WO2020010628A1 - Positioner axis coordinate system calibration method, robot system, and storage device - Google Patents

Positioner axis coordinate system calibration method, robot system, and storage device Download PDF

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Publication number
WO2020010628A1
WO2020010628A1 PCT/CN2018/095680 CN2018095680W WO2020010628A1 WO 2020010628 A1 WO2020010628 A1 WO 2020010628A1 CN 2018095680 W CN2018095680 W CN 2018095680W WO 2020010628 A1 WO2020010628 A1 WO 2020010628A1
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WIPO (PCT)
Prior art keywords
positioner
coordinate system
axis
robot
coordinates
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PCT/CN2018/095680
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French (fr)
Chinese (zh)
Inventor
张松鹏
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深圳配天智能技术研究院有限公司
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Priority to CN201880088586.8A priority Critical patent/CN111801630B/en
Priority to PCT/CN2018/095680 priority patent/WO2020010628A1/en
Publication of WO2020010628A1 publication Critical patent/WO2020010628A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes

Definitions

  • the present application relates to the field of robot technology, and in particular, to a method for calibrating an axis coordinate system of a positioner, a robot system, and a storage device.
  • the robot and the positioner work asynchronously, that is, the workpiece is transferred to several specific positions by means of an indexing machine, and then the robot performs the work on each specific position separately. Operations such as welding.
  • the motion relationship between the robot and the positioner is relatively simple, and teaching and offline programming of the robot is also easier.
  • a robot is required to perform complex operations, it is necessary to determine the coordinate system of each axis of the positioner to determine the precise position of the workpiece on the positioner, and it is difficult to obtain the coordinate system of each axis of the positioner in the prior art.
  • the present application provides a method for calibrating an axis coordinate system of a positioner, a robot system, and a storage device, which can solve the problem that it is difficult to obtain the axis coordinate systems of the positioner in the prior art.
  • an aspect of the present application uses are: to provide a positioner axis coordinate system calibration, the method comprising: m rotary positioner shaft to the n m different angles, wherein, n m Is an integer greater than or equal to 3; each time the m axis of the positioner rotates by an angle, the tool center point TCP of the robot is brought into contact with the same position on the m axis of the positioner to obtain the tool center point TCP of the robot relative to the robot
  • the n m TCP base position coordinates of the base coordinate system; the n m TCP base position coordinates are used to obtain the transformation parameter w A m of the m-axis coordinate system of the positioner relative to the world coordinate system; the w A m calculation is used to obtain the positioner's m-axis coordinate system.
  • a robot system including a positioner, a robot, and a processing system.
  • the positioner includes at least two positioner shafts connected in sequence. A workpiece is connected to the final axis of the positioner; the robot includes a base, at least two robot axes connected in sequence, and a tool is connected to the final axis of the robot, and the tool is used to cooperate with the workpiece; the processing system is used for The positioner and / or robot are controlled.
  • the processing system includes a memory and a processor connected to each other. The memory stores a computer program, and the processor is used to call the computer program to execute the method described above.
  • another technical solution adopted in the present application is to provide a processing system, the interconnected memory and a processor, the memory stores a computer program, and the processor is used to call the computer program to execute the above method.
  • the storage device stores a computer program, and the computer program can be executed to implement the foregoing method.
  • this application provides a method for calibrating an axis coordinate system of a positioner, a robot system and a storage device.
  • the parameter w A m is transformed to obtain the m-axis coordinate system of the positioner accurately.
  • FIG. 1 is a schematic flowchart of a linkage method between a robot and a positioner according to an embodiment of the present application
  • FIG. 2 is a schematic flowchart of a method for obtaining a transformation parameter w A u according to an embodiment of the present application
  • FIG. 3 is a schematic flowchart of a method for obtaining a transformation parameter 1 A q according to an embodiment of the present application
  • FIG. 4 is a schematic flowchart of a method for obtaining a transformation parameter w A m according to an embodiment of the present application
  • FIG. 5 is a schematic flowchart of a method for obtaining coordinates of an origin of an m-axis coordinate system of a positioner relative to a base coordinate system of a robot and a unit vector of each coordinate axis in the m-axis of the positioner according to an embodiment of the present application;
  • FIG. 6 is a schematic flowchart of a method for obtaining a transformation parameter q A u according to an embodiment of the present application
  • FIG. 7 is a schematic flowchart of a method for obtaining a transformation parameter b A u according to an embodiment of the present application
  • FIG. 8 is a schematic structural diagram of a robot system according to an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a positioner according to an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a robot according to an embodiment of the present application.
