WO2019114630A1

WO2019114630A1 - Method and device for obtaining coordinates of tcp of robot

Info

Publication number: WO2019114630A1
Application number: PCT/CN2018/119787
Authority: WO
Inventors: 宫明波; 刘达
Original assignee: 北京柏惠维康科技有限公司
Priority date: 2017-12-13
Filing date: 2018-12-07
Publication date: 2019-06-20
Also published as: CN109916352B; CN109916352A

Abstract

A method for obtaining the coordinates of a TCP of a robot, comprising: firstly, marking a point, capable of being recognized by a sensor, on a tool at the end of a robot arm as a TCP; separately adjusting the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of theoretical coordinates of the TCP, to obtain a total of three coordinate transformation relationships of the marked point between a robot arm coordinate system and a sensor coordinate system in the three adjusting modes; according to multiple positions of the marked point in a recognition range of the sensor, obtaining a maximum transformation error among transformation errors corresponding to each coordinate transformation relationship at the multiple positions and/or an average error of the transformation errors; and setting the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate corresponding to the minimum values in maximum transformation error sets of and/or the minimum values in average error sets of the three coordinate transformation relationships as the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the actual coordinates of the TCP.

Description

Method and device for acquiring robot TCP coordinates

Technical field

Embodiments of the present invention relate to the field of artificial intelligence, and in particular, to a method and apparatus for acquiring TCP coordinates of a robot.

Background technique

With the development of technology, the field of application of robots has become more and more extensive. For the robots in the two application fields of high-precision machining and surgery, the tasks that need to be completed have high requirements for precision.

In general, high-precision machining robots and surgical robots need to add tools to their own robotic arms to perform related tasks when performing work tasks. Since the coordinate conversion relationship between the end coordinate system of the arm and the coordinate system of the arm can be calculated by the DH parameter, and the error is small, how to accurately obtain the tool's own coordinate system origin (Tool Center Point, TCP) The coordinates in the end coordinate system of the arm are the key factors that affect the accuracy of its work. At present, the coordinates of TCP in the end coordinate system of the robot arm can be calculated or measured by the theoretical size of the robot arm end coordinate system in combination with the tool itself, which is called the theoretical coordinate of TCP. That is to say, when the tool is assembled to the end of the robot arm, the theoretical coordinates of TCP can only be used to perform the work task.

However, dimensional errors usually occur during the processing of the tool according to the design drawings. Assembly errors may occur during the assembly of the tool to the end of the robot arm. The tool may be affected by the environment and may also cause deformation errors. The measurement process may also occur. Generate measurement errors, etc. These errors will cause the actual coordinates of TCP in the end coordinate system of the arm to deviate from the theoretical coordinates of TCP. If the TCP is calibrated with the theoretical coordinates of TCP, it will inevitably result in the position of the calibrated TCP. There is an error between the actual TCP positions, which affects the working accuracy of the robot.

Summary of the invention

One of the technical problems solved by the embodiments of the present application is to provide a method and apparatus for acquiring TCP coordinates of a robot. When measuring or calculating the coordinates of TCP in the coordinate system of the end of the arm, the theoretical coordinates of the TCP are adjusted, and all The adjustment coordinate with the smallest error range in the adjustment coordinates is used as the actual coordinate of TCP, which reduces the range of errors generated by the robot during the execution of the work task and improves the working precision of the robot.

In one aspect, the embodiment of the present application provides a method for acquiring a TCP coordinate of a robot, including:

The point on the tool marking the end of the arm that can be recognized by the sensor is TCP, and the X-axis coordinate of the theoretical coordinate of TCP is separately adjusted to obtain i adjustment coordinates TCP _xi (x+Δ _xi , y, z), the theory of TCP The Y-axis coordinates of the coordinates are individually adjusted to obtain j adjustment coordinates TCP _yj (x, y + Δ _yj , z), and the Z-axis coordinates of the theoretical coordinates of TCP are separately adjusted to obtain k adjustment coordinates TCP _zk (x, y, z+) Δ _zk ), where i, j, k are integers and i≧1, j≧1, k≧1, Δ _xi , Δ _yj , Δ _zk are the theoretical coordinates of TCP on the X-axis, the Y-axis, and the Z-axis, respectively. Adjustment value on

The robot arm coordinate system and the sensor coordinate system are established according to the coordinate conversion relationship between TCP _xi , TCP _yj , TCP _zk and the robot arm end coordinate system and the robot arm coordinate system, and the coordinates of the marked points in the sensor coordinate system. Coordinate transformation relationship

with

among them,

The coordinate conversion relationship obtained when the X-axis coordinates of the theoretical coordinates of TCP are individually adjusted,

The coordinate conversion relationship obtained when the Y coordinate of the theoretical coordinate of TCP is individually adjusted,

The coordinate conversion relationship obtained when the Z coordinate of the theoretical coordinate of TCP is adjusted separately;

According to the m points in the sensor recognition range, the coordinates are converted according to the marked points.

with

The maximum conversion error and/or the average error of m conversion errors in the conversion errors of the m locations, where m is an integer and m ≧ 1;

The smallest of the i maximum conversion errors and/or the minimum of the i average errors x + Δ _xi , the minimum of the j maximum conversion errors and/or the minimum of the j average errors The coordinate y + Δ _yj corresponding to the value and the minimum value among the k maximum conversion errors and/or the coordinate z + Δ _zk corresponding to the minimum value of the k average errors are respectively taken as the X-axis coordinate of the actual coordinate of the TCP, and the Y-axis coordinate And Z-axis coordinates.

Optionally, the coordinate transformation relationship between the robot arm coordinate system and the sensor coordinate system is established according to the coordinate conversion relationship between the TCP _xi and the robot arm end coordinate system and the robot arm coordinate system.

The steps include:

Obtaining at least three non-collinear spatial reference points for establishing a coordinate conversion relationship between the robot arm coordinate system and the sensor coordinate system according to the movement of the marked point within the sensor recognition range;

Combining the coordinate conversion relationship between the robot arm end coordinate system corresponding to the position of each of the spatial reference points and the robot arm coordinate system with each adjustment coordinate TCP _xi , and obtaining the coordinates of each of the spatial reference points in the robot arm i coordinates in the system;

Obtaining i coordinates between the robot arm coordinate system and the sensor coordinate system according to i coordinates of each of the spatial reference points in the robot arm coordinate system and coordinates of each of the spatial reference points in the sensor coordinate system Conversion relationship

Optionally, the coordinate conversion relationship between the robot arm coordinate system and the sensor coordinate system is established according to the coordinate conversion relationship between the TCP _yj and the robot arm end coordinate system and the robot arm coordinate system.

