WO2019114630A1 - Procédé et dispositif permettant d'obtenir des coordonnées de point central d'outil (tcp) de robot - Google Patents

Procédé et dispositif permettant d'obtenir des coordonnées de point central d'outil (tcp) de robot Download PDF

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Publication number
WO2019114630A1
WO2019114630A1 PCT/CN2018/119787 CN2018119787W WO2019114630A1 WO 2019114630 A1 WO2019114630 A1 WO 2019114630A1 CN 2018119787 W CN2018119787 W CN 2018119787W WO 2019114630 A1 WO2019114630 A1 WO 2019114630A1
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coordinate
coordinates
coordinate system
tcp
robot arm
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PCT/CN2018/119787
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English (en)
Chinese (zh)
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宫明波
刘达
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北京柏惠维康科技有限公司
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Publication of WO2019114630A1 publication Critical patent/WO2019114630A1/fr

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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
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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+ ⁇ 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 + ⁇ yj , z)
  • the Z-axis coordinates of the theoretical coordinates of TCP are separately adjusted to obtain k adjustment coordinates TCP zk (x, y, z+) ⁇ zk ), where i, j, k are integers and i ⁇ 1, j ⁇ 1, k ⁇ 1, ⁇ xi , ⁇ yj , ⁇ 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;
  • the coordinates are converted according to the marked points.
  • 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 + ⁇ xi , the minimum of the j maximum conversion errors and/or the minimum of the j 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 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:
  • 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:
  • 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:
  • a coordinate conversion relationship is obtained according to the m positions in the sensor identification range of the marked points.
  • the steps of the maximum conversion error in the conversion errors of the m locations include:
  • 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.
  • the embodiment of the present application further provides an apparatus for acquiring TCP coordinates of a robot, including:
  • the point on the tool at the end of the robot arm that can be recognized by the sensor is TCP
  • the X coordinate of the theoretical coordinate of TCP is separately adjusted to obtain i adjustment coordinates TCP xi (x+ ⁇ xi , y , z)
  • the Y coordinate of the theoretical coordinate of TCP is separately adjusted to obtain j adjustment coordinates TCP yj (x, y + ⁇ yj , z)
  • the Z coordinate of the theoretical coordinate of TCP is separately adjusted to obtain k adjustment coordinates TCP Zk (x, y, z + ⁇ zk )
  • i, j, k are integers and i ⁇ 1, j ⁇ 1, k ⁇ 1, ⁇ xi , ⁇ yj , ⁇ 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;
  • the coordinate transformation relationship establishing module is specifically configured to:
  • the coordinate transformation relationship establishing module is further configured to:
  • the coordinate transformation relationship establishing module is further configured to:
  • the deviation obtaining module is specifically configured to:
  • 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 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.
  • 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.
  • 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
  • FIG. 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.
  • 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+ ⁇ 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 + ⁇ yj , z)
  • the Z-axis coordinates of the theoretical coordinates of TCP are separately adjusted to obtain k adjustment coordinates TCP zk (x, y , z+ ⁇ zk ), where i, j, k are integers and i ⁇ 1, j ⁇ 1, k ⁇ 1, ⁇ xi , ⁇ yj , ⁇ zk are the theoretical coordinates of TCP on the X-axis and the Y-axis, respectively. , the adjustment value on the Z axis.
  • the dot is marked as TCP.
  • 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.
  • 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.
  • 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.
  • the first adjustment coordinate TCP xi (x+ ⁇ 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, ⁇ xi is the adjustment value of the theoretical coordinate of TCP on the X-axis.
  • the adjustment values ⁇ xi , ⁇ yj , ⁇ zk can both be 0, and the coordinates TCP xi (x+ ⁇ xi , y are adjusted). , z) can be equal to the theoretical coordinates of TCP.
  • the method of adjusting the X coordinate of the theoretical coordinate of TCP to obtain i adjustment coordinates TCP xi can be various.
  • 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 + ⁇ 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 + ⁇ zk ) method steps and the above-mentioned X-axis coordinates of the theoretical coordinates of TCP are separately adjusted to obtain TCP xi (x + ⁇ 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 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-axis coordinate of the theoretical coordinates of TCP is adjusted separately.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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 is obtained.
  • 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.
  • the robot arm 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.
  • 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 .
  • 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.
  • the coordinates of TCP in the robot arm coordinate system are represented by p2+TCP x1 .
  • 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.
  • the coordinates of TCP in the robot arm coordinate system are represented by p3+TCP x1 .
  • 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
  • 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
  • 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.
  • 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.
  • 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:
  • 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:
  • 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.
  • 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.
  • 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.
  • the coordinate conversion relationship is obtained according to the m positions in the sensor recognition range of the marked points.
  • the steps of the maximum conversion error in the conversion errors of the m locations include:
  • 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 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.
  • the coordinates are converted according to the marked points.
  • the steps of the average error of the conversion errors at the m locations include:
  • 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.
  • 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.
  • 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 .
  • the coordinates are converted according to the marked points.
  • 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.
  • 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 k maximum conversion errors and/or the minimum of the k average errors, z + ⁇ zk are the X-axis coordinates, the Y-axis coordinates, and the Z-axis coordinates of the actual coordinates of the TCP.
  • 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+ ⁇ 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+ ⁇ 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
  • 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.
  • 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 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.
  • 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+ ⁇ xi , y, z), the Y coordinate of the theoretical coordinate of TCP is separately adjusted to obtain j adjustment coordinates TCP yj (x, y + ⁇ 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 + ⁇ zk ), where i, j, k are integers and i ⁇ 1, j ⁇ 1, k ⁇ 1, ⁇ xi , ⁇ yj , ⁇ 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 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;
  • 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 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 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 + ⁇ xi , the minimum of the j maximum conversion errors And the coordinate y + ⁇ 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 + ⁇ zk corresponding to the minimum value of the k average errors respectively as TCP
  • 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.
  • the disclosed system, apparatus, and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of cells is only a logical function division.
  • multiple units or components may be combined or integrated. Go to another system, or some features can be ignored or not executed.
  • 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.
  • 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.

