WO2019114631A1 - Procédé et dispositif d'acquisition de coordonnées tcp de robot - Google Patents

Procédé et dispositif d'acquisition de coordonnées tcp de robot Download PDF

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Publication number
WO2019114631A1
WO2019114631A1 PCT/CN2018/119789 CN2018119789W WO2019114631A1 WO 2019114631 A1 WO2019114631 A1 WO 2019114631A1 CN 2018119789 W CN2018119789 W CN 2018119789W WO 2019114631 A1 WO2019114631 A1 WO 2019114631A1
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Prior art keywords
coordinates
coordinate
tcp
coordinate system
robot arm
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PCT/CN2018/119789
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English (en)
Chinese (zh)
Inventor
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 WO2019114631A1 publication Critical patent/WO2019114631A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

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.
  • 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) in the machine
  • TCP Tool Center Point
  • the coordinates in the arm end coordinate system are the key factors that affect the accuracy of its work.
  • 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.
  • 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 device for acquiring the TCP coordinates of a robot.
  • the theoretical coordinates of the TCP are adjusted multiple times, and The adjustment coordinate that produces the minimum conversion error or the most stable error fluctuation is taken as the actual coordinate of TCP, which reduces the range of errors generated by the robot during the execution of the work task, thereby improving the working precision of the robot.
  • an embodiment of the present application provides a method for acquiring a TCP coordinate of a robot, including:
  • a point on the tool marking the end of the arm that can be recognized by the sensor is TCP, and k adjustment coordinates TCP k are obtained from the theoretical coordinates of TCP; where k is an integer and k ⁇ 1;
  • the adjustment coordinate TCP k corresponding to the minimum of the k maximum conversion errors and/or the minimum of the k average errors is set as the actual coordinates of the TCP.
  • the robot arm coordinate system and the sensor coordinates are established according to the coordinate transformation relationship between the k coordinate adjustment TCP k and the robot arm end coordinate system and the robot arm coordinate system, and the coordinates of the marked point in the sensor coordinate system.
  • k coordinate transformation relationships between systems The steps include:
  • each coordinate transformation relationship is obtained according to the m locations of the marked points within the sensor identification range.
  • the steps of the maximum conversion error in the conversion errors of the m locations include:
  • the coordinate conversion relationship is obtained according to the coordinates of the points marked under each position m j in the m positions and the coordinates Sm j in the sensor coordinate system. Conversion error at each position of m j err j;
  • the conversion error err j is the Euclidean distance after converting the coordinate Rm j of the marked point in the robot arm coordinate system and the coordinate Sm j in the sensor coordinate system to the same coordinate system, where m is an integer and m ⁇ 1 , 1 ⁇ j ⁇ m.
  • the step of obtaining the k adjustment coordinates TCP k from the theoretical coordinates of the TCP is: setting the theoretical coordinate of the TCP as the first item, and setting the constant difference to the tolerance series of the tolerance to the k adjustment coordinates TCP k , or ,
  • a point in the coordinate range centered on the theoretical coordinate of TCP is set as k adjustment coordinates TCP k .
  • the embodiment of the present application further provides an apparatus for acquiring a TCP coordinate of a robot, where the apparatus includes:
  • Marking and adjusting the coordinate module a point on the tool for marking the end of the arm that can be recognized by the sensor is TCP, and k adjustment coordinates TCP k are obtained from the theoretical coordinates of the TCP; wherein k is an integer and k ⁇ 1;
  • a coordinate transformation relationship establishing module is configured to establish a robot arm coordinate according to k coordinate adjustment TCP k and a coordinate conversion relationship between the robot arm end coordinate system and the robot arm coordinate system, and coordinates of the marked point in the sensor coordinate system. k coordinate transformation relationships between the system and the sensor coordinate system
  • a deviation obtaining module configured to obtain each coordinate conversion relationship according to m positions of the marked points within the sensor identification range Maximum conversion error and/or each coordinate conversion relationship among the conversion errors of the m positions The average error of the conversion error at the m locations; where m is an integer and m ⁇ 1;
  • the actual coordinate determination module of the TCP is configured to set the adjustment coordinate TCP k corresponding to the minimum value of the k maximum conversion errors and/or the minimum value of the k average errors to the actual coordinates of the TCP.
