WO2018196232A1 - 机器人和末端执行器的自动标定方法及系统 - Google Patents
机器人和末端执行器的自动标定方法及系统 Download PDFInfo
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- WO2018196232A1 WO2018196232A1 PCT/CN2017/097360 CN2017097360W WO2018196232A1 WO 2018196232 A1 WO2018196232 A1 WO 2018196232A1 CN 2017097360 W CN2017097360 W CN 2017097360W WO 2018196232 A1 WO2018196232 A1 WO 2018196232A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- the present invention relates to an automatic calibration method and system for a robot and an end effector, and belongs to the field of automation technology.
- Industrial robots are designed and built to provide very high repeatability to perform predictive tasks. They usually have good repeatability but poor accuracy, and accuracy is usually an order of magnitude worse than repeatability. The accuracy of the robot has not been developed to meet the maturity level of the production process. This is because each industrial robot is manufactured within a certain tolerance. There will be no two identical mechanical units. However, each robot controller uses the same control model with ideal parameters, which defaults to all mechanical units being identical. Therefore, there is always a certain error between the ideal position in the robot model and the actual position of the robot.
- Robot calibration is a proven method that greatly improves the accuracy of robot positioning. This process identifies real geometric parameters in the kinematic structure of the robot. These motion parameters describe the relative position and orientation of the robot links and joints.
- Research in the field of robot calibration reveals different calibration methods and algorithms. A large number of methods exist for the development of dynamic models of industrial robots. Denavit-Hartenberg developed a method based on homogeneous transformation matrix [1]. Stone developed the S model, which uses six parameters for each robot joint [2].
- Mooring and Tang developed a zero-reference model that does not use the public vertical line as a link parameter to avoid model singularity [3]. A wide range of measurement systems are available for different levels of precision.
- the main purpose of the present application is to provide an automatic calibration method and system for a robot and an end effector, and more particularly to provide a tool center point for automatically calibrating an industrial robot (robot) and its end effector ( Tool Center Point, TCP) method and system that uses a calibration system that identifies robot and TCP errors and compensates for identified errors to improve the accuracy of the robot, thereby overcoming the deficiencies of the prior art.
- robot industrial robot
- TCP Tool Center Point
- the technical solution adopted by the present application includes:
- the embodiment of the present application first provides an industrial robot calibration system, which includes:
- a robot comprising a plurality of axes of motion and carrying an end effector that is capable of moving its tool center point (TCP) within the working domain;
- One or more temperature sensors are One or more temperature sensors
- a calibration tool comprising a three-dimensional orientation sensor mounted on the end effector of the robot, at least for providing a three-dimensional angle in a fixed reference three-dimensional coordinate system;
- a robot controller at least for controlling the movement of the robot
- a computing device at least for performing measurements by the calibration tool and taking a robot position during the calibration process, and thereby calculating and updating the robot parameters and the TCP position.
- the embodiment of the present application further provides an automatic calibration method for a robot and an end effector, including:
- the robot comprising a plurality of axes of motion and carrying an end effector, the robot can move its tool center point (TCP) within the working area,
- One or more temperature sensors are provided.
- a calibration tool including a three-dimensional orientation sensor mounted on the end effector of the robot, at least for providing a three-dimensional angle in a fixed reference three-dimensional coordinate system,
- a robot controller at least for controlling the movement of the robot
- a computing device at least for performing measurements by the calibration tool and taking a robot position during the calibration process, and thereby calculating and updating the robot parameters and the TCP position;
- step h) Use the results obtained in step g) to correct the robot parameters and TCP in subsequent production tasks, correct the robot pose and TCP or compensate for any errors in using the robot pose and TCP position offline.
- 1 is a flow chart of a calibration procedure in some exemplary embodiments of the present application.
- FIG. 2 is a configuration diagram of a preferred calibration tool in some exemplary embodiments of the present application.
- FIG. 3 is a configuration diagram of a calibration tool mounted to a robotic tool having an adapter in some exemplary embodiments of the present application;
- FIG. 4 is a configuration diagram of a calibration tool directly mounted on a robot flange in some exemplary embodiments of the present application
- Figure 5 is a schematic illustration of the position of the robot during calibration in some exemplary embodiments of the present application.
- FIG. 6 is a schematic structural diagram of a calibration tool in some exemplary embodiments of the present application.
- FIG. 7 is a second schematic structural view of a calibration tool in some exemplary embodiments of the present application.
- a robot comprising a plurality of axes of motion and carrying an end effector that is capable of moving its tool center point (TCP) within the working domain;
- One or more temperature sensors for detecting at least a temperature of the operating environment and/or a temperature of at least a portion of the components of the robot that may be affected by the temperature change;
- a calibration tool comprising a three-dimensional orientation sensor mounted on the end effector of the robot, at least for providing a three-dimensional angle in a fixed reference three-dimensional coordinate system;
- a robot controller at least for controlling the movement of the robot
- a computing device at least for performing measurements by the calibration tool and taking a robot position during the calibration process, and thereby calculating and updating the robot parameters and the TCP position.
- the temperature sensor is connected to the computing device.
