • the step of calculating the error of the coordinate value of the tool coordinate system origin in the flange coordinate system according to at least one of the above three sets of homogeneous matrices, O T and the remaining at least one set of rotation angles comprises: using a forward kinematic algorithm The remaining at least one set of rotation angles is calculated to obtain at least one fourth set of homogeneous matrices of the corresponding flange coordinate system, and expressed as:
  • R 4 is a 3 ⁇ 3 matrix, which is used to indicate the direction of the flange coordinate system when the origin of the tool coordinate system corresponding to the remaining at least one set of rotation angles reaches the reference point, and O 4 is 3 ⁇ 1.
  • a matrix configured to represent coordinates of an origin of a flange coordinate system when the origin of the tool coordinate system corresponding to the remaining at least one set of rotation angles reaches the reference point; according to at least one of the three sets of homogeneous matrices, O T and the fourth group
  • the sub-matrix calculates the error of the coordinate value of the tool coordinate system origin in the flange coordinate system.
  • the step of calculating the error of the coordinate value of the tool coordinate system origin in the flange coordinate system according to at least one of the three sets of homogeneous matrices, the O T and the fourth set of homogeneous matrices includes: calculating the tool coordinate system by using the following formula The error of the coordinate value of the origin in the flange coordinate system:
  • T n R n O T +O n
  • T 4 R 4 O T +O 4
  • R n and O n are respectively any one of R 1 , R 2 and R 3 and a corresponding one of O 1 , O 2 and O 3 in the above three sets of homogeneous matrices, and err represents an error. value.
  • a technical solution adopted by the embodiment of the present invention is to provide a calibration device for the origin of the tool coordinate system of the industrial robot, comprising: a control unit for controlling the movement of the tool to be calibrated installed at the end of the robot by the robot The origin of the tool coordinate system of the tool to be calibrated reaches a fixed reference point along N different trajectories.
  • N is an integer greater than or equal to 3; the recording unit is used to separately record the rotation angle of each axis of the robot when the origin of the tool coordinate system reaches the reference point; the coordinate calculation unit is used for the N groups according to the record The rotation angle calculates the coordinate value of the tool coordinate system origin in the robot's flange coordinate system.
  • the coordinate calculation unit includes: a first sub-coordinate calculation unit configured to arbitrarily select three groups from the recorded N sets of rotation angles, and calculate three sets of homogeneous matrices of the corresponding flange coordinate system; the second sub-coordinate calculation unit , used to calculate the coordinate value of the origin of the tool coordinate system in the flange coordinate system according to the three sets of homogeneous matrices.
  • the first sub-coordinate calculation unit uses the forward kinematics algorithm to calculate three sets of homogeneous matrices of the corresponding flange coordinate system from the selected three sets of rotation angles, respectively expressed as:
  • R 1 , R 2 and R 3 are respectively 3 ⁇ 3 matrices for respectively indicating the direction of the flange coordinate system when the origin of the three tool coordinate system corresponding to the three sets of rotation angles reaches the reference point
  • O 1 , O 2 and O 3 are 3 ⁇ 1 matrices respectively, which are used to respectively represent the coordinates of the origin of the flange coordinate system when the origin of the three tool coordinate system corresponding to the three sets of rotation angles reaches the reference point.
  • the second sub-coordinate calculation unit calculates the coordinate values of the tool coordinate system origin in the flange coordinate system by using the following formula:
  • O T is a 3 ⁇ 1 matrix, which is used to represent the coordinate value of the origin of the tool coordinate system in the flange coordinate system.
  • the apparatus further includes an error calculation unit, configured to calculate a tool coordinate system origin according to at least one of the three sets of homogeneous matrices, O T and the remaining at least one set of rotation angles The error of the coordinate value in the blue coordinate system.
  • the error calculation unit includes: a first sub-error calculation unit configured to calculate, by using a forward kinematics algorithm, at least one fourth group of homogeneous matrices of the corresponding flange coordinate system from the remaining at least one set of rotation angles, and expressed as :
  • R 4 is a 3 ⁇ 3 matrix, which is used to indicate the direction of the flange coordinate system when the origin of the tool coordinate system corresponding to the remaining at least one set of rotation angles reaches the reference point, and O 4 is 3 ⁇ 1.
  • a matrix configured to represent coordinates of an origin of a flange coordinate system when the origin of the tool coordinate system corresponding to the remaining at least one set of rotation angles reaches the reference point; and a second sub-error calculation unit configured to be based on at least the three sets of homogeneous matrices One, O T and the fourth set of homogeneous matrices calculate the error of the coordinate values of the tool coordinate system origin in the flange coordinate system.