  • the coordinate transformation relationship establishing module is specifically configured to:
  • the deviation obtaining module is specifically configured to:
  • the coordinate conversion relationship is obtained according to the coordinates of the points marked under each position m j in the m positions and the coordinates Sm j in the sensor coordinate system. Conversion error at each position of m j err j;
  • the conversion error err j at each position m j gives each coordinate transformation relationship a maximum conversion error among the conversion errors of the m positions; wherein the conversion error err j is a conversion of the coordinate Rm j of the marked point in the robot coordinate system and the coordinate Sm j in the sensor coordinate system to the same
  • the Euclidean distance after the coordinate system, m is an integer and m ⁇ 1,1 ⁇ j ⁇ m.
  • the marking and adjusting coordinate module is specifically configured to:
  • an arithmetic constant with the adjustment constant to the tolerance is set to k adjustment coordinates TCP k , or,
  • a point in the coordinate range centered on the theoretical coordinate of TCP is set as k adjustment coordinates TCP k .
  • the embodiment of the present application further provides a system for acquiring TCP coordinates of a robot, including a memory, a processor, an external communication interface, a bus, and a computer program stored on the memory and operable on the processor.
  • the memory, the processor and the external communication interface are connected by the bus, and the processor executes the computer program to perform the acquisition of the TCP coordinates of the robot according to any one of claims 1 to 4. The steps of the method.
  • the embodiment of the present application further provides a computer readable storage medium, where the computer readable storage medium stores a computer program, wherein the computer program is executed by a processor to implement claims 1 to 4.
  • the method and device for acquiring the TCP coordinates of the robot, the system and the computer readable storage medium provided by the embodiment of the present application first mark a point on the tool at the end of the robot arm that can be recognized by the sensor as TCP.
  • the marked points are obtained at the robot arm coordinates.
  • the coordinates in the system combined with the coordinates of the marked points in the sensor coordinate system, establish k coordinate transformation relationships between the robot arm coordinate system and the sensor coordinate system, and further move the marked points to m within the sensor recognition range.
  • Position obtain the maximum conversion error and/or average error of the conversion error of each coordinate transformation relationship at m positions, and finally the minimum of the k maximum conversion errors and/or the minimum of k average errors
  • the corresponding adjustment coordinates are set to the actual coordinates of the TCP, which reduces the range of errors that the robot generates when performing tasks. The accuracy of the robot work.
  • FIG. 1 is a 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 coordinates of the tool's own coordinate system origin (Tool Center Point, TCP) in the end coordinate system of the arm and the actual coordinates of the TCP are calculated or measured by the theoretical coordinate of the robot arm end coordinate system and the tool itself.
  • TCP Tool Center Point
  • the embodiment of the present application provides a method for acquiring the TCP coordinates of the robot. As shown in FIG. 1 , the method includes steps S100-S400, specifically:
  • TCP A point on the tool marking the end of the robot arm that can be recognized by the sensor is TCP, and k adjustment coordinates TCP k are obtained from the theoretical coordinates of the TCP; wherein k is an integer and k ⁇ 1.
  • 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 of TCP are calculated by the measuring tool or according to the coarse calibration algorithm, and the calculated theoretical coordinates are adjusted to obtain k adjustment coordinates, where k is an integer and k ⁇ 1. It should be noted that the adjustment coordinate TCP k can be equal to the theoretical coordinate of TCP.
  • an adjustment value can be set, and then based on the theoretical coordinates of TCP, the coordinates of the TCP are adjusted successively according to the adjustment value to obtain TCP k .
  • the theoretical coordinate of TCP is taken as the first item, and the arithmetic constant with the constant is the tolerance is set to k adjustment coordinates TCP k .
  • the theoretical coordinate of TCP can be set to (x, y, z).