The steps include:

Combining the coordinate conversion relationship between the robot arm end coordinate system corresponding to the position of each of the spatial reference points and the robot arm coordinate system with each adjustment coordinate TCP _yj to obtain the coordinates of each of the spatial reference points in the arm j coordinates in the system;

Obtaining j coordinates between the robot arm coordinate system and the sensor coordinate system according to j coordinates of each of the spatial reference points in the robot arm coordinate system and coordinates of each of the spatial reference points in the sensor coordinate system Conversion relationship

Optionally, the coordinate transformation relationship between the robot arm coordinate system and the sensor coordinate system is established according to the coordinate transformation relationship between the TCP _zk and the robot arm end coordinate system and the robot arm coordinate system.

The steps include:

Combining the coordinate conversion relationship between the robot arm end coordinate system corresponding to the position of each of the spatial reference points and the robot arm coordinate system with each adjustment coordinate TCP _zk , and obtaining the coordinates of each of the spatial reference points in the robot arm k coordinates in the system;

Obtaining k coordinates between the robot arm coordinate system and the sensor coordinate system according to k coordinates of each of the spatial reference points in the robot arm coordinate system and coordinates of each of the spatial reference points in the sensor coordinate system Conversion relationship

Optionally, a coordinate conversion relationship is obtained according to the m positions in the sensor identification range of the marked points.

with

The steps of the maximum conversion error in the conversion errors of the m locations include:

According to the coordinates Rm _p in the robot arm coordinate system and the coordinates Sm _p in the sensor coordinate system, the coordinates of the points marked under each position m _p in the m positions are respectively obtained.

Conversion error at each position m _p , coordinate conversion relationship

Conversion error and coordinate transformation relationship at each position m _p

Conversion error at each position m _p ;

Conversion relationship according to coordinates

with The conversion error at each position m _p respectively obtains the coordinate conversion relationship

Maximum conversion error in the conversion error of m positions, coordinate conversion relationship

Maximum conversion error and coordinate conversion relationship among conversion errors at m positions

Maximum conversion error in conversion errors at m locations;

The conversion error is the Euclidean distance after the coordinate Rm _{p of} the marked point in the robot arm coordinate system and the coordinate Sm _p in the sensor coordinate system are converted to the same coordinate system, where m is an integer and m≧1, 1≦ P≦m.

On the other hand, the embodiment of the present application further provides an apparatus for acquiring TCP coordinates of a robot, including:

Marking and adjusting coordinate module, the point on the tool at the end of the robot arm that can be recognized by the sensor is TCP, and the X coordinate of the theoretical coordinate of TCP is separately adjusted to obtain i adjustment coordinates TCP _xi (x+Δ _xi , y , z), the Y coordinate of the theoretical coordinate of TCP is separately adjusted to obtain j adjustment coordinates TCP _yj (x, y + Δ _yj , z), and the Z coordinate of the theoretical coordinate of TCP is separately adjusted to obtain k adjustment coordinates TCP _Zk (x, y, z + Δ _zk ), where i, j, k are integers and i ≧ 1, j ≧ 1, k ≧ 1, Δ _xi , Δ _yj , Δ _zk are the theoretical coordinates of TCP respectively Adjustment values on the X axis, Y axis, and Z axis;

A coordinate transformation relationship establishing module is used for establishing coordinate conversion between the robot arm coordinate system and the sensor coordinate system according to the coordinate conversion relationship between TCP _xi , TCP _yj and TCP _zk and the robot arm end coordinate system and the robot arm coordinate system, respectively. relationship

with

among them,

a deviation obtaining module, configured to respectively obtain a coordinate conversion relationship according to the m positions in the sensor identification range of the marked points

with

Determining actual coordinates of the TCP module, a minimum value for the i-th maximum conversion obtained in error and / or a minimum value corresponding to the coordinates x + Δ _xi i th average error of the minimum value of the j-th and the maximum conversion error / or the coordinate y + Δ _yj corresponding to the minimum of the j average errors and the minimum of the k maximum conversion errors and / or the coordinate z + Δ _zk corresponding to the minimum of the k average errors respectively as the actual TCP The X-axis coordinates of the coordinates, the Y-axis coordinates, and the Z-axis coordinates.

Optionally, the coordinate transformation relationship establishing module is specifically configured to:

Combining the coordinate conversion relationship between the robot arm end coordinate system corresponding to the position of each of the spatial reference points and the robot arm coordinate system with each adjustment coordinate TCP _xi , and obtaining each spatial reference point in the robot arm coordinate system i coordinates;

Optionally, the coordinate transformation relationship establishing module is further configured to:

Combining the coordinate conversion relationship between the robot arm end coordinate system corresponding to the position of each of the spatial reference points and the robot arm coordinate system with each adjustment coordinate TCP _yj , and obtaining each spatial reference point in the robot arm coordinate system j coordinates;

Combining the coordinate conversion relationship between the robot arm end coordinate system corresponding to the position of each of the spatial reference points and the robot arm coordinate system with each adjustment coordinate TCP _zk , and obtaining each of the spatial reference points on the robot arm k coordinates in the coordinate system;

Optionally, the deviation obtaining module is specifically configured to:

Conversion error at each position m _p , coordinate conversion relationship

Conversion error at each position m _p ;

Conversion relationship according to coordinates

with

The conversion error at each position m _p respectively obtains the coordinate conversion relationship

The maximum conversion error among the conversion errors of m positions; wherein the conversion error is the conversion of the coordinates Rm _{p of} the marked point in the robot arm coordinate system and the coordinate Sm _p in the sensor coordinate system to the same coordinate system Euclidean distance, m is an integer and m≧1,1≦p≦m.