  • FIG. 11 is a schematic structural diagram of a processing system according to an embodiment of the present application.
  • FIG. 12 is a schematic structural diagram of a storage device according to an embodiment of the present application.
  • an embodiment herein means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application.
  • the appearances of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they independent or alternative embodiments that are mutually exclusive with other embodiments. It is clearly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.
  • the transformation parameter may specifically be a homogeneous transformation matrix, and the homogeneous transformation matrix may be a 4 ⁇ 4 order transformation matrix.
  • FIG. 1 is a schematic flowchart of a linkage method between a robot and a positioner according to an embodiment of the present application.
  • the execution subject may be a processing system, and the processing system is used to control the positioner and / or the robot.
  • the positioner may include q positioner shafts connected in sequence, wherein the first and last two axes of the sequentially connected q positioner shafts are 1 axis and q axis, respectively, and are on the q axis of the positioner. A workpiece is connected.
  • the q positioner axes are sequentially referred to as the 1-axis, 2-axis, ..., q-axis of the positioner.
  • the robot may include f robot axes that are sequentially connected, wherein the first and last two axes of the f robot axes that are sequentially connected are 1 axis and f axis respectively, and a tool is connected to the f axis of the robot.
  • the f robot axes are sequentially referred to as the 1-axis, 2-axis, ..., f-axis of the robot.
  • the number of the axis of the positioner should be at least two, for example, the number of the axis of the positioner can be two, three or six. In this embodiment, the number of axes of the positioner is three.
  • the robot may include a base, at least two robot axes connected in sequence, and a tool connected to the robot shaft, the tool being used to work with a workpiece, such as welding.
  • the number of robot axes should be at least two.
  • the number of robot axes can be two, three, or six.
  • the number of axes of the robot is six.
  • the processing system may be provided in a device independent of the positioner and the robot, or in the robot, or in the positioner, which is not limited in this application.
  • S101 Determine the angles of the axes of the positioner to obtain the first target position of the positioner, and determine the transformation of the tool coordinate system of the robot to the workpiece coordinate system of the positioner when the positioner is in the first target position.
  • Parameter u A v Determine the angles of the axes of the positioner to obtain the first target position of the positioner, and determine the transformation of the tool coordinate system of the robot to the workpiece coordinate system of the positioner when the positioner is in the first target position.
  • the transformation parameter u A v of the tool coordinate system of the robot relative to the workpiece coordinate system of the positioner when the first target posture and the positioner are in the first target posture may be preset.
  • the user can pre-set the angle ⁇ m (t) of the m-axis of the positioner that changes with time, where m is the m-axis of the positioner and ⁇ m (t) is the m-axis of the positioner with time
  • the angle of change, m is an integer greater than or equal to 1 and less than or equal to q
  • q is the total number of axes of the positioner, and when the angle of each axis of the positioner changes with time, the tool coordinate system of the robot is relatively
  • the transformation parameters u A v (t) of the workpiece coordinate system, and ⁇ m (t) and u A v (t) are stored in the storage device, so that when the robot and the positioner are linked, the processing system can read ⁇ m (t) and
  • the positioner is in the first target posture as the angle ⁇ m (t0) of the m-axis of the positioner at a predetermined time t0, and the transformation parameter u A v is the value of u A v (t0) at a predetermined time t0 .
  • the angle of each axis of the positioner can be the angle of each axis of the positioner with respect to the horizontal plane, or the angle of a predetermined plane, or the angle of each axis of the positioner with respect to the x-axis direction and the y-axis direction of each axis coordinate system Or the z-axis angle.
  • the angle of the m-axis of the positioner is ⁇ m .
  • the transformation parameter b A f is obtained by using formula (1):
  • w A b is a transformation parameter of the robot's base coordinate system relative to the world coordinate system
  • f A v is a transformation parameter of the robot's tool coordinate system relative to the f-axis coordinate system of the robot.