  • the tolerance is the adjustment constant d
  • the adjustment coordinate TCP k is: TCP k (x+(k-1)d, y+(k-1)d, z+(k-1)d).
  • the value of k can be taken as 1. If the adjustment coordinate TCP k is not equal to the theoretical coordinate of TCP, k can be a value greater than or equal to 2.
  • the coordinates of the points in the adjustment range are used as the adjustment coordinates TCP k .
  • the coordinates of the partial points within the adjustment range centered on the theoretical coordinates of the TCP can be used.
  • the coordinates of all points are set to k adjustment coordinates TCP k .
  • the coordinate of the partial point in the circular range with the radius of r (r>0) or the coordinates of all the points with the theoretical coordinate of TCP as the center of the circle can be used as the adjustment coordinate TCP k , or The theoretical coordinate of TCP is the center.
  • the coordinates of the partial points in the square range with D (D>0) as the side length or the coordinates of all the points are used as the adjustment coordinates TCP k . It is also possible to center on the theoretical coordinate of TCP.
  • the coordinates of the partial points in the range of the irregular pattern or the coordinates of all the points are used as the adjustment coordinates TCP k , and may not be centered on the theoretical coordinates of the TCP, but will be bounded by the theoretical coordinates of the TCP, on the tool at the end of the arm.
  • the other points are the coordinates of the partial points in the graphic range of the center or the coordinates of all the points as the adjustment coordinate TCP k , which is not specifically limited here, as long as k adjustment coordinates TCP k can be obtained by the theoretical coordinates of TCP, it is necessary to explain In this adjustment mode, the adjustment coordinate TCP k can also be equal to the theoretical coordinate of TCP.
  • the adjustment coordinate TCP k can also be obtained by random adjustment.
  • the manner in which the coordinate TCP k is adjusted is various, and the present application will not be described in detail herein.
  • the coordinate transformation relationship between the robot arm coordinate system and the sensor coordinate system may be firstly obtained according to the movement of the marked point (ie, TCP in S100) within the sensor recognition range.
  • At least three non-collinear spatial reference points and then combined with k adjustment coordinates TCP k 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 Obtaining k coordinates of each of the spatial reference points in the robot arm coordinate system; finally, k coordinates in the robot arm coordinate system according to each of the spatial reference points, and each spatial reference point in the sensor coordinate system
  • the coordinate in the middle, the k coordinate transformation relationship between the robot arm coordinate system and the sensor coordinate system is obtained.
  • 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, combined with the k adjustment coordinates TCP k can obtain k coordinates of the marked point in the robot arm coordinate system; in the embodiment of the present application, the marked point is recorded as TCP and is marked by The position of the 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 since the marked point moves to At least three non-collinear positions obtain at least three non-collinear spatial reference points, and at least three non-zero can be obtained by using the obtained k-coordinates of the marked points in the robot arm coordinate system.
  • the k coordinate of each of the spatial reference points in the collinear spatial reference point in the robot arm coordinate system can obtain k coordinates of the marked point in the robot arm coordinate system; in the embodiment of the present application, the marked point is recorded as TCP and is marked by The position of the point in the real space to obtain the spatial reference point, so the coordinates of the marked point in the
  • the coordinates of each of the at least three non-collinear spatial reference points in the sensor coordinate system can be obtained, and then the mechanical reference point is in the mechanical
  • the k coordinate transformations between the arm coordinate system and the sensor coordinate system can be obtained from the k coordinates in the arm coordinate system and the coordinates of each spatial reference point in the sensor coordinate system.
  • the robot arm When the mobile robot arm obtains three non-collinear spatial reference points, the robot arm is in three poses of position 1, position 2, and position 3.
  • the DH parameter can be used to obtain the coordinate conversion relationship between the end coordinate system of the arm and the coordinate system of the arm when the current arm is in the pose 1, and the origin of the end coordinate of the arm is in the machine.