It can be seen from the above technical solution that the method and device for acquiring the TCP coordinates of the robot provided by the embodiment of the present application, by adjusting the theoretical coordinates of the TCP, obtain the actual coordinates of the TCP that can cause the robot to minimize the error during the execution of the task. To the greatest extent, it avoids the machining error of the tool during the machining process, the assembly error of the tool assembly to the end of the robot arm, and the influence of the deformation error caused by the environment on the coordinates of the TCP, which reduces the robot's work task. The range of errors generated in the process improves the working accuracy of the robot.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a few embodiments described in the embodiments of the present invention, and other drawings can be obtained according to the drawings for those skilled in the art.

FIG. 1 is a schematic flowchart of a method for acquiring a TCP coordinate of a robot according to an embodiment of the present application;

2 is a schematic structural diagram of an apparatus for acquiring a TCP coordinate of a robot according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a mechanical arm and a sensor according to an embodiment of the present application.

Detailed ways

Of course, implementing any of the embodiments of the embodiments of the present invention does not necessarily require all of the above advantages.

For a better understanding of the technical solutions in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. The embodiments are only a part of the embodiments of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art should be within the scope of protection of the embodiments of the present invention based on the embodiments in the embodiments of the present invention.

In the prior art, there is a problem in the calculation of the theoretical size of the tool arm end coordinate system or the coordinate of the tool's own coordinate system origin (Tool Center Point, TCP) in the end coordinate system of the arm, as shown in the figure. As shown in FIG. 1 , the embodiment of the present application provides a method for acquiring TCP coordinates of a robot, including steps S100-S400, specifically:

Step S100: the point on the tool at the end of the robot arm that can be recognized by the sensor is TCP, and the X coordinate of the theoretical coordinate of the TCP is separately adjusted to obtain i adjustment coordinates TCP _xi (x+Δ _xi , y, z), The Y-axis coordinates of the theoretical coordinates of TCP are individually adjusted to obtain j adjustment coordinates TCP _yj (x, y + Δ _yj , z), and the Z-axis coordinates of the theoretical coordinates of TCP are separately adjusted to obtain k adjustment coordinates TCP _zk (x, y , z+Δ _zk ), where i, j, k are integers and i≧1, j≧1, k≧1, Δ _xi , Δ _yj , Δ _zk are the theoretical coordinates of TCP on the X-axis and the Y-axis, respectively. , the adjustment value on the Z axis.

In the actual operation, find a point on the tool at the end of the robot that can be recognized by the sensor, or select a point from the points on the tool at the end of the arm that can be recognized by the sensor, and will find or select this The dot is marked as TCP. It should be noted that when the sensor is a camera, the marked point can be set as an optical marker point; when the sensor is an electromagnetic sensor, the marked point can be set as an electromagnetic marker point; when the sensor is an ultrasound probe, it can be set The marked points are ultrasonic marking points; when the sensor is an infrared sensor, the marked points can be set as infrared marking points, or other sensors and corresponding marking points. Moreover, the actual coordinates of the TCP in the robot arm end coordinate system are not determined in step S100. The embodiment of the present application determines the actual coordinates of the TCP according to the marked points.

According to the theoretical size of the tool itself and the coordinate system of the end of the arm, the theoretical coordinates (x, y, z) of the TCP are calculated by the measuring tool or according to the coarse calibration algorithm, and the coordinates on one of the calculated theoretical coordinates are calculated. In the embodiment of the present application, the first adjustment coordinate TCP _xi (x+Δ _xi , y, z) is firstly adjusted by separately adjusting the X-axis coordinate of the theoretical coordinate of the TCP, where i is an integer, and I≧1, Δ _xi is the adjustment value of the theoretical coordinate of TCP on the X-axis. It should be noted that the adjustment values Δ _xi , Δ _yj , Δ _zk can both be 0, and the coordinates TCP _xi (x+Δ _xi , y are adjusted). , z) can be equal to the theoretical coordinates of TCP.

In the actual operation process, the method of adjusting the X coordinate of the theoretical coordinate of TCP to obtain i adjustment coordinates TCP _xi can be various. On the one hand, an adjustment value can be set, and then the X coordinate of the theoretical coordinate of TCP is Basically, the X-axis coordinate of the theoretical coordinate of TCP is adjusted successively according to the adjusted value to obtain TCP _xi ; on the other hand, the adjustment range of one coordinate value can also be defined, and some points or all points in the adjustment range are used as adjustment coordinates. TCP _xi . In addition to the above two adjustment methods, the adjustment coordinate TCP _xi can also be obtained by randomly adjusting the X-axis coordinates of the theoretical coordinates of the TCP. In summary, the manner in which the coordinate TCP _xi is adjusted is various, and the present application will not be described in detail herein.

The Y-axis coordinates of the theoretical coordinates of TCP are separately adjusted to obtain j adjustment coordinates TCP _yj (x, y + Δ _yj , z) and the Z-axis coordinates of the theoretical coordinates of TCP are separately adjusted to obtain k adjustment coordinates TCP _zk (x , y, z + Δ _zk ) method steps and the above-mentioned X-axis coordinates of the theoretical coordinates of TCP are separately adjusted to obtain TCP _xi (x + Δ _xi , y, z) method steps and implementation are generally consistent, here is not Let me repeat.

S200: establishing a robot arm coordinate system and a sensor according to coordinates conversion relationship between TCP _xi , TCP _yj , TCP _zk, and a robot arm end coordinate system and a robot arm coordinate system, and coordinates of the marked point in the sensor coordinate system, respectively. Coordinate transformation relationship between coordinate systems

with

among them,

The coordinate conversion relationship obtained when the Z-axis coordinate of the theoretical coordinates of TCP is adjusted separately. In step S200, the robot arm coordinate system and the sensor coordinate system are still established according to the coordinate conversion relationship between the TCP _xi and the arm end coordinate system and the robot arm coordinate system, and the coordinates of the marked point in the sensor coordinate system. Coordinate transformation relationship

As an example, where

The coordinate conversion relationship obtained when the X-axis coordinates of the theoretical coordinates of TCP are individually adjusted.

There are many ways to establish a coordinate transformation relationship between two coordinate systems by using the coordinates of the same point in two coordinate systems. A preferred solution is described below.

