WO2019019432A1 - 机器人末端工具的位姿测量方法 - Google Patents
机器人末端工具的位姿测量方法 Download PDFInfo
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- WO2019019432A1 WO2019019432A1 PCT/CN2017/106889 CN2017106889W WO2019019432A1 WO 2019019432 A1 WO2019019432 A1 WO 2019019432A1 CN 2017106889 W CN2017106889 W CN 2017106889W WO 2019019432 A1 WO2019019432 A1 WO 2019019432A1
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- WIPO (PCT)
- Prior art keywords
- coordinate system
- axis
- end tool
- unit vector
- positive direction
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Classifications
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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
- B25J13/089—Determining the position of the robot with reference to its environment
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- 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
- B25J9/023—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
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
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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
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0055—Cutting
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39026—Calibration of manipulator while tool is mounted
-
- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40611—Camera to monitor endpoint, end effector position
Definitions
- the present application belongs to the field of industrial robot technology, and more particularly to a pose measurement method for a robot end tool.
- the processing precision of industrial robots is getting higher and higher.
- the accuracy of the posture calibration at the center point of the tool directly affects the machining accuracy of the industrial robot.
- the posture refers to the industrial robot.
- the center point of the tool After the industrial robot is replaced with a new tool or after a long period of work, the center point of the tool will be deviated, resulting in a lower machining accuracy of the robot. Therefore, it is necessary to measure the center point of the robot end tool and perform offset compensation.
- the method of manual observation is usually adopted, and the multi-pose is approached to the fixed point to realize the measurement of the center point position of the end tool.
- this method relies on manual movement and visual observation, and its accuracy and stability are low.
- the purpose of the present application is to provide a pose measurement method for a robot end tool, which solves the technical problem that the center point pose measurement of the robot end tool existing in the prior art is low in accuracy and stability.
- the present application provides a pose measurement method for an end tool of an object, including steps
- the unit vector of the positive direction of the X-axis of the second coordinate system, the unit vector of the positive direction of the Y-axis, and the unit vector of the positive direction of the Z-axis together form an attitude transformation matrix of the second coordinate system, which is calculated by the attitude transformation matrix A rotation offset of the second coordinate system relative to the first coordinate system is derived.
- the origin of the first coordinate system is set to O 1
- the origin of the second coordinate system is set to O 2
- the coordinate value of O 1 in the first coordinate system is set to (0, 0, 0)
- O 2 The coordinate value of the first coordinate system is set to (x 0 , y 0 , z 0 );
- the step of the unit vector of the X-axis positive direction, the unit vector of the positive direction of the Y-axis, and the unit vector of the positive direction of the Z-axis of the second coordinate system specifically includes:
- Points P 1 and P 2 are taken on the X-axis and the Y-axis of the second coordinate system, respectively, and the coordinate values of P 1 and P 2 in the first coordinate system are respectively set to (x 1 , y 1 , z 1 ) and (x 2 , y 2 , z 2 );
- the unit vector of the positive direction of the X-axis of the second coordinate system is (a 1 , b 1 , c 1 )
- the unit vector of the positive direction of the Y-axis of the second coordinate system is (a 2 , b 2 , c 2 )
- the unit vector of the positive direction of the Z axis of the second coordinate system be (a 3 , b 3 , c 3 )
- the rotation offset is Where R x is a rotational offset of the second coordinate system relative to the first coordinate system on the X axis, and R y is a rotational offset of the second coordinate system relative to the first coordinate system on the Y axis
- the shift amount, R z is a rotational offset of the second coordinate system with respect to the first coordinate system on the Z axis.
- the three-dimensional features of the flange and the end tool are obtained by a binocular three-dimensional scanner.
- the beneficial effect of the pose measuring method of the robot end tool provided by the present application is that the pose measuring method of the robot end tool of the present application establishes the first by respectively at the center of the flange and the center of the end tool compared with the prior art. a coordinate system and a second coordinate system, calculating a positional offset of the origin of the second coordinate system with respect to the origin of the first coordinate system, and calculating, by the pose transformation matrix of the second coordinate system, the second coordinate system relative to the The rotational offset of the first coordinate system, which in turn leads to the pose of the end tool relative to the flange, which is obtained by calculating the relative position and relative attitude of the end tool and the flange.
- the pose of the end tool is higher in accuracy and stability than the manual observation method.
- FIG. 1 is a flowchart of implementing a pose measurement method of a robot end tool according to an embodiment of the present application
- FIG. 2 is a schematic diagram of a pose measurement system of a robot end tool according to an embodiment of the present application
- FIG. 3 is a schematic diagram of a first coordinate system and a second coordinate system used in the embodiment of the present application.