- the temperature sensor can be used at least to monitor the temperature of a robotic arm that may be affected by temperature changes.
- the industrial robot calibration system can further include an external three-dimensional linear measurement device mounted on a support within the robot workspace, the robotic end effector carrying three-dimensional linearity from the exterior The target measured by the measuring device.
- the industrial robot calibration system can further include an external three-dimensional linear measurement device mounted on the robotic end effector.
- the aforementioned end effectors can be some tools known in the art.
- the tool can be mounted on the robot arm, in particular the end position of the robot arm.
- the aforementioned robot controller is actually also a computing device.
- the robot comprising a plurality of axes of motion and carrying an end effector, the robot can move its tool center point (TCP) within the working area,
- One or more temperature sensors for detecting at least a temperature of the operating environment and/or a temperature of at least a portion of the components of the robot that may be affected by the temperature change
- a calibration tool including a three-dimensional orientation sensor mounted on the end effector of the robot, at least for providing a three-dimensional angle in a fixed reference three-dimensional coordinate system,
- a robot controller at least for controlling the movement of the robot
- a computing device at least for performing measurements by the calibration tool and taking a robot position during the calibration process, and thereby calculating and updating the robot parameters and the TCP position;
- step h) Use the results obtained in step g) to correct the robot parameters and TCP in subsequent production tasks, correct the robot pose and TCP or compensate for any errors in using the robot pose and TCP position offline.
- the calibration tool is mounted directly on the end effector and/or mounted on the end effector by an adapter.
- the temperature sensor is coupled to the computing device.
- the temperature sensor can be used at least to monitor the temperature of a robotic arm that may be affected by temperature changes.
- the automatic calibration method comprises, in step f), the number of repetitions of step c), step d) and step e) is at least equal to the number of calibration parameters.
- initial conditions for determining the calibration parameters include:
- the actual robot position read and stored from the robot controller.
- the automatic calibration method includes calibrating the position of the robot and TCP by comparing the robot angular position and a plurality of angular measurements provided by the calibration tool.
- the automatic calibration method includes: in the case where the end effector is omitted, the coordinates of the TCP in the fixed reference three-dimensional coordinate system are (0, 0, 0), and the automatic calibration method Only the robot is used for calibration.
- the calibration tool is mounted adjacent to the TCP.
- the automatic calibration method includes the automatic calibration method using a production program without the need to collect sufficient information for calibration and the robot axis to be fully operated during a production task Write a separate robot calibration procedure.
- the automatic calibration method comprises: identifying a robotic parameter by solving a system of nonlinear equations that is at least twice the number of robot parameters to be identified, in particular the robotic extended Denavit-Hartenberg Parameter and compliance values and compliance values. This process can be referred to Document 1 and the like.
- the system of the nonlinear equations is modeled by using (1) robot motion parameters, (2) sensor readings, and (3) robot Cartesian position (see Reference 1), which can be automatically read or Manually set to the system. Once the robot parameters are identified, a compensation filter is created to subsequently compensate for the robot's errors.
- a method for automatically calibrating an industrial robot (robot) and its end effector TCP is provided using a temperature sensor, a three-dimensional direction sensor, and an external three-dimensional linear measuring device Calibration system.
- the calibration system identifies robot and TCP errors and compensates for identified errors to improve the accuracy of the robot.
- the temperature sensor is mounted on a robot arm that may be affected by temperature changes
- the three-dimensional direction sensor is mounted on a robot arm mainly affected by an angular error, at least one of which is three-dimensional.
- the direction sensor is mounted near the tool center point (TCP) and an external three-dimensional linear measuring device is also mounted on the tool.
- the external three-dimensional linear measuring device is mounted on a bracket in the robot working space, and the robot end effector carries a target that can be measured by an external three-dimensional linear measuring device, and the external three-dimensional linear measurement The device can report the location of the target and report the position of the robotic end effector.
- the present application allows identification and verification of the TCP of a robot if its position relative to the external three-dimensional linear measuring device is a known constant or measurable. This can be achieved by designing a robotic tool that includes a target certified by a coordinate measuring machine, for example, see FIG.
- visual sensors such as two-dimensional (2D) or three-dimensional (3D) cameras
- visual sensors can be used in place of external three-dimensional linear measuring devices, and their measured values can be used in the calibration process.
- This application can be applied to almost all areas of robotics, including welding, painting, assembly, pick and place, packaging and palletizing, product inspection and testing, and more.
- a method of automatically calibrating the TCP of an industrial robot and its end effector can be implemented based on the aforementioned calibration system of the present application, and can include the following steps:
- a robot program is taught that includes a position (posture) that moves the robot shaft sufficiently to achieve robot parameter recognition.
- the robot calibration procedure must include at least as many robot parameters and TCP (if applicable) as the robot position (the measured position at the robot position, the robot position can be the robot Cartesian position, etc.) for identification, where Determine the number of robot position points to be measured according to the number of robot parameters to be calibrated, and define it as i;
- the aforementioned step b) can be omitted, and the external three-dimensional linear measuring device in the aforementioned step d) can also be omitted.
- a high-precision calibration method is provided which is easy to set up and operate, and does not require a large amount of additional calibration equipment.