In the actual operation process, the robot arm coordinate system and the sensor coordinate system are established by using the coordinates conversion relationship between the TCP _xi and the robot arm end coordinate system and the robot arm coordinate system, and the coordinates of the marked points in the sensor coordinate system. When the coordinate conversion relationship between the two is first, according to the movement of the marked point within the sensor recognition range, at least three non-collinear spatial references for establishing a coordinate conversion relationship between the robot arm coordinate system and the sensor coordinate system may be obtained. Point; then, according to the coordinate conversion relationship between the robot arm end coordinate system and the robot arm coordinate system corresponding to the position of each of the spatial reference points, combined with i adjustment coordinates TCP _xi , each of the spatial reference points is obtained i coordinates in the robot arm coordinate system; finally, according to the i coordinates of each of the spatial reference points in the robot arm coordinate system, and the coordinates of each of the spatial reference points in the sensor coordinate system, the robot arm is obtained i coordinate transformation relationship between coordinate system and sensor coordinate system

Specifically, the moving point of the robot arm can be used to move the marked point on the tool at the end of the arm to at least three non-collinear positions, and at least a coordinate conversion relationship between the robot arm coordinate system and the sensor coordinate system can be obtained. Three non-collinear spatial reference points.

The coordinate conversion relationship between the end coordinate system of the arm and the coordinate system of the robot arm can be calculated by the DH parameter. According to the schematic diagram of the robot arm and the sensor shown in FIG. 3, the coordinate system between the end of the arm and the coordinate system of the arm is obtained. The coordinate conversion relationship is combined with each adjustment coordinate TCP _xi to obtain the i coordinates of the marked point in the robot arm coordinate system, and in the embodiment of the present application, the marked point is recorded as TCP, and The position of the marked point in the real space to obtain the spatial reference point, so the coordinates of the marked point in the robot arm coordinate system can be used as the coordinates of the spatial reference point in the robot arm coordinate system, and the marked point moves. At least three non-collinear positions are obtained, and at least three non-collinear spatial reference points are obtained. By using the obtained i-coordinates of the marked points in the robot arm coordinate system, at least three can be obtained. The i coordinate of each of the spatial reference points in the non-collinear spatial reference point in the robot arm coordinate system.

Since the marked points can be recognized by the sensor, the coordinates of each of the at least three non-collinear spatial reference points in the sensor coordinate system can be obtained, and then according to each of the spatial reference points The i coordinates in the robot arm coordinate system and the coordinates of each of the spatial reference points in the sensor coordinate system can obtain the i coordinate transformation relationship between the robot arm coordinate system and the sensor coordinate system.

The three non-collinear spatial reference points for establishing the coordinate conversion relationship between the robot arm coordinate system and the sensor coordinate system are taken as an example to move according to the marked points moving within the sensor recognition range.

When the mobile robot arm obtains three non-collinear spatial reference points, the robot arm is in the three poses of pose 1, pose 2, and pose 3.

When the arm moves to the posture 1, the coordinate conversion relationship between the end coordinate system of the arm and the coordinate system of the robot arm can be obtained by the DH parameter, and the coordinate p1 of the origin of the end coordinate system of the arm in the robot arm coordinate system is passed. The machining drawing of the tool can obtain the theoretical coordinate of TCP in the end coordinate system of the arm, and adjust the X coordinate of the theoretical coordinate separately to obtain the adjusted coordinate TCP _x1 . Therefore, the current TCP is represented by p1+TCP _x1 . The coordinates in the coordinate system. (It should be noted that the coordinates of the current TCP in the robot arm coordinate system are not the sum of the coordinates of p1 and the coordinates of TCP _x1 . Here, only the "p1+TCP _x1 " is used. The expression is used to explain the coordinates of the current TCP in the manipulator coordinate system when the manipulator is in the pose 1, as in the similar description below. By identifying the marked points by the sensor, it is also possible to obtain that the arm is in the pose 1 The marked point is the coordinate s1 in the sensor coordinate system.

When the arm moves to the posture 2, the coordinate conversion relationship between the robot arm end coordinate system and the robot arm coordinate system and the coordinate p2 of the robot arm end coordinate system origin in the robot arm coordinate system can be obtained by the DH parameter. Obtain the coordinates TCP _{x1 of} TCP in the end coordinate system of the arm. Here, the coordinates of TCP in the robot arm coordinate system are represented by p2+TCP _x1 . By identifying the marked points by the sensor, it is also possible to obtain that the arm is in the posture 2 The marked point is the coordinate s2 in the sensor coordinate system.

When the arm moves to the posture 3, the coordinate conversion relationship between the robot arm end coordinate system and the robot arm coordinate system and the coordinate p3 of the robot arm end coordinate system origin in the robot arm coordinate system can be obtained by the DH parameter. Obtain the coordinates TCP _{x1 of} TCP in the end coordinate system of the arm. Here, the coordinates of TCP in the robot arm coordinate system are represented by p3+TCP _x1 . By identifying the marked points by the sensor, it is also possible to obtain that the arm is in the posture 3 The marked point is the coordinate s3 in the sensor coordinate system.

In the embodiment of the present application, the coordinates of the three non-collinear spatial reference points of the p1+TCP _x1 and s1, p2+TCP _x1 and s2, p3+TCP _x1 and s3 in the robot arm coordinate system and the sensor coordinate system can be utilized. The coordinates below establish the coordinate transformation relationship between the robot arm coordinate system and the sensor coordinate system

Similarly, when the X-axis coordinate in the theoretical coordinate of the TCP in the end coordinate system of the arm is separately adjusted to obtain the coordinate TCP _x2 of the TCP in the end coordinate system of the arm, the robot arm coordinate system and the sensor coordinate system are established. Coordinate transformation relationship

The process is:

When the robot arm moves to the pose 1, the coordinates p1+TCP _{x2 of} the marked point in the robot arm coordinate system and the coordinate s1 of the marked point in the sensor coordinate system are obtained.

When the arm moves to the pose 2, the coordinates p2+TCP _{x2 of} the marked point in the robot arm coordinate system and the coordinate s2 of the marked point in the sensor coordinate system are obtained.

When the robot arm moves to the pose 3, the coordinates p3+TCP _{x2 of} the marked point in the robot arm coordinate system and the coordinate s3 of the marked point in the sensor coordinate system are obtained.