  • b B 1 is a transformation parameter of the robot's 1-axis coordinate system relative to the base coordinate system of the robot; ⁇ 1 , ⁇ 2 , and ⁇ f are the angles of the robot's 1-axis, 2-axis, and f-axis, respectively; 1 B 2 , f-1 B f is the transformation parameter of the robot's 2-axis coordinate system relative to the robot's 1-axis coordinate system, and the f-axis coordinate system of the robot relative to the robot's f-1 axis coordinate system; R ( ⁇ 1 ), R ( ⁇ 2 ), R ( ⁇ f ) are the rotation parameters of the robot's 1-axis, 2-axis, and f-axis when the positioner is in the first target posture, and f is the total number of axes of the robot, where:
  • the method for linkage between the robot and the positioner can obtain the angle of each axis of the robot according to the angle of each axis of the positioner, thereby realizing the linkage between the robot and the positioner.
  • FIG. 2 is a schematic flowchart of a method for obtaining a transformation parameter w A u according to an embodiment of the present application.
  • one axis of the positioner is the first axis among the axes sequentially connected in the positioner
  • the q axis of the positioner is the tail axis among the axes sequentially connected in the positioner
  • the positioner The q-axis is connected to the workpiece.
  • the method for obtaining the transformation parameter w A 1 is: obtaining the transformation of the m-axis axis coordinate system of the positioner relative to the world coordinate system Parameter w A m , where m ranges from 1 to q, where q is the total number of axes of the positioner; the transformation parameter w A 1 is obtained from the transformation parameter w A m .
  • w A 1 can be obtained by formula (3):
  • w A u is obtained by multiplying w A b and b A u in sequence
  • w A b is the transformation parameter of the robot's base coordinate system relative to the world coordinate system
  • b A u is when the positioner is in the first target posture.
  • S202 and S203 can be executed at the same time, or S203 can be executed before S202.
  • FIG. 3 is a schematic flowchart of a method for obtaining a transformation parameter 1 A q according to an embodiment of the present application.
  • the transformation parameter m-1 A m can be obtained by formula (4):
  • ⁇ 1 , ⁇ 2 , and ⁇ m-1 are the angles of the 1-axis, 2-axis, and m-1 axis of the positioner when the positioner is in the first target posture;
  • R ( ⁇ 1 ), R ( ⁇ 2 ), R ( ⁇ m-1 ) are the rotation parameters of the 1-axis, 2-axis, and m-1 axis of the positioner when the positioner is in the first target posture;
  • 1 A 2 , m-2 A m- 1 is the transformation parameter of the 2-axis coordinate system of the positioner relative to the 1-axis coordinate system of the positioner when the positioner is in the first target posture, m-2 of the positioner relative to m of the positioner -1 axis coordinate system transformation parameters.
  • ⁇ m is the angle of the m axis when the positioner is in the first target posture.
  • m is an integer greater than or equal to 1 and less than or equal to q
  • q is the total number of axes of the positioner.
  • Equation (5) can be used to obtain the transformation parameter 1 A q .
  • ⁇ 1 , ⁇ 2 , and ⁇ q are the angles of the 1-axis, 2-axis, and q-axis of the positioner when the positioner is in the first target posture;
  • R ( ⁇ 1 ), R ( ⁇ 2 ), R ( ⁇ q ) is the 1-axis, 2-axis, and q-axis rotation parameters of the positioner when the positioner is in the first target posture,
  • 1 A 2 and q-1 A q are the 2-axis coordinate system of the positioner Transformation parameters of the 1-axis coordinate system of the relative positioner, and transformation parameters of the q-axis coordinate system of the positioner relative to the q-1 axis coordinate system of the positioner.
  • FIG. 4 is a schematic flowchart of a method for obtaining a transformation parameter w A m according to an embodiment of the present application.
  • n m is an integer greater than or equal to 3
  • m is an integer greater than or equal to 1 and less than or equal to q
  • q is the total number of axes of the positioner.
  • n 1 , n 2 , ..., n q may have different values, or at least two are the same, which is not limited in this application, as long as the values of n 1 , n 2 , ..., n q can be guaranteed All are 3 or more.
  • the 1-m-1 axis of the positioner when rotating the m-axis of the positioner to n m different angles, the 1-m-1 axis of the positioner should be kept stationary. For example, when rotating the positioner's 2 axes to n 2 different angles, keep the positioner's 1 axis stationary; when rotating the positioner's 3 axes to n 3 different angles, it should keep changing The 1st and 2nd axes of the positioner do not move;... When rotating the q-axis of the positioner to n q different angles, the 1-q-1 axis of the positioner should be kept stationary.