  • the second sub-error calculation unit calculates the error of the coordinate value of the origin of the tool coordinate system in the flange coordinate system by using the following formula:
  • T n R n O T +O n
  • T 4 R 4 O T +O 4
  • R n and O n are respectively any one of R 1 , R 2 and R 3 and a corresponding one of O 1 , O 2 and O 3 in the above three sets of homogeneous matrices, and err represents an error. value.
  • a technical solution adopted by the embodiment of the present invention is to provide a calibration device for the origin of the tool coordinate system of the industrial robot, including a processor and a memory connected to the processor, wherein the processor runs through the memory
  • the stored program performs the above steps.
  • the beneficial effects of the embodiments of the present invention are: in the calibration method and device for the origin of the tool coordinate system of the industrial robot provided by the embodiment of the present invention, the calibration tool of the industrial robot can be used for calibration only by using the external standard measurement tool. The tool coordinate system origin coordinates are obtained, and the calibration error can be further given.
  • FIG. 1 is a schematic structural view of an industrial robot according to a first embodiment of the present invention
  • FIG. 2 is a flow chart showing a calibration method of an origin of a tool coordinate system of an industrial robot according to a second embodiment of the present invention
  • FIG. 3 is a schematic block diagram of a calibration device for an origin of a tool coordinate system of an industrial robot according to a third embodiment of the present invention
  • FIG. 4 is a schematic block diagram of a calibration device for the origin of a tool coordinate system of an industrial robot according to a fourth embodiment of the present invention.
  • FIG. 1 is a schematic structural view of an industrial robot according to a first embodiment of the present invention.
  • the industrial robot of the present embodiment mainly includes a base 11, robot arms 12, 13, and a tool 14 equipped at the end of the robot arm 13.
  • the mechanical arm 12 and the base 11 and between the mechanical arms 12 and 13 are respectively connected by the rotating shafts 15 and 16, and the tool 14 is driven to reach different positions by controlling the rotation of the rotating shafts 15 and 16.
  • the robot has the following coordinate system: (1) the world coordinate system, the user specifies a coordinate system fixed to the earth, and the coordinate system does not change during the operation, for example In Fig. 1, the coordinate system defined by the origin o1 and the coordinate axes x1 and y1; (2) the base coordinate system, based on the coordinate system of the robot base, generally does not change during operation, for example, the origin o2 and The coordinate system defined by the axes x2 and y2.
  • each robot has its own base coordinate system, and the world coordinate system is the common reference coordinate system of the base coordinate system; (3) the flange coordinate system, the connection tool at the end of the robot The coordinate system of the robot arm, for example The coordinate system defined by the origin o3 and the coordinate axes x3 and y3 in Fig. 1. In general, when the attitude of the robot changes, the flange coordinate system changes.
  • Tool coordinate system a coordinate system located on the tool, such as the coordinate system defined by the origin o4 and the coordinate axes x4 and y4 in FIG.
  • FIG. 2 is a flow chart showing a calibration method of the origin of the tool coordinate system of the industrial robot according to the second embodiment of the present invention.
  • the tool coordinate system origin coordinates can be obtained by calibration of the industrial robot without the aid of an external standard measurement tool, and the calibration error can be further given.
  • the calibration method of this embodiment includes the following steps:
  • Step 21 The control robot drives the to-be-calibrated tool 14 installed at the end of the robot to move, so that the tool coordinate origin d4 of the tool to be calibrated 14 reaches a fixed position along N different trajectories (for example, the trajectory shown by the dotted line in FIG. 1).
  • N is an integer greater than or equal to 3, and further preferably, when the tool coordinate system origin o4 reaches the reference point o5 along different trajectories, the origin of the flange coordinate system o3 of the robot is connected with the origin o4 of the tool coordinate system.
  • the lines do not coincide, for example, when the tool coordinate system origin o4 reaches the reference point o5 along different tracks, the angle between the above lines is greater than 5 degrees;
  • Step 22 respectively recording the rotation angle of each axis of the robot (for example, the rotating shafts 15, 16) when the tool coordinate system origin o4 reaches the reference point o5;
  • step 23 coordinate values of the tool coordinate system origin o4 in the flange coordinate system of the robot (the coordinate system defined by o3, x3, and y3 in Fig. 1) are calculated according to the recorded N sets of rotation angles.
  • this step it is preferable to arbitrarily select three groups from the recorded N sets of rotation angles, calculate three sets of homogeneous matrices of the corresponding flange coordinate system, and further calculate the origin of the tool coordinate system o4 by the three sets of homogeneous matrices.