- 1-binocular three-dimensional scanner 2-robot; 21-flange; 210-first coordinate system; 22-end tool; 220-second coordinate system.
- first, second, and the like are used for the purpose of description only, and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
- features defining “first” and “second” may include one or more of the features either explicitly or implicitly.
- the meaning of "a plurality" is two or more unless specifically and specifically defined otherwise.
- the robot 2 includes a robot arm, a flange 21 fixed to the robot arm, and an end tool 22 interposed in the flange 21, and the end tool 22 includes a welding gun, a cutter, and the like.
- the pose of the robot end tool refers to the position and posture of the end tool 22 in the specified coordinate system, and the position and posture of the end tool 22 can be used as the position offset and the rotational offset of the end tool 22 with respect to the specified coordinate system, respectively.
- the pose measurement method includes the following steps:
- Step S101 is specifically:
- the outer lattice combination of the flange 21 is formed.
- the three-dimensional features of the blue 21, the outer lattice of the end tool 22 combine to form a three-dimensional feature of the end tool 22.
- step S101 the three-dimensional features of the flange 21 and the end tool 22 are acquired by the binocular three-dimensional scanner 1.
- the binocular three-dimensional scanner 1 When the binocular three-dimensional scanner 1 is used, the binocular three-dimensional scanner 1 is placed in the vicinity of the robot end tool 22, and the outer end features of the end tool 22 and the flange 21 are scanned to obtain the outer point of the end tool 22 and the flange 21.
- Array then upload the data of the outer lattice to the reverse engineering software, use reverse engineering software to remove the unwanted data, and then fit the remaining point data to the line and face, and finally through the fitted line and surface.
- Step S102 is specifically:
- the center of the flange 21 is determined according to the three-dimensional characteristics of the flange 21, according to the three-dimensional characteristics of the end tool 22. Determining the center of the end tool 22, determining the center of the flange 21 and the center of the end tool 22, first processing the outer map by reverse engineering software such as Geomagic, Imageware, etc., deleting unnecessary point data, and then remaining data Line fitting and face fitting are performed, and finally the center of the flange 21 and the center of the end tool 22 are determined by the fitted lines and faces.
- reverse engineering software such as Geomagic, Imageware, etc.
- Step S103 is specifically:
- the first coordinate system 210 and the second coordinate system 220 are respectively established with the center of the flange 21 and the center of the end tool 22 as an origin, and the first coordinate system 210 and the second coordinate system 220 are Cartesian rectangular coordinate systems, including perpendicular to each other. X, Y and Z axes;
- Step S104 is specifically:
- the positional offset means that the origin of the second coordinate system 220 is on the X-axis with respect to the origin of the first coordinate system 210, respectively.
- the origin of the first coordinate system 210 is defined as O 1
- the origin of the second coordinate system 220 is defined as O 2
- O 1 in the first coordinate system 210 The coordinate value is set to (0, 0, 0)
- the coordinate value of O 2 in the first coordinate system 210 is set to (x 0 , y 0 , z 0 )
- the origin of the second coordinate system 220 is relative to the first
- the positional shift amount of the origin of the coordinate system 210 is set to ( ⁇ x, ⁇ y, ⁇ z), where ⁇ x is the positional shift amount of the second coordinate system 220 with respect to the first coordinate system 210 in the X direction, and ⁇ y is a positional offset of the second coordinate system 220 relative to the first coordinate system 210 in the Y direction, and ⁇ z is a positional shift of the second coordinate system 220 relative to the first coordinate system 210 in the Z direction the amount.
- Step S105 is specifically:
- the straight lines of the X-axis, the Y-axis, and the Z-axis of the second coordinate system 220 all have a certain direction.
- the respective directions of the X-axis, the Y-axis, and the Z-axis of the second coordinate system 220 can be represented by direction vectors, and the respective direction vectors are divided.
- the unit vectors of the X-axis, the Y-axis, and the Z-axis are obtained by the respective die lengths.
- step S105 referring to FIG. 3, points P 1 and P 2 , P 1 and P 2 are taken in the first coordinate system 210 on the X-axis and the Y-axis of the second coordinate system 220, respectively.
- the coordinate values are set to (x 1 , y 1 , z 1 ) and (x 2 , y 2 , z 2 ), respectively, and P 1 and P 2 are any points on the X and Y axes, respectively; the directed line segment O 2 P
- the vector direction of 1 is the same as the vector direction of the positive direction of the X-axis of the second coordinate system 220, and the vector direction of the directed line segment O 2 P 2 is the same as the vector direction of the positive direction of the Y-axis of the second coordinate system 220, so the vector is calculated.