  • the tool center point TCP of the robot can be first brought into contact with the same position on 1 axis to obtain the n 1 first TCP base position coordinates of the tool center point TCP of the robot relative to the base coordinate system of the robot;
  • the angle of the 1 axis of the position machine is unchanged.
  • N 2 first TCP base position coordinates of the base coordinate system; and so on, until the angle of 1 to q-1 axis of the positioner is maintained, and the q axis of the positioner is rotated to n q different Angle of the tool center point TCP of the robot to contact the same position on the q axis to obtain n q first TCP base position coordinates of the tool center point TCP of the robot relative to the base coordinate system of the robot.
  • S403 Use the n m first TCP base position coordinates to obtain the coordinates of the origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot, and the unit vector of each coordinate axis in the m-axis coordinate system of the positioner.
  • the origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot can be used Indicates that the unit vector of each coordinate axis in the m-axis coordinate system of the positioner can be used Means.
  • m is an integer greater than or equal to 1 and less than or equal to q
  • q is the total number of axes of the positioner.
  • the coordinates of the origin of the 1-axis coordinate system with respect to the base coordinate system of the robot are obtained using n 1 first TCP base position coordinates.
  • the unit vector of each coordinate axis in the 1-axis coordinate system of the positioner Use n 2 first TCP base position coordinates to obtain the coordinates of the origin of the 2-axis coordinate system relative to the base coordinate system of the robot And the unit vector of each coordinate axis in the 2-axis coordinate system of the positioner And so on, until the n q first TCP base position coordinates are used to obtain the coordinates of the origin of the 2-axis coordinate system relative to the base coordinate system of the robot And the unit vector of each coordinate axis in the q-axis coordinate system of the positioner
  • the transformation parameter w A m is obtained from the coordinates of the origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot, and the unit vector of each coordinate axis in the m-axis coordinate system of the positioner.
  • the transformation parameter w A m is obtained from the coordinates of the origin of the m-axis coordinate system relative to the base coordinate system of the robot and the unit vector of each coordinate axis in the m-axis coordinate system of the positioner, including: using the positioner The coordinates of the origin of the m-axis coordinate system relative to the base coordinate system of the robot and the unit vector of each coordinate axis in the m-axis coordinate system of the positioner, to obtain the m-axis coordinate system of the positioner relative to the base coordinate system of the robot Transformation parameter b A m ; use the formula (6) to obtain the transformation parameter w A m :
  • m is an integer greater than or equal to 1 and less than or equal to q
  • q is the total number of axes of the positioner.
  • m may also be obtained axis coordinate system positioner calculated using w A m.
  • the transformation parameter w A m of the m-axis coordinate system of the positioner relative to the world coordinate system can be obtained, and then the positions of the axis coordinate systems of the positioner can be accurately obtained. Furthermore, the user can pre-set the change of the angle of each axis of the positioner, so that the processing system can obtain the position of each axis coordinate system of the positioner that changes with time, so that the processing system can The workpiece position is precisely controlled.
  • this embodiment can obtain the transformation parameter w A m of the m-axis coordinate system of the positioner relative to the world coordinate system, and then accurately obtain the m-axis coordinate system of the positioner.
  • FIG. 5 is a method for obtaining the origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot and the unit vector of each coordinate axis in the m-axis coordinate system of the positioner according to the embodiment of the present application. Flow diagram.
  • S501 Form k m position coordinate combinations from n m first TCP base position coordinates.
  • every three first TCP base position coordinates form a position coordinate combination
  • k m is an integer greater than or equal to 1.
  • m is an integer greater than or equal to 1 and less than or equal to q
  • q is the total number of axes of the positioner.
  • the K m th coordinate origin relative to the robot base coordinate system are arithmetically averaged to obtain the m-axis coordinate origin of the coordinate system positioner opposite the robot base coordinate system. That is, the coordinates of the origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot are obtained by using formula (7).
  • j is the coordinate of the j-th origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot.
  • j is an integer from 1 to k m .
  • S504 The unit vector of each coordinate axis in the m-axis coordinate system of the positioner is obtained by using the combination of k m position coordinates and the coordinates of the origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot.