In the embodiment of the present application, the coordinates of the three non-collinear spatial reference points of the p1+TCP _x2 and s1, p2+TCP _x2 and s2, p3+TCP _x2 and s3 in the robot arm coordinate system and the sensor coordinate system can be utilized. The coordinates below establish the coordinate transformation relationship between the robot arm coordinate system and the sensor coordinate system

It should be noted that since the adjustment coordinates of the TCP are obtained by separately adjusting the X-axis coordinates of the theoretical coordinates of the TCP, the coordinates of the above TCP in the end coordinate system of the arm are TCP _x1 and TCP _x2 and TCP are mechanical. The amount of change in the Y-axis coordinate and the Z-axis coordinate is 0 compared to the theoretical coordinate in the arm end coordinate system.

And so on, can obtain the i coordinate transformation relationship between the robot arm coordinate system and the sensor coordinate system.

It should be noted that when the adjusted coordinate of TCP is not equal to the theoretical coordinate of TCP, the coordinate conversion relationship between the robot arm coordinate system and the sensor coordinate system may be calculated without using the theoretical coordinate of TCP; when the adjusted coordinate of TCP can be equal to TCP In theoretical coordinates, the coordinate transformation relationship between the robot arm coordinate system and the sensor coordinate system can be calculated using the theoretical coordinates of TCP.

Similarly, the coordinate transformation relationship between the robot arm coordinate system and the sensor coordinate system is established according to the TCP _yj and the coordinate transformation relationship between the robot arm end coordinate system and the robot arm coordinate system.

The steps are:

Obtaining j coordinate transformation relations between the robot arm coordinate system and the sensor coordinate system according to j coordinates of each of the spatial reference points in the robot arm coordinate system and each of the coordinates in the sensor coordinate system

In the same way, the coordinate transformation relationship between the robot arm coordinate system and the sensor coordinate system is established according to the coordinate transformation relationship between the TCP _zk and the robot arm end coordinate system and the robot arm coordinate system.

The steps include:

Combining the coordinate conversion relationship between the robot arm end coordinate system corresponding to the position of each of the spatial reference points and the robot arm coordinate system with each adjustment coordinate TCP _zk , and obtaining the coordinates of each of the spatial reference points in the robot arm At least three non-collinear coordinates in the system;

It should be noted that the coordinate transformation relationship between the robot arm coordinate system and the sensor coordinate system is established according to the coordinate transformation relationship between TCP _yj and TCP _zk and the robot arm end coordinate system and the robot arm coordinate system.

with

The method and the above-mentioned coordinate conversion relationship between the robot arm coordinate system and the sensor coordinate system are established according to the coordinate conversion relationship between the TCP _xi and the robot arm end coordinate system and the robot arm coordinate system.

The implementation and method steps are generally the same, and will not be described here.

In addition, in the establishment of coordinate transformation relationship

with

When you use the same spatial reference point to establish a coordinate transformation relationship, as described above in establishing a coordinate transformation relationship

Three non-collinear spatial reference points are used to establish the coordinate transformation relationship

with

You can still use these three spatial reference points, as long as you bring in different adjustment coordinate values TCP _yj and TCP _zk , which can reduce the movement of the arm and save the time to establish the coordinate transformation relationship; for example, using p1+TCP _y1 and S1, p2+TCP _y1 and s2, p3+TCP _y1 and s3 three non-collinear spatial reference points in the robot arm coordinate system and coordinates in the sensor coordinate system to establish the robot arm coordinate system and sensor coordinate system Coordinate transformation relationship

Using the coordinates of p1+TCP _z2 and s1, p2+TCP _z2 and s2, p3+TCP _z2 and s3, the non-collinear spatial reference points in the robot arm coordinate system and the coordinates in the sensor coordinate system Coordinate transformation relationship between coordinate system and sensor coordinate system

S300: obtaining a coordinate conversion relationship according to the m positions in the sensor recognition range of the marked points

with

The maximum conversion error and/or the average error of m conversion errors in the conversion errors of the m positions, where m is an integer and m ≧ 1.

In actual operation, the coordinate conversion relationship is obtained according to the m positions in the sensor recognition range of the marked points.

with

Conversion error at each position m _p , coordinate conversion relationship

Conversion error at each position m _p ;

Conversion relationship according to coordinates

with

The steps of the average error of the conversion errors at the m locations include:

Conversion error at each position m _p , coordinate conversion relationship

Conversion error at each position m _p ;

Conversion relationship according to coordinates

with

The conversion error at each position m _p is obtained according to the average error calculation formula, and each coordinate transformation relationship is obtained.

with

The average error at m locations.

The coordinate transformation relationship is still obtained by m positions within the sensor recognition range according to the marked points.

The step S300 will be described by taking the maximum conversion error and/or the average error of m conversion errors among the conversion errors of the m positions as an example.

For example, assume that the marked point moves to 10 positions within the sensor's identification range, ie m equals 10. In the embodiment of the present application, the robot arm coordinates Rm _{p of} the marked points at the 10 positions can be obtained by the conversion relationship of the joints of the robot arm, and the marked points and the movement of the marked points can be recognized by the sensor. In turn, the sensor coordinates Sm _{p of} the marked points at the 10 positions are obtained, where 1 ≦ p ≦ 10. Further through the previously established coordinate transformation relationship

You can find the conversion error at these 10 positions.

or

From these 10 conversion errors, the largest conversion error can be selected as err _{xmax_1} , and the average error of the conversion errors at these 10 positions can be calculated as err _{xaver_1} .

Similarly, through the previously established coordinate transformation relationship

You can find the conversion error at these 10 positions.

or

From these 10 conversion errors, the largest conversion error can be selected as err _{xmax_2} , and the average error of the conversion errors at these 10 positions can be calculated as err _{xaver_2} .

If there are 3 adjustment coordinates TCP _x1 , TCP _x2 and TCP _x3 , then according to the above method of obtaining the maximum conversion error and the average error, three maximum conversion errors err _{xmax_1} , err _{xmax_2} , err _{xmax_3} and three average errors can be obtained. _{Err xaver_1} , err _{xaver_2} , err _{xaver_3} .

with

The implementation method and method steps of the maximum conversion error and/or the average error of the m conversion errors in the conversion errors of the m positions and the above-described coordinate conversion relationship

The maximum conversion error of the conversion error at m positions and/or the average error of the m conversion errors are substantially identical, and will not be described herein.

It should be noted that, in the embodiment of the present application, a movement program may be set for the robot arm, so that the robot arm automatically moves to m positions within the sensor recognition range, and the number of movements, the movement path, and the movement distance can be Implemented using existing methods, and is looking for each coordinate transformation relationship

with

In the case of conversion errors at m positions, the same m positions can be utilized.