  • the coordinate p1 in the arm coordinate system can be used to obtain the coordinate t1 of TCP in the end coordinate system of the robot arm through the machining drawing of the tool. Therefore, the coordinates of the current TCP in the robot arm coordinate system are represented by p1+t1 (note 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 t1.
  • p1+t1 is used to present the current TCP when the arm is in pose 1.
  • the coordinates in the robot arm coordinate system are explained, as in the similar description below, so that the coordinates p1+t1 of the point marked by the manipulator in the pose 1 in the robot arm coordinate system can be obtained.
  • By identifying the marked point by the sensor it is also possible to obtain the coordinate s1 of the point marked by the robot arm in the pose 1 in the sensor coordinate system.
  • the DH parameter can be used to obtain the coordinate conversion relationship between the arm end coordinate system and the arm coordinate system when the current arm is in the pose 2, and the origin of the arm end coordinate system is in the machine.
  • the coordinate p2 in the arm coordinate system because the obtained TCP coordinates t1 in the end coordinate system of the arm, the coordinates of the current TCP in the robot arm coordinate system are represented by p2+t1, that is, the robot arm is in the posture.
  • the point marked at 2 o'clock is the coordinate p2+t1 in the robot arm coordinate system.
  • the DH parameter can be used to obtain the coordinate conversion relationship between the arm end coordinate system and the arm coordinate system when the current arm is in the pose 3, and the origin of the arm end coordinate system is in the machine.
  • the point marked in pose 3 is the coordinate p3+t1 in the robot coordinate system.
  • p1+t1 and s1, p2+t1 and s2, p3+t1 and s3 can be utilized, that is, the coordinates of the three non-collinear spatial reference points in the robot arm coordinate system and the sensor coordinate system are respectively used.
  • the coordinates below establish the coordinate transformation relationship between the robot arm coordinate system and the sensor coordinate system
  • p1+t2 and s1, p2+t2 and s2, p3+t2 and s3 can be utilized, that is, the coordinates of the three non-collinear spatial reference points in the robot arm coordinate system and the sensor coordinate system are respectively used.
  • the coordinates below establish the coordinate transformation relationship between the robot arm coordinate system and the sensor coordinate system
  • k coordinate transformation relationships between the robot arm coordinate system and the sensor coordinate system can be obtained. 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.
  • each coordinate transformation relationship is obtained.
  • the steps of the maximum conversion error in the conversion errors of the m locations are:
  • the coordinate conversion relationship is obtained according to the coordinates of the points marked under each position m j in the m positions and the coordinates Sm j in the sensor coordinate system. Conversion error at each position of m j err j;
  • the conversion error err j is the Euclidean distance after converting the coordinate Rm j of the marked point in the robot arm coordinate system and the coordinate Sm j in the sensor coordinate system to the same coordinate system, where m is an integer and m ⁇ 1 , 1 ⁇ j ⁇ m.
  • the coordinate conversion relationship is obtained according to the coordinates of the points marked under each position m j in the m positions and the coordinates Sm j in the sensor coordinate system. Conversion error at each position of m j err j;
  • the marked point moves to 10 positions within the sensor's identification range, ie m equals 10.
  • TCP 1 the corresponding coordinate conversion relationship is
  • the robot arm coordinates Rm j 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 to obtain the marked Point the sensor coordinates Sm j at these 10 positions, where 1 ⁇ j ⁇ 10.
  • the maximum conversion error can be selected as err Max_1
  • the average error of the conversion errors at these 10 positions can be calculated as err aver_1 .
  • the conversion error of these 10 same positions can be obtained. or From these 10 conversion errors, the largest conversion error can be selected as err Max_2 , and the average error of the conversion errors at these 10 positions can be calculated as err aver_2 .
  • 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 In the case of conversion errors at m positions, the same m positions are utilized.
  • each coordinate conversion relationship is obtained except for m positions within the sensor identification range according to the marked points.
  • each coordinate conversion relationship obtained according to the m positions within the sensor identification range of the marked points may be obtained.
  • the standard deviation of the conversion errors at the m positions is used as a reference for setting the actual coordinates of the TCP, or both the obtained average error and the standard deviation are used as references for setting the actual coordinates of the TCP.