  • the unit vectors of each coordinate axis in the m-axis coordinate system of the positioner are obtained by using formulas (8) to (12) and the least square method:
  • j is greater than or equal to 1 k an integer less than or equal to m;
  • ⁇ ij is the i-th angle in the j-th position coordinate combination of the m-axis of the positioner;
  • the unit vectors are the x, y, and z coordinate axes in the m-axis coordinate system.
  • FIG. 6 is a schematic flowchart of a method for obtaining a transformation parameter q A u according to an embodiment of the present application.
  • S601 Obtain a transformation parameter b A u of the workpiece coordinate system of the positioner relative to the base coordinate system of the robot when the positioner is in the first target posture.
  • w A b is a transformation parameter of the robot base coordinate system relative to the world coordinate system.
  • FIG. 7 is a schematic flowchart of a method for obtaining a transformation parameter b A u according to an embodiment of the present application.
  • S701 Make the tool center point TCP of the robot touch at least three positions on the workpiece coordinate system of the positioner to obtain at least three second TCP base position coordinates of the tool center point TCP of the robot relative to the base coordinate system of the robot.
  • the tool center point TCP of the robot touches at least three positions on the workpiece of the positioner, including: the tool center point TCP of the robot touches the origin of the workpiece coordinate system of the positioner, the workpiece coordinate system of the positioner A point on the y> 0 side of the xOy plane, a point in the positive direction of the x axis in the workpiece coordinate system of the positioner.
  • S702 Calculate the coordinates of the workpiece coordinate system of the positioner relative to the base coordinate system of the robot by using at least three second TCP base position coordinates, and a unit vector of each coordinate axis in the workpiece coordinate system of the positioner.
  • Unit vectors of the x, y, and z coordinate axes of the workpiece coordinate system of the positioner are united vectors of the x, y, and z coordinate axes of the workpiece coordinate system of the positioner;
  • b p x , b p y , b p c are respectively a point in the positive direction of the x axis of the positioner's workpiece coordinate system touched by the tool center point TCP of the robot, and the positioner's workpiece coordinate system on the xOy plane.
  • the coordinates of the tool center point TCP of the robot relative to the base coordinate system of the robot.
  • FIG. 8 is a schematic structural diagram of a robot system according to an embodiment of the present application
  • FIG. 9 is a schematic structural diagram of a positioner according to an embodiment of the present application
  • FIG. 8 is a schematic structural diagram of a robot system according to an embodiment of the present application
  • FIG. 9 is a schematic structural diagram of a positioner according to an embodiment of the present application
  • FIG. 10 is a schematic structural diagram of a robot system according to an embodiment of the present application
  • FIG. 9 is a schematic structural diagram of a positioner according to an embodiment of the present application
  • the robot system 80 includes a positioner 81, a robot 82, and a processing system 83.
  • the positioner 81 includes at least two positioner shafts 811 connected in sequence, and is connected on the q axis of the positioner.
  • the robot 82 includes a base 821, at least two robot axes 822 connected in sequence, and a tool 823 is connected to the f-axis of the robot, and the tool 823 is used to cooperate with the workpiece 812 and control the positioner And / or a processing system 83 of the robot
  • the processing system 83 includes a memory 831 and a processor 832 connected to each other.
  • the memory 831 stores a computer program
  • the processor 832 is configured to call the computer program to execute the method of any one of the foregoing embodiments.
  • the at least two positioner shafts 811 connected in sequence may include a 1st shaft 8111 of the positioner, a 2nd shaft 8112 of the positioner, ..., an m-axis 8113 of the positioner, ..., a positioner
  • the q-axis 8114; the at least two robot axes 822 connected in sequence may include the robot's 1-axis 821, the robot's 2-axis 8822, ... the robot's g-axis 8223, ..., and the robot's f-axis 8224.
  • the processing system 83 may be provided in a device separate from the positioner 81 and the robot 82, or may be provided in the robot 82, or may be provided in the positioner 81. In the present embodiment, the processing system 83 is provided in a device separate from the positioner 81 and the robot 82. In other embodiments, the processing system 83 may be provided in the robot 82 or in the positioner 81. This application does not limit this.
  • FIG. 11 is a schematic structural diagram of a processing system according to an embodiment of the present application.
  • the processing system 110 includes a memory 111 and a processor 112 that are connected to each other.
  • the memory 111 stores a computer program
  • the processor 112 is configured to call the computer program to execute any of the foregoing methods.