S400: will get the coordinate conversion relationship

The minimum of the i maximum conversion errors and/or the coordinate of the minimum of the i average errors x + Δ _xi , coordinate transformation relationship

The minimum of the j maximum conversion errors and/or the coordinate of the minimum of the j average errors y + Δ _yj and the coordinate conversion relationship

The minimum of the k maximum conversion errors and/or the minimum of the k average errors, z + Δ _zk , respectively, are the X-axis coordinates, the Y-axis coordinates, and the Z-axis coordinates of the actual coordinates of the TCP.

Through the above step S100, S200 and S300 can obtain each coordinate conversion relationship.

The maximum conversion error and the average error of the conversion error at m positions, then for i coordinate transformation relationships

You can get i maximum conversion error and i average error. Similarly, for j coordinate transformation relationships

Can also get j maximum conversion error and j average error, k coordinate transformation relationship

Can also get k maximum conversion error and k average error, and then from

i maximum conversion error,

J maximum conversion error and

Find the minimum value of the corresponding maximum conversion error among the k maximum conversion errors, and

i average error,

J average error sum

Find the corresponding minimum value among the k average errors, and then convert the coordinates

The minimum value of the i maximum conversion errors and/or the coordinate of the minimum of the i average errors x + Δ _xi , coordinate transformation relationship

Here, the coordinate corresponding to the minimum value of the maximum conversion error of the coordinate conversion relationship is exemplified, and the coordinate conversion relationship obtained by adjusting the coordinates TCP _x1 , TCP _x2 and TCP _{x3 is} obtained.

The minimum of the three maximum conversion errors is err _{xmax_2} , then x+Δ _{x2 is taken} as the X-axis coordinate of the actual coordinates of TCP; similarly, there are adjustment coordinates TCP _y1 , TCP _y2 , TCP _y3 and TCP _y4 , if the coordinates are converted relationship

The minimum of the four maximum conversion errors is err _{ymax_4} , then y+Δ _{y4 is taken} as the Y-axis coordinate of the actual coordinates of TCP; likewise, there are adjustment coordinates TCP _z1 , TCP _z2 , TCP _z3 , TCP _z4 and TCP _z5 , If the coordinate conversion relationship

The minimum of the five maximum conversion errors is err _{zmax_3} , then z + Δ _{z3 is taken} as the Y coordinate of the actual coordinates of TCP; then the actual coordinates of TCP are finally obtained (x + Δ _x2 , y + Δ _y4 , z + Δ _z3 ).

The embodiment of the present application first marks a point on the tool at the end of the robot arm that can be recognized by the sensor as TCP. At this time, the theoretical coordinate of the TCP can be obtained by the design drawing of the tool combined with the coordinate system of the end of the arm, but the actual coordinates of the TCP are It is not determined that in the process of determining the actual coordinates of the TCP, i coordinate adjustments are obtained by separately adjusting the X-axis coordinates of the theoretical coordinates of the TCP, and i adjustment coordinates and the arm end coordinate system and the robot arm coordinate system are used. The coordinate transformation relationship and the coordinates of the marked point in the sensor coordinate system establish i coordinate transformation relationship between the robot arm coordinate system and the sensor coordinate system, and further move the marked point to m positions within the sensor recognition range. Obtaining the maximum conversion error and/or the average error of the conversion error of each coordinate transformation relationship at m positions, that is, obtaining an error between the mechanical arm coordinates and the corresponding sensor coordinates converted by each coordinate adjustment relationship via the coordinate transformation relationship The maximum range and/or the degree of dispersion between the errors, and finally the maximum of the i conversion errors The X-axis coordinate of the TCP adjustment coordinate corresponding to the minimum value of the small value and/or the i average error is set to the X-axis coordinate of the actual coordinate of the TCP, and similarly, the Y-axis coordinate of the theoretical coordinate of the TCP is separately adjusted. The Y-axis coordinate of the actual coordinate of TCP is adjusted by the Z-axis coordinate of the theoretical coordinate of TCP alone, and the Z-axis coordinate of the actual coordinate of TCP is obtained, and the X-axis coordinate of the actual coordinate of TCP obtained separately is obtained, and the Y-axis The coordinates and the Z-axis coordinates are used to obtain the actual coordinates of the TCP. The embodiment of the present application reduces the range of errors generated by the robot when performing tasks, and improves the working accuracy of the robot.

Based on the same inventive concept, the embodiment of the present application further provides an apparatus for acquiring TCP coordinates of a robot, as shown in FIG. 2, including:

The marking and adjusting coordinate module 201 is configured to mark the point on the tool end of the robot arm that can be recognized by the sensor as TCP, and separately adjust the X-axis coordinate of the theoretical coordinate of the TCP to obtain i adjustment coordinates TCP _xi (x+Δ _xi , y, z), the Y coordinate of the theoretical coordinate of TCP is separately adjusted to obtain j adjustment coordinates TCP _yj (x, y + Δ _yj , z), and the Z coordinate of the theoretical coordinate of TCP is separately adjusted to obtain k adjustment coordinates. TCP _zk (x, y, z + Δ _zk ), where i, j, k are integers and i ≧ 1, j ≧ 1, k ≧ 1, Δ _xi , Δ _yj , Δ _zk are theoretical coordinates of TCP, respectively Adjustment values on the X-axis, Y-axis, and Z-axis;

The coordinate transformation relationship establishing module 202 is configured to establish a coordinate conversion relationship between the robot arm coordinate system and the sensor coordinate system according to the coordinate conversion relationship between the TCP _xi , the TCP _yj , the TCP _zk, and the robot arm end coordinate system and the robot arm coordinate system, respectively.

with

among them,

The deviation obtaining module 203 is configured to obtain a coordinate conversion relationship according to the m positions in the sensor identification range of the marked points.

with

The actual coordinate determining module 204 of the TCP is configured to use the minimum value of the obtained i maximum conversion errors and/or the minimum value of the minimum values among the i average errors x + Δ _xi , the minimum of the j maximum conversion errors And the coordinate y + Δ _yj corresponding to the minimum value of the mean errors and the minimum value of the k maximum conversion errors and/or the coordinate z + Δ _zk corresponding to the minimum value of the k average errors respectively as TCP The X coordinate of the actual coordinate, the Y coordinate and the Z coordinate.