  • the coordinate value in the flange coordinate system it is preferable to arbitrarily select three groups from the recorded N sets of rotation angles, calculate three sets of homogeneous matrices of the corresponding flange coordinate system, and further calculate the origin of the tool coordinate system o4 by the three sets of homogeneous matrices.
  • the coordinate value in the flange coordinate system is preferable to arbitrarily select three groups from the recorded N sets of rotation angles, calculate three sets of homogeneous matrices of the corresponding flange coordinate system, and further calculate the origin of the tool coordinate system o4 by the three sets of homogeneous matrices.
  • the three sets of homogeneous matrices of the corresponding flange coordinate system are respectively calculated from the selected three sets of rotation angles, which are respectively expressed as:
  • R 1 , R 2 and R 3 are respectively a matrix of 3 ⁇ 3, which are respectively used to indicate the direction of the flange coordinate system when the origin o4 of the three-tool coordinate system corresponding to the three sets of rotation angles reaches the reference point o5
  • O 1 , O 2 and O 3 are respectively a matrix of 3 ⁇ 1 for respectively indicating the coordinates of the origin o3 of the flange coordinate system when the origin o4 of the three-tool coordinate system corresponding to the three sets of rotation angles reaches the reference point o5.
  • the world coordinate system or the base coordinate system can be used as the reference coordinate system to calculate the direction of the flange coordinate system and the coordinates of the origin o3. Further, the calculation of the homogeneous matrix based on the rotation angle of each axis of the robot using the forward kinematics algorithm is common knowledge in the art, and will not be described herein.
  • O T is a matrix of 3 ⁇ 1
  • X T , Y T , and Z T are used to represent coordinate values of the tool coordinate system origin o4 in the flange coordinate system.
  • the coordinate values of the origin of the tool coordinate system in the flange coordinate system can be calculated.
  • the method of this embodiment is further preferred and does not have to include:
  • step 24 the error of the coordinate value of the tool coordinate system origin o4 in the flange coordinate system is calculated.
  • At least one fourth set of homogeneous matrices of the corresponding flange coordinate system is calculated from the remaining at least one set of rotation angles using a forward kinematics algorithm and expressed as:
  • R 4 is a 3 ⁇ 3 matrix, which is used to indicate the direction of the flange coordinate system when the origin of the tool coordinate system corresponding to the remaining at least one set of rotation angles reaches the reference point
  • O 4 is a matrix of 3 ⁇ 1, and is used for Representing the coordinates of the origin of the flange coordinate system when the origin of the tool coordinate system corresponding to the remaining at least one set of rotation angles reaches the reference point, and further according to at least one of the above three sets of homogeneous matrices, O T and the fourth set of homogeneous matrices Calculate the error of the coordinate value of the tool coordinate system origin in the flange coordinate system. Specifically calculate the error of the coordinate value of the tool coordinate system origin in the flange coordinate system by the following formula:
  • T n R n O T +O n
  • T 4 R 4 O T +O 4
  • R n and O n are respectively any one of R 1 , R 2 and R 3 and a corresponding one of O 1 , O 2 and O 3 in the above three sets of homogeneous matrices, and err represents an error. value.
  • the error of the coordinate value of the tool coordinate system origin in the flange coordinate system may be respectively calculated according to the remaining two or more rotation angles, and finally the calculated two or more errors are averaged to obtain the final Error.
  • FIG. 3 is a tool coordinate system of an industrial robot according to a third embodiment of the present invention.
  • the calibration device of this embodiment includes a control unit 31, a recording unit 32, and a coordinate calculation unit 33.
  • the control unit 31 is configured to control the movement of the tool to be calibrated 14 installed at the end of the robot, so that the origin o4 of the tool coordinate system of the tool to be calibrated reaches a fixed reference point o5 along N different trajectories, where N is greater than or An integer equal to 3.
  • the origin of the robot's flange coordinate system origin o3 does not coincide with the line of the tool coordinate system origin o4.
  • the recording unit 32 is for separately recording the rotation angle of each axis of the robot each time the tool coordinate system origin o4 reaches the reference point o5.
  • the coordinate calculation unit 33 is configured to calculate the coordinate value of the tool coordinate system origin o4 in the flange coordinate system of the robot based on the recorded N sets of rotation angles.
  • the calculation unit 33 includes a first sub-coordinate calculation unit 331 and a second sub-coordinate calculation unit 332.
  • the first sub-coordinate calculation unit 331 is configured to arbitrarily select three groups from the recorded N sets of rotation angles, and calculate three sets of homogeneous matrices of the corresponding flange coordinate system
  • the second sub-coordinate calculation unit 332 is configured to The group homogeneous matrix is calculated to obtain the coordinate value of the origin of the tool coordinate system in the flange coordinate system.