  • processing system 110 in this embodiment may be the same as or different from the processing system 93 in the robot system 90 described above.
  • FIG. 12 is a schematic structural diagram of a storage device according to an embodiment of the present application.
  • the storage device 120 stores a computer program 121, which can be executed to implement the method of any one of the foregoing embodiments.
  • the storage device 120 may be a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, an optical disk, or a server.
  • Program code medium may be a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, an optical disk, or a server.
  • the storage device 120 may also be the memory 831 or the memory 111 in the foregoing embodiment.
  • the method for linkage between a robot and a positioner according to the present application can obtain the angle of each axis of the robot according to the angle of each axis of the positioner, thereby realizing the linkage between the robot and the positioner.

Abstract

The present application provides a positioner axis coordinate system calibration method, a robot system, and a storage device. The method comprises: rotating m-axis of the positioner by nm different angles, wherein nm is an integer greater than or equal to 3; when the m-axis of the positioner rotates by one angle, bringing a tool center point (TCP) of a robot into contact with the same position on the m-axis of the positioner to obtain nm TCP-based position coordinates of the TCP of the robot with respect to a basic coordinate system of the robot; using nm TCP-based position coordinates to obtain a transformation parameter of the m-axis coordinate system of the positioner with respect to the world coordinate system wAm; and using wAm to calculate the m-axis coordinate system of the positioner. In this way, the present application can obtain the position of the m-axis coordinate system of the positioner with respect to the world coordinate system, thereby calibrating the axis coordinate system of the positioner.

Description

变位机轴坐标系标定方法、机器人系统及存储装置Positioner axis coordinate system calibration method, robot system and storage device 【技术领域】[Technical Field]
本申请涉及机器人技术领域，特别是涉及变位机轴坐标系标定方法、机器人系统及存储装置。The present application relates to the field of robot technology, and in particular, to a method for calibrating an axis coordinate system of a positioner, a robot system, and a storage device.
【背景技术】【Background technique】
随着技术的逐渐成熟，工业机器人已大量用于汽车制造、生物制药、电子产品等各个工业领域，大幅提高了自动化水平和生产效率。With the gradual maturity of technology, industrial robots have been widely used in various industrial fields such as automobile manufacturing, biopharmaceuticals, and electronic products, which have greatly improved the level of automation and production efficiency.
目前，基于机器人和变位机组成的机器人系统中机器人和变位机为非同步工作，即借助分度机将工件转到几个特定的位置，然后由机器人分别对每一个特定位置的工件进行焊接等操作。非同步工作中机器人和变位机之间的运动关系比较简单，机器人的示教和离线编程也比较容易。但若需要机器人进行复杂操作，则需要确定变位机各轴坐标系，以确定变位机上工件的精确位置，而现有技术中难以获取变位机各轴坐标系的。At present, in a robot system based on a robot and a positioner, the robot and the positioner work asynchronously, that is, the workpiece is transferred to several specific positions by means of an indexing machine, and then the robot performs the work on each specific position separately. Operations such as welding. In asynchronous work, the motion relationship between the robot and the positioner is relatively simple, and teaching and offline programming of the robot is also easier. However, if a robot is required to perform complex operations, it is necessary to determine the coordinate system of each axis of the positioner to determine the precise position of the workpiece on the positioner, and it is difficult to obtain the coordinate system of each axis of the positioner in the prior art.
【发明内容】[Summary of the Invention]
本申请提供一种变位机轴坐标系标定方法、机器人系统及存储装置，能够解决现有技术中难以获取变位机各轴坐标系的问题。The present application provides a method for calibrating an axis coordinate system of a positioner, a robot system, and a storage device, which can solve the problem that it is difficult to obtain the axis coordinate systems of the positioner in the prior art.