- a method of automatic calibration ie, no operator intervention
- a method is provided that can also be run in the background during robot operation (i.e., production tasks) if sufficient information for calibration can be collected and the robot axis is operated sufficiently during the production task.
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Abstract
Description
Claims (14)
- 一种机器人和末端执行器的自动标定方法,其特征在于包括:a)提供机器人校准系统,包括:机器人,包括多个运动轴并携带有末端执行器,所述机器人能将其工具中心点(TCP)在工作域内移动,一个或多个温度传感器,至少用以检测工作环境温度变化和/或可能受到温度变化影响的机器人的至少部分组件的温度,校准工具,包括安装在机器人末端执行器上的三维方向传感器,至少用于提供在固定参考三维坐标系中的三维角度,机器人控制器,至少用于控制所述机器人运动,以及计算装置,至少用于通过所述校准工具进行测量以及在校准过程中采取机器人位置,并由此计算和更新所述机器人参数和所述TCP位置;b)编程包含多个位置和配置的机器人校准程序,使机器人轴被充分的运行,以实现可接受的机器人参数识别;c)以与所述校准工具互连的所述计算装置运行所述机器人校准程序,并在下一姿势停止;d)从所述校准工具读取和存储三维角位置;e)直接从所述机器人控制器或离线文件读取和存储由所述机器人控制器提供的实际的机器人位置;f)重复步骤c)、步骤d)和步骤e)多次;g)通过将步骤d)中存储的所述校准工具三维角位置与步骤e)中存储的机器人角位置进行比较来计算机器人参数和TCP位置;以及h)使用步骤g)中获得的结果在后续生产任务中纠正机器人参数和TCP,纠正机器人姿势和TCP或补偿任何离线使用机器人姿势和TCP位置的错误。
- 根据权利要求1所述的自动标定方法,其特征在于:所述校准工具直接安装在末端执行器上和/或通过适配器安装在末端执行器上。
- 根据权利要求1所述的自动标定方法,其特征在于:所述温度传感器与计算装置连接;优选的,所述温度传感器至少用于监测可能受到温度变化影响的机器人臂的温度。
- 根据权利要求1所述的自动标定方法,其特征在于:所述机器人校准系统还包括外部三维线性测量装置,所述外部三维线性测量装置安装在机器人工作空间内的支架上,所述机器人 末端执行器承载可由外部三维线性测量装置测量的目标,或者,所述外部三维线性测量装置安装在所述机器人末端执行器上。
- 根据权利要求1所述的自动标定方法,其特征在于包括:在步骤f)中,步骤c)、步骤d)和步骤e)的重复次数至少等于校准参数的数量。
- 根据权利要求5所述的自动标定方法,其特征在于,用于确定所述校准参数的初始条件包括:机器人的运动学方程,所述校准工具与TCP之间的关系的模型,来自3D定向传感器的读取和存储的角度位置,以及来自机器人控制器的读取和存储的实际的机器人位置。
- 根据权利要求1所述的自动标定方法,其特征在于:所述机器人校准程序包括至少与机器人位置数量相等的机器人参数及TCP以进行识别。
- 根据权利要求1所述的自动标定方法,其特征在于包括:通过比较所述机器人角位置和由所述校准工具提供的多个角度测量值来校准所述机器人和TCP的位置。
- 根据权利要求1所述的自动标定方法,其特征在于包括:在省略所述末端执行器的情况下,TCP在固定参考三维坐标系中的坐标为(0,0,0),并且所述自动标定方法用于校准的仅是所述机器人。
- 根据权利要求1所述的自动标定方法,其特征在于包括:所述校准工具安装在靠近TCP的位置。
- 根据权利要求1所述的自动标定方法,其特征在于包括:若能够收集足够的信息用于校准且机器人轴在生产任务期间被充分地运行,则所述自动标定方法可以使用生产程序而不需编写单独的机器人校准程序。
- 一种工业机器人校准系统,其特征在于包括:机器人,包括多个运动轴并携带有末端执行器,所述机器人能将其工具中心点(TCP)在工作域内移动;一个或多个温度传感器,至少用以检测工作环境温度变化和/或可能受到温度变化影响的机器人的至少部分组件的温度;校准工具,包括安装在机器人末端执行器上的三维方向传感器,至少用于提供在固定参考三维坐标系中的三维角度;机器人控制器,至少用于控制所述机器人运动;以及计算装置,至少用于通过所述校准工具进行测量以及在校准过程期间采取机器人位置,并由此计算和更新所述机器人参数和所述TCP位置。
- 根据权利要求12所述的工业机器人校准系统,其特征在于:所述温度传感器与计算装置连接;优选的,所述温度传感器至少用于监测可能受到温度变化影响的机器人臂的温度。
- 根据权利要求12所述的工业机器人校准系统,其特征在于:所述工业机器人校准系统还包括外部三维线性测量装置,所述外部三维线性测量装置安装在机器人工作空间内的支架上,所述机器人末端执行器承载可由外部三维线性测量装置测量的目标,或者,所述外部三维线性测量装置安装在所述机器人末端执行器上。
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