  • TCP 1 , TCP 2 and TCP 3 there are still three adjustment coordinates TCP 1 , TCP 2 and TCP 3 as an example. Specifically, since three maximum conversion errors err Max_1 , err Max_2 , err Max_3 have been obtained, one of the three maximum conversion errors is selected.
  • the minimum value if err Max_1 is the minimum value, set the TCP adjustment coordinate TCP 1 corresponding to err Max_1 to the actual coordinate of TCP; if err Max_2 is the minimum value, set the TCP adjustment coordinate TCP 2 corresponding to err Max_2 to The actual coordinate of TCP; if err Max_3 is the minimum value, the adjusted coordinate TCP 3 of TCP corresponding to err Max_3 is set to the actual coordinate of TCP.
  • a minimum value is selected from the three average errors err aver_1 , err aver_2 , err aver_3 that have been obtained, and the adjusted coordinate TCP k of the TCP corresponding to the minimum value of the average error is set as the actual coordinate of the TCP.
  • TCP adjustment coordinate TCP 1 corresponding to err Max_1 and err aver_1 is taken as the actual coordinate of TCP.
  • the adjustment coordinate TCP k corresponding to the minimum value of k standard deviations may be set as the actual coordinates of the TCP; the average error and standard to be obtained When the difference is used as a reference for setting the actual coordinates of the TCP, the adjustment coordinate TCP k corresponding to the minimum value of the obtained average error and/or the minimum value of the standard deviation may be set as the actual coordinate of the TCP, or when the plurality of adjustment coordinates are TCP When the average error of k is the same, the adjustment coordinate corresponding to the minimum value of the standard deviation is taken as the actual coordinate of TCP.
  • TCP 1 , TCP 2 , TCP 3 ... TCP 10 are obtained according to the theoretical coordinates of TCP 10 adjustment coordinates, and the average error of the 10 adjustment coordinates are the same, and the standard deviation of the conversion error corresponding to TCP 3 is the smallest, then TCP 3 is set as the actual coordinate of TCP.
  • a point on the tool at the end of the robot arm that can be recognized by the sensor is marked 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 TCP The actual coordinates are not determined.
  • k adjustment coordinates are obtained by adjusting the theoretical coordinates of TCP, and k adjustment coordinates and the coordinate system between the end of the arm and the coordinate system of the robot arm are used.
  • Coordinate transformation relationship obtain the coordinates of the marked point in the robot arm coordinate system, and combine the coordinates of the marked point in the sensor coordinate system to establish k coordinate transformation relationship between the robot arm coordinate system and the sensor coordinate system, further By moving the marked points to m positions within the sensor recognition range, the maximum conversion error and/or the average error of the conversion errors of each coordinate transformation relationship at m positions are obtained, that is, each adjustment coordinate is obtained through the coordinate conversion relationship.
  • the maximum range of errors between the converted arm coordinates and the corresponding sensor coordinates and/or the level of error The average level, and finally the adjustment coordinate corresponding to the minimum value of the k maximum conversion errors and/or the minimum value of the k average errors is set as the actual coordinate of the TCP, thereby reducing the range of errors generated by the robot when performing the task, and improving The working precision of the robot.
  • the embodiment of the present application further provides an apparatus for acquiring TCP coordinates of a robot, including:
  • the marking and adjusting coordinate module 201 is configured to mark a point on the tool end of the robot arm that can be recognized by the sensor as TCP, and obtain k adjustment coordinates TCP k from the theoretical coordinates of the TCP; wherein k is an integer and k ⁇ 1;
  • the coordinate transformation relationship establishing module 202 is configured to establish a mechanical arm according to the coordinate transformation relationship between the k coordinate adjustment TCP k and the robot arm end coordinate system and the robot arm coordinate system, and the coordinates of the marked point in the sensor coordinate system.