The tag and adjustment coordinate module 201, the coordinate conversion relationship establishing module 202, the deviation obtaining module 203, and the actual coordinate determining module 204 of the TCP are used to execute the corresponding preferred steps in the foregoing method embodiments.

In the several embodiments provided by the present application, it should be understood that the disclosed system, apparatus, and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of cells is only a logical function division. In actual implementation, there may be another division manner. For example, multiple units or components may be combined or integrated. Go to another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may be processed separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

The above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium. The software functional units described above are stored in a storage medium and include instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to perform portions of the steps of various embodiments of the present invention. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, and the program code can be stored. Medium.

Finally, it should be noted that the above embodiments are only used to explain the technical solutions of the embodiments of the present application, and are not limited thereto; although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that The technical solutions described in the foregoing embodiments may be modified, or some of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the spirit of the technical solutions of the embodiments of the present application. range.

Claims

A method for acquiring TCP coordinates of a robot, comprising the steps of:

The point on the tool marking the end of the arm that can be recognized by the sensor is TCP, and the X-axis coordinate of the theoretical coordinate of TCP is separately adjusted to obtain i adjustment coordinates TCP xi (x+Δ xi , y, z), the theory of TCP The Y-axis coordinates of the coordinates are individually adjusted to obtain j adjustment coordinates TCP yj (x, y + Δ yj , z), and the Z-axis coordinates of the theoretical coordinates of TCP are separately adjusted to obtain k adjustment coordinates TCP zk (x, y, z+) Δ zk ), where i, j, k are integers and i≧1, j≧1, k≧1, Δ xi , Δ yj , Δ zk are the theoretical coordinates of TCP on the X-axis, the Y-axis, and the Z-axis, respectively. Adjustment value on

The robot arm coordinate system and the sensor coordinate system are established according to the coordinate conversion relationship between TCP xi , TCP yj , TCP zk and the robot arm end coordinate system and the robot arm coordinate system, and the coordinates of the marked points in the sensor coordinate system. Coordinate transformation relationship
with
among them,
The coordinate conversion relationship obtained when the X-axis coordinates of the theoretical coordinates of TCP are individually adjusted,
The coordinate conversion relationship obtained when the Y coordinate of the theoretical coordinate of TCP is individually adjusted,
a coordinate conversion relationship obtained when the Z coordinate of the theoretical coordinate of the TCP is individually adjusted;

According to the m points in the sensor recognition range, the coordinates are converted according to the marked points.
with
The maximum conversion error and/or the average error of m conversion errors in the conversion errors of the m locations, where m is an integer and m ≧ 1;

The smallest of the i maximum conversion errors and/or the minimum of the i average errors x + Δ xi , the minimum of the j maximum conversion errors and/or the minimum of the j average errors The coordinate y + Δ yj corresponding to the value and the minimum value among the k maximum conversion errors and/or the coordinate z + Δ zk corresponding to the minimum value of the k average errors are respectively taken as the X-axis coordinate of the actual coordinate of the TCP, and the Y-axis coordinate And Z-axis coordinates.
The method for acquiring TCP coordinates of a robot according to claim 1, wherein the robot arm coordinate system and the sensor coordinate system are established according to a coordinate conversion relationship between the TCP xi and the robot arm end coordinate system and the robot arm coordinate system. Coordinate transformation relationship
The steps include:

Obtaining at least three non-collinear spatial reference points for establishing a coordinate conversion relationship between the robot arm coordinate system and the sensor coordinate system according to the movement of the marked point within the sensor recognition range; each of the spatial reference points is The coordinate conversion relationship between the robot arm end coordinate system and the robot arm coordinate system corresponding to the position is combined with each adjustment coordinate TCPxi to obtain i coordinates of each of the spatial reference points in the robot arm coordinate system;

Obtaining i coordinates between the robot arm coordinate system and the sensor coordinate system according to i coordinates of each of the spatial reference points in the robot arm coordinate system and coordinates of each of the spatial reference points in the sensor coordinate system Conversion relationship
The method for acquiring TCP coordinates of a robot according to claim 1, wherein the robot arm coordinate system and the sensor coordinate system are established according to a coordinate conversion relationship between the TCP yj and the robot arm end coordinate system and the robot arm coordinate system. Coordinate transformation relationship
The steps include:

Obtaining at least three non-collinear spatial reference points for establishing a coordinate conversion relationship between the robot arm coordinate system and the sensor coordinate system according to the movement of the marked point within the sensor recognition range; each of the spatial reference points is The coordinate conversion relationship between the robot arm end coordinate system and the robot arm coordinate system corresponding to the position is combined with each adjustment coordinate TCP yj to obtain j coordinates of each of the spatial reference points in the robot arm coordinate system;

Obtaining j coordinates between the robot arm coordinate system and the sensor coordinate system according to j coordinates of each of the spatial reference points in the robot arm coordinate system and coordinates of each of the spatial reference points in the sensor coordinate system Conversion relationship
The method for acquiring TCP coordinates of a robot according to claim 1, wherein the robot arm coordinate system and the sensor coordinate system are established according to a coordinate transformation relationship between the TCP zk and the robot arm end coordinate system and the robot arm coordinate system. Coordinate transformation relationship
The steps include:

Obtaining at least three non-collinear spatial reference points for establishing a coordinate conversion relationship between the robot arm coordinate system and the sensor coordinate system according to the movement of the marked point within the sensor recognition range; each of the spatial reference points is The coordinate conversion relationship between the robot arm end coordinate system and the robot arm coordinate system corresponding to the position is combined with each adjustment coordinate TCP zk to obtain k coordinates of each of the spatial reference points in the robot arm coordinate system;

Obtaining k coordinates between the robot arm coordinate system and the sensor coordinate system according to k coordinates of each of the spatial reference points in the robot arm coordinate system and coordinates of each of the spatial reference points in the sensor coordinate system Conversion relationship
The method for acquiring TCP coordinates of a robot according to claim 1, wherein the coordinate conversion relationship is respectively obtained according to m positions in the sensor recognition range of the marked points.
with
The steps of the maximum conversion error in the conversion errors of the m locations include:

According to the coordinates Rm p in the robot arm coordinate system and the coordinates Sm p in the sensor coordinate system, the coordinates of the points marked under each position m p in the m positions are respectively obtained.
Conversion error at each position m p , coordinate conversion relationship
Conversion error and coordinate transformation relationship at each position m p
Conversion error at each position m p ;