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Abstract

L'invention concerne un procédé permettant d'obtenir des coordonnées d'un point central d'outil (TCP) de robot, consistant : premièrement, à marquer un point susceptible d'être reconnu par un capteur, sur un outil à l'extrémité d'un bras robotisé, comme TCP ; à régler séparément la coordonnée de l'axe X, la coordonnée de l'axe Y et la coordonnée de l'axe Z de coordonnées théoriques du TCP afin d'obtenir un total de trois relations de transformation de coordonnées du point marqué entre un système de coordonnées de bras robotisé et un système de coordonnées de capteur dans les trois modes de réglage ; selon des positions multiples du point marqué dans une plage de reconnaissance du capteur, à obtenir une erreur de transformation maximale parmi des erreurs de transformation correspondant à chaque relation de transformation de coordonnées au niveau des positions multiples et/ou une erreur moyenne des erreurs de transformation ; et à régler la coordonnée d'axe X, la coordonnée d'axe Y et la coordonnée d'axe Z correspondant aux valeurs minimales dans des ensembles d'erreurs de transformation maximale et/ou les valeurs minimales dans des ensembles d'erreurs moyennes des trois relations de transformation de coordonnées en tant que coordonnées d'axe X, coordonnée d'axe Y et coordonnée d'axe Z des coordonnées réelles du TCP.
PCT/CN2018/119787 2017-12-13 2018-12-07 Procédé et dispositif permettant d'obtenir des coordonnées de point central d'outil (tcp) de robot WO2019114630A1 (fr)

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CN201711332893.X 2017-12-13
CN201711332893.XA CN109916352B (zh) 2017-12-13 2017-12-13 一种获取机器人tcp坐标的方法和装置

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