为解决上述技术问题，本申请采用的一个技术方案是：提供一种变位机轴坐标系标定方法，该方法包括：旋转变位机的m轴至n m个不同的角度，其中，n m为大于等于3的整数；在变位机的m轴每旋转一个角度时，使机器人的工具中心点TCP接触变位机的m轴上的同一位置，以得到机器人的工具中心点TCP相对机器人的基础坐标系的n m个TCP基位置坐标；利用n m个TCP基位置坐标得到变位机的m轴坐标系相对世界坐标系的变换参数 wA m；利用 wA m计算得到变位机的m轴坐标系。 To solve the above problems, an aspect of the present application uses are: to provide a positioner axis coordinate system calibration, the method comprising: m rotary positioner shaft to the n m different angles, wherein, n m Is an integer greater than or equal to 3; each time the m axis of the positioner rotates by an angle, the tool center point TCP of the robot is brought into contact with the same position on the m axis of the positioner to obtain the tool center point TCP of the robot relative to the robot The n m TCP base position coordinates of the base coordinate system; the n m TCP base position coordinates are used to obtain the transformation parameter w A m of the m-axis coordinate system of the positioner relative to the world coordinate system; the w A m calculation is used to obtain the positioner's m-axis coordinate system.
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种机器人系统，该系统包括变位机、机器人以及处理系统，变位机包括依序连接的至少两个变位机轴，且在变位机的末轴上连接有工件；机器人包括基座、依序连接的至少两个机器人轴，且在机器人的末轴上连接有工具，工具用于配合工件工作；处理系统用于控制变位机和/或机器人工作，处理系统包括相互连接的存储器和处理器，存储器存储有计算机程序，处理器用于调用计算机程序以执行上述的方法。In order to solve the above technical problem, another technical solution adopted in the present application is to provide a robot system including a positioner, a robot, and a processing system. The positioner includes at least two positioner shafts connected in sequence. A workpiece is connected to the final axis of the positioner; the robot includes a base, at least two robot axes connected in sequence, and a tool is connected to the final axis of the robot, and the tool is used to cooperate with the workpiece; the processing system is used for The positioner and / or robot are controlled. The processing system includes a memory and a processor connected to each other. The memory stores a computer program, and the processor is used to call the computer program to execute the method described above.
为解决上述技术问题，本申请采用的又一个技术方案是：提供一种处理系统，该相互连接的存储器和处理器，存储器存储有计算机程序，处理器用于调用计算机程序以执行上述的方法。In order to solve the above technical problem, another technical solution adopted in the present application is to provide a processing system, the interconnected memory and a processor, the memory stores a computer program, and the processor is used to call the computer program to execute the above method.
为解决上述技术问题，本申请采用的又一个技术方案是：提供一种存储装置，该存储装置存储有计算机程序，计算机程序能够被执行以实现上述的方法。In order to solve the above technical problem, another technical solution adopted in the present application is to provide a storage device. The storage device stores a computer program, and the computer program can be executed to implement the foregoing method.
本申请的有益效果是：区别于现有技术的情况，本申请提供一种变位机轴坐标系标定方法、机器人系统及存储装置，能够得到变位机的m轴坐标系相对世界坐标系的变换参数 wA m进而精确得到变位机的m轴坐标系。 The beneficial effect of this application is that, different from the situation of the prior art, this application provides a method for calibrating an axis coordinate system of a positioner, a robot system and a storage device. The parameter w A m is transformed to obtain the m-axis coordinate system of the positioner accurately.
【附图说明】[Brief Description of the Drawings]
图1是本申请实施例机器人与变位机的联动方法的流程示意图；FIG. 1 is a schematic flowchart of a linkage method between a robot and a positioner according to an embodiment of the present application;
图2是本申请实施例获得变换参数 wA u的方法的流程示意图； 2 is a schematic flowchart of a method for obtaining a transformation parameter w A u according to an embodiment of the present application;
图3是本申请实施例获取变换参数 1A q的方法的流程示意图； 3 is a schematic flowchart of a method for obtaining a transformation parameter 1 A q according to an embodiment of the present application;
图4是本申请实施例获取变换参数 wA m的方法的流程示意图； 4 is a schematic flowchart of a method for obtaining a transformation parameter w A m according to an embodiment of the present application;
图5是本申请实施例得到变位机的m轴坐标系的原点相对机器人的基座坐标系的坐标和变位机的m轴中各坐标轴的单位向量的方法的流程示意图；5 is a schematic flowchart of a method for obtaining coordinates of an origin of an m-axis coordinate system of a positioner relative to a base coordinate system of a robot and a unit vector of each coordinate axis in the m-axis of the positioner according to an embodiment of the present application;
图6是本申请实施例获得变换参数 qA u的方法的流程示意图； 6 is a schematic flowchart of a method for obtaining a transformation parameter q A u according to an embodiment of the present application;
图7是本申请实施例获取变换参数 bA u的方法的流程示意图； 7 is a schematic flowchart of a method for obtaining a transformation parameter b A u according to an embodiment of the present application;
图8是本申请实施例机器人系统的结构示意图；8 is a schematic structural diagram of a robot system according to an embodiment of the present application;
图9是本申请实施例变位机的结构示意图；9 is a schematic structural diagram of a positioner according to an embodiment of the present application;
图10是本申请实施例机器人的结构示意图；10 is a schematic structural diagram of a robot according to an embodiment of the present application;
图11是本申请实施例处理系统的结构示意图；11 is a schematic structural diagram of a processing system according to an embodiment of the present application;
图12是本申请实施例存储装置的结构示意图。FIG. 12 is a schematic structural diagram of a storage device according to an embodiment of the present application.