Conversion relationship according to coordinates
with
The conversion error at each position m p respectively obtains the coordinate conversion relationship
Maximum conversion error in the conversion error of m positions, coordinate conversion relationship
Maximum conversion error and coordinate conversion relationship among conversion errors at m positions
Maximum conversion error in conversion errors at m locations;

The conversion error is the Euclidean distance after the coordinate Rm p of the marked point in the robot arm coordinate system and the coordinate Sm p in the sensor coordinate system are converted to the same coordinate system, where m is an integer and m≧1, 1≦ P≦m.
An apparatus for acquiring TCP coordinates of a robot, comprising:

Marking and adjusting coordinate module, the point on the tool at the end of the robot arm that can be recognized by the sensor is TCP, and the X coordinate of the theoretical coordinate of TCP is separately adjusted to obtain i adjustment coordinates TCP xi (x+Δ xi , y , z), the Y coordinate of the theoretical coordinate of TCP is separately adjusted to obtain j adjustment coordinates TCP yj (x, y + Δ yj , z), and the Z coordinate of the theoretical coordinate of TCP is separately adjusted to obtain k adjustment coordinates TCP Zk (x, y, z + Δ zk ), where i, j, k are integers and i ≧ 1, j ≧ 1, k ≧ 1, Δ xi , Δ yj , Δ zk are the theoretical coordinates of TCP respectively Adjustment values on the X axis, Y axis, and Z axis;

A coordinate transformation relationship establishing module is used for establishing coordinate conversion between the robot arm coordinate system and the sensor coordinate system according to the coordinate conversion relationship between TCP xi , TCP yj and TCP zk and the robot arm end coordinate system and the robot arm coordinate system, respectively. relationship
with
among them,
The coordinate conversion relationship obtained when the X-axis coordinates of the theoretical coordinates of TCP are individually adjusted,
The coordinate conversion relationship obtained when the Y coordinate of the theoretical coordinate of TCP is individually adjusted,
The coordinate conversion relationship obtained when the Z coordinate of the theoretical coordinate of TCP is adjusted separately;

a deviation obtaining module, configured to respectively obtain a coordinate conversion relationship according to the m positions in the sensor identification range of the marked points
with
The maximum conversion error and/or the average error of m conversion errors in the conversion errors of the m locations, where m is an integer and m ≧ 1;

Determining actual coordinates of the TCP module, a minimum value for the i-th maximum conversion obtained in error and / or a minimum value corresponding to the coordinates x + Δ xi i th average error of the minimum value of the j-th and the maximum conversion error / or the coordinate y + Δ yj corresponding to the minimum of the j average errors and the minimum of the k maximum conversion errors and / or the coordinate z + Δ zk corresponding to the minimum of the k average errors respectively as the actual TCP The X-axis coordinates of the coordinates, the Y-axis coordinates, and the Z-axis coordinates.
The apparatus for acquiring the TCP coordinates of the robot according to claim 6, wherein the coordinate transformation relationship establishing module is specifically configured to:

Obtaining at least three non-collinear spatial reference points for establishing a coordinate conversion relationship between the robot arm coordinate system and the sensor coordinate system according to the movement of the marked point within the sensor recognition range; each of the spatial reference points is The coordinate conversion relationship between the robot arm end coordinate system and the robot arm coordinate system corresponding to the position is combined with each adjustment coordinate TCP xi to obtain i coordinates of each spatial reference point in the robot arm coordinate system;

Obtaining i coordinates between the robot arm coordinate system and the sensor coordinate system according to i coordinates of each of the spatial reference points in the robot arm coordinate system and coordinates of each of the spatial reference points in the sensor coordinate system Conversion relationship
The apparatus for acquiring the TCP coordinates of the robot according to claim 6, wherein the coordinate transformation relationship establishing module is further configured to:

Obtaining at least three non-collinear spatial reference points for establishing a coordinate conversion relationship between the robot arm coordinate system and the sensor coordinate system according to the movement of the marked point within the sensor recognition range; each of the spatial reference points is The coordinate conversion relationship between the robot arm end coordinate system and the robot arm coordinate system corresponding to the position is combined with each adjustment coordinate TCP yj to obtain j coordinates of each spatial reference point in the robot arm coordinate system;

Obtaining j coordinates between the robot arm coordinate system and the sensor coordinate system according to j coordinates of each of the spatial reference points in the robot arm coordinate system and coordinates of each of the spatial reference points in the sensor coordinate system Conversion relationship
The apparatus for acquiring the TCP coordinates of the robot according to claim 6, wherein the coordinate transformation relationship establishing module is further configured to:

Obtaining at least three non-collinear spatial reference points for establishing a coordinate conversion relationship between the robot arm coordinate system and the sensor coordinate system according to the movement of the marked point within the sensor recognition range; each of the spatial reference points is The coordinate conversion relationship between the robot arm end coordinate system and the robot arm coordinate system corresponding to the position is combined with each adjustment coordinate TCP zk to obtain k coordinates of each of the spatial reference points in the robot arm coordinate system;

Obtaining k coordinates between the robot arm coordinate system and the sensor coordinate system according to k coordinates of each of the spatial reference points in the robot arm coordinate system and coordinates of each of the spatial reference points in the sensor coordinate system Conversion relationship
The device for acquiring the TCP coordinates of the robot according to claim 6, wherein the deviation obtaining module is specifically configured to:

According to the coordinates Rm p in the robot arm coordinate system and the coordinates Sm p in the sensor coordinate system, the coordinates of the points marked under each position m p in the m positions are respectively obtained.
Conversion error at each position m p , coordinate conversion relationship
Conversion error and coordinate transformation relationship at each position m p
Conversion error at each position m p ;

Conversion relationship according to coordinates
with
The conversion error at each position m p respectively obtains the coordinate conversion relationship
Maximum conversion error in the conversion error of m positions, coordinate conversion relationship
Maximum conversion error and coordinate conversion relationship among conversion errors at m positions
The maximum conversion error in the conversion error of m positions; where the conversion error is the coordinate of the marked point in the robot arm coordinate system
And coordinates in the sensor coordinate system
The Euclidean distance between them, m is an integer and m≧1,1≦p≦m.