  • the first sub-coordinate calculation unit 331 calculates the three sets of homogeneous matrices of the corresponding flange coordinate system by using the positive kinematics algorithm from the selected three sets of rotation angles, respectively:
  • R 1 , R 2 and R 3 are respectively 3 ⁇ 3 matrices for respectively indicating the direction of the flange coordinate system when the origin o2 of the three-tool coordinate system corresponding to the three sets of rotation angles reaches the reference point o5.
  • O 1 , O 2 , and O 3 are respectively a matrix of 3 ⁇ 1, and are used to respectively represent the coordinates of the origin o3 of the flange coordinate system when the origin o4 of the three-tool coordinate system corresponding to the three sets of rotation angles reaches the reference point o5.
  • the second sub-coordinate calculation unit 332 calculates the coordinate value of the tool coordinate system origin o4 in the flange coordinate system using the following formula:
  • O T is a 3 ⁇ 1 matrix for indicating the coordinate value of the tool coordinate system origin o4 in the flange coordinate system.
  • N is an integer greater than or equal to 4, said apparatus further comprising a calibration error calculating unit 34, according to the above-described three homogeneous matrix of at least one, O T and at least a set of rotating the remaining The angle calculation tool coordinate system origin o4 error in the coordinate value of the flange coordinate system.
  • the error calculation unit 34 includes a first sub-error calculation unit 341 and a second sub-error calculation unit 342.
  • the first sub-error calculating unit 34 is configured to calculate at least one fourth set of homogeneous matrices of the corresponding flange coordinate system from the remaining at least one set of rotation angles by using a forward kinematics algorithm, and is expressed as:
  • R 4 is a 3 ⁇ 3 matrix for indicating the direction of the flange coordinate system when the tool coordinate system origin o4 corresponding to the remaining at least one set of rotation angles reaches the reference point o5, and O 4 is 3 ⁇ .
  • the second sub-error calculating unit 342 is configured to calculate an error of the coordinate value of the tool coordinate system origin o4 in the flange coordinate system according to at least one of the three sets of homogeneous matrices, O T and the fourth set of homogeneous matrices. Specifically, the second sub-error calculation unit 342 calculates the error of the coordinate value of the tool coordinate system origin o4 in the flange coordinate system using the following formula:
  • T n R n O T +O n
  • T 4 R 4 O T +O 4
  • R n and O n are respectively any one of R 1 , R 2 and R 3 and a corresponding one of O 1 , O 2 and O 3 in the above three sets of homogeneous matrices, and err represents an error. value.
  • FIG. 4 is a schematic block diagram of a calibration device for the origin of the tool coordinate system of the industrial robot according to the fourth embodiment of the present invention.
  • the calibration apparatus of this embodiment includes a processor 41 and a memory 42.
  • the processor 41 is connected to the memory 42 and executes the steps in the calibration method shown in the second embodiment of the present invention described with reference to Fig. 2 by running a program stored in the memory 42.

Abstract

Selon un mode de réalisation, la présente invention concerne un procédé d'étalonnage d'une origine de système de coordonnées d'outil d'un robot industriel. Le procédé consiste : à commander à un robot industriel d'entraîner un outil à étalonner monté sur une extrémité de queue du robot à déplacer, de telle sorte qu'une origine de système de coordonnées d'outil de l'outil à étalonner atteint un point de référence fixe le long de N voies différentes ; à enregistrer respectivement un angle de rotation de chaque arbre du robot chaque fois que l'origine de système de coordonnées d'outil atteint le point de référence ; et à calculer des valeurs de coordonnées de l'origine de système de coordonnées d'outil dans un système de coordonnées de bride du robot selon les N ensembles d'angles de rotation enregistrés. De cette manière, les coordonnées d'une origine de système de coordonnées d'outil peuvent être étalonnées au moyen de mouvements du robot industriel, sans outil de mesure standard externe.
PCT/CN2016/112328 2016-12-27 2016-12-27 Procédé et dispositif d'étalonnage d'une origine de système de coordonnées d'outil d'un robot industriel WO2018119642A1 (fr)

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PCT/CN2016/112328 WO2018119642A1 (fr) 2016-12-27 2016-12-27 Procédé et dispositif d'étalonnage d'une origine de système de coordonnées d'outil d'un robot industriel
CN201680086636.XA CN109311155B (zh) 2016-12-27 2016-12-27 一种工业机器人的工具坐标系原点的标定方法及装置

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