- Unit vector Unit vector among them Is the unit vector of the positive direction of the X-axis in the second coordinate system 220, a unit vector of the positive direction of the Y axis in the second coordinate system 220;
- Vector sum Vectors are perpendicular to each other, according to Vector sum
- the expression of the vector can be calculated and Vector sum
- the plane in which the vectors are located is perpendicular to each other vector,
- the vector is the unit vector of the positive direction of the Z axis in the second coordinate system 220, assuming among them and so According to the above steps, the unit vector of the X-axis positive direction, the Y-axis positive direction, and the Z-axis positive direction in the second coordinate system 220 can be obtained.
- Step S106 is specifically:
- the unit vectors of the positive direction of the axes together form an attitude transformation matrix of the second coordinate system 220, and the rotational offset of the second coordinate system 220 with respect to the first coordinate system 210 is calculated by the attitude transformation matrix.
- step S106 the unit vector of the positive direction of the X-axis in the second coordinate system 220 is set to Unit vector of the positive direction of the Y axis in the second coordinate system 220
- the attitude transformation matrix is calculated as
- the attitude transformation matrix may represent the attitude transformation of the second coordinate system 220 relative to the first coordinate system 210, ie, the attitude transformation of the end tool 22 relative to the flange 21 may be indicated.
- step S106 the rotation offset of the second coordinate system 220 with respect to the first coordinate system 210 can be obtained, and the rotation offset is
- R x is the rotational offset of the second coordinate system 220 relative to the first coordinate system 210 on the X axis
- R y is the rotational offset of the second coordinate system 220 relative to the first coordinate system 210 on the Y axis
- R z is the rotational offset of the second coordinate system 220 relative to the first coordinate system 210 on the Z axis
- a 3 b 1 c 2 - b 2 c 1
- b 3 a 1 c 2 - a 2 c 1
- c 3 a 1 b 2 - a 2 b 1 is brought into the expression of the rotation offset, which can be obtained
- a 1 , b 1 , c 1 , a 2 , b 2 , c 2 are obtained when solving the unit vector of the positive direction of
- the pose measuring method of the robot end tool calculates the second coordinate by establishing the first coordinate system 210 and the second coordinate system 220 at the center of the flange 21 and the center of the end tool 22, respectively.
- the accuracy and stability of the pose measurement method are high.
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Abstract
Description
Claims (6)
- 机器人末端工具的位姿测量方法,其特征在于:包括步骤获取用于夹住末端工具的法兰的三维特征和所述末端工具的三维特征;根据所述法兰的三维特征确定所述法兰的中心,根据所述末端工具的三维特征确定所述末端工具的中心;分别以所述法兰的中心和所述末端工具的中心为原点建立第一坐标系和第二坐标系;计算所述第二坐标系的原点相对于所述第一坐标系的原点的位置偏移量;计算在所述第一坐标系中,所述第二坐标系的X轴正方向的单位向量、Y轴正方向的单位向量以及Z轴正方向的单位向量;所述第二坐标系的X轴正方向的单位向量、Y轴正方向的单位向量以及Z轴正方向的单位向量共同形成所述第二坐标系的姿态变换矩阵,通过所述姿态变换矩阵计算得出所述第二坐标系相对于所述第一坐标系的旋转偏移量。
- 如权利要求1所述的机器人末端工具的位姿测量方法,其特征在于:计算所述第二坐标系的原点相对于所述第一坐标系的原点的位置偏移量的具体步骤包括:所述第一坐标系的原点设为O1,所述第二坐标系的原点设为O2,O1在所述第一坐标系的坐标值设为(0,0,0),O2在所述第一坐标系的坐标值设为(x0,y0,z0);计算所述位置偏移量为Δx=x0,Δy=y0,Δz=z0,其中Δx为所述第二坐标系相对于所述第一坐标系在X方向的位置偏移量,Δy为所述第二坐标系相对于所述第一坐标系在Y方向的位置偏移量,Δz为所述第二坐标系相对于所述第一坐标系在Z方向的位置偏移量。
- 如权利要求1所述的机器人末端工具的位姿测量方法,其特征在于:通 过双目三维扫描仪获取所述法兰和所述末端工具的三维特征。
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US16/074,916 US11072078B2 (en) | 2017-07-28 | 2017-10-19 | Method for measuring pose of robotic end tool |
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Also Published As
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US11072078B2 (en) | 2021-07-27 |
US20210197396A1 (en) | 2021-07-01 |
CN107462154A (zh) | 2017-12-12 |
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