  • k coordinate transformation relationship between coordinate system and sensor coordinate system is configured to establish a mechanical arm according to the coordinate transformation relationship between the k coordinate adjustment TCP k and the robot arm end coordinate system and the robot arm coordinate system, and the coordinates of the marked point in the sensor coordinate system.
  • the deviation obtaining module 203 is configured to obtain each coordinate transformation relationship according to the m positions in the sensor identification range of the marked points. Maximum conversion error and/or each coordinate conversion relationship among the conversion errors of the m positions The average error of the conversion error at the m locations; where m is an integer and m ⁇ 1;
  • the actual coordinate determination module 204 of the TCP is configured to set the adjustment coordinate TCP k corresponding to the minimum value of the k maximum conversion errors and/or the minimum value of the k average errors to the actual coordinates of the TCP.
  • the marking and adjusting 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 may perform corresponding preferred steps in the foregoing method embodiments.
  • the coordinate transformation relationship establishing module 202 is specifically configured to:
  • each of the spatial reference points is obtained on the robot arm k coordinates in the coordinate system;
  • the deviation obtaining module 203 is specifically configured to:
  • the coordinate conversion relationship is obtained according to the coordinates of the points marked under each position m j in the m positions and the coordinates Sm j in the sensor coordinate system. Conversion error at each position of m j err j;
  • the conversion error err j is the Euclidean distance after converting the coordinate Rm j of the marked point in the robot arm coordinate system and the coordinate Sm j in the sensor coordinate system to the same coordinate system, where m is an integer and m ⁇ 1 , 1 ⁇ j ⁇ m.
  • the marking and adjusting coordinate module 201 is specifically configured to:
  • an arithmetic constant with the adjustment constant to the tolerance is set to k adjustment coordinates TCP k , or,
  • a point in the coordinate range centered on the theoretical coordinate of TCP is set as k adjustment coordinates TCP k .
  • the embodiment of the present application further provides a system for acquiring TCP coordinates of a robot, including a memory, a processor, an external communication interface, a bus, and being stored on the memory and operable on the processor. a computer program, wherein the memory, the processor and the external communication interface are connected by the bus, and when the processor runs the computer program, the step of implementing the method for acquiring the TCP coordinates of the robot in the above method embodiment is performed .
  • the embodiment of the present application further provides a computer readable storage medium, where the computer readable storage medium stores a computer program, and when the computer program is executed by the processor, the method is obtained in the foregoing method embodiment.
  • the steps of the method of robot TCP coordinates.
  • 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, i.e., may be located in one place, or may be distributed over 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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  • Mechanical Engineering (AREA)
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Abstract

La présente invention concerne, selon un mode de réalisation, un procédé d'acquisition de coordonnées TCP d'un robot, comprenant les étapes suivantes consistant à : marquer un point, qui peut être reconnu par un capteur, sur un outil à une extrémité d'un bras de robot comme TCP, et obtenir k coordonnées d'ajustement à partir des coordonnées théoriques du TCP ; utiliser les coordonnées du point marqué dans un système de coordonnées de bras de robot et dans un système de coordonnées de capteur pour établir k relations de conversion de coordonnées entre le système de coordonnées de bras de robot et le système de coordonnées de capteur ; en fonction de m positions, dans une plage de reconnaissance de capteur, du point marqué, obtenir l'erreur de conversion maximale dans les erreurs de conversion de chaque relation de conversion de coordonnées aux m positions et/ou l'erreur moyenne des erreurs de conversion de chaque relation de conversion de coordonnées aux m positions ; et régler les coordonnées d'ajustement correspondant au minimum des k erreurs de conversion maximale obtenues et/ou au minimum de k erreurs moyennes en tant que coordonnées réelles du TCP. Ledit procédé réduit la plage d'erreur générée pendant la tâche de fonctionnement du robot, ce qui améliore la précision de fonctionnement du robot.
PCT/CN2018/119789 2017-12-13 2018-12-07 Procédé et dispositif d'acquisition de coordonnées tcp de robot WO2019114631A1 (fr)

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CN201711331796.9 2017-12-13
CN201711331796.9A CN109909999B (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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