【具体实施方式】【detailed description】
为使本申请的上述目的、特征和优点能够更为明显易懂，下面结合附图，对本申请的具体实施方式做详细的说明。可以理解的是，此处所描述的具体实施例仅用于解释本申请，而非对本申请的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本申请保护的范围。In order to make the above-mentioned objects, features, and advantages of this application more comprehensible, specific implementations of the present application will be described in detail below with reference to the accompanying drawings. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. It should also be noted that, for convenience of description, the drawings only show a part of the structure related to the present application, but not the entire structure. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
本申请中的术语“第一”、“第二”等是用于区别不同对象，而不是用于描述特定顺序。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的 包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。The terms “first”, “second”, and the like in this application are used to distinguish different objects, and are not used to describe a specific order. Furthermore, the terms "including" and "having" as well as any of them are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device containing a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes Other steps or units inherent to these processes, methods, products or equipment.
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。Reference to "an embodiment" herein means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they independent or alternative embodiments that are mutually exclusive with other embodiments. It is clearly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.
在以下的实施例中，变换参数具体可以是齐次变换矩阵，该齐次变换矩阵可以为4×4阶变换矩阵。In the following embodiments, the transformation parameter may specifically be a homogeneous transformation matrix, and the homogeneous transformation matrix may be a 4 × 4 order transformation matrix.
请参阅图1，图1是本申请实施例机器人与变位机的联动方法的流程示意图。Please refer to FIG. 1, which is a schematic flowchart of a linkage method between a robot and a positioner according to an embodiment of the present application.
在本实施例提供的机器人与变位机的联动方法中，执行主体可以为处理系统，该处理系统用于控制变位机和/或机器人。In the linkage method of the robot and the positioner provided in this embodiment, the execution subject may be a processing system, and the processing system is used to control the positioner and / or the robot.
变位机可以包括依序连接的q个变位机轴，其中，该依序连接的q个变位机轴中首尾两轴分别为1轴和q轴，且在变位机的q轴上连接有工件。本申请中，按照该1轴到q轴的连接顺序，该q个变位机轴依序称作变位机的1轴、2轴、…、q轴。The positioner may include q positioner shafts connected in sequence, wherein the first and last two axes of the sequentially connected q positioner shafts are 1 axis and q axis, respectively, and are on the q axis of the positioner. A workpiece is connected. In the present application, in accordance with the connection order of the 1-axis to the q-axis, the q positioner axes are sequentially referred to as the 1-axis, 2-axis, ..., q-axis of the positioner.
机器人可以包括依序连接的f个机器人轴，其中，该依序连接的f个机器人轴中首尾两轴分别为1轴和f轴，且在机器人f轴上连接有工具。本申请中，按照该1轴到f轴的连接顺序，该f个机器人轴依序称作机器人的1轴、2轴、…、f轴。The robot may include f robot axes that are sequentially connected, wherein the first and last two axes of the f robot axes that are sequentially connected are 1 axis and f axis respectively, and a tool is connected to the f axis of the robot. In this application, in accordance with the connection order of the 1-axis to the f-axis, the f robot axes are sequentially referred to as the 1-axis, 2-axis, ..., f-axis of the robot.
变位机的轴的数量应为至少两个，例如变位机的轴的数量可以为两个、三个或者六个等等。在本实施例中，变位机的轴的数量为三个。The number of the axis of the positioner should be at least two, for example, the number of the axis of the positioner can be two, three or six. In this embodiment, the number of axes of the positioner is three.
机器人可以包括基座、依序连接的至少两个机器人轴，且在机器人轴上连接有工具，该工具用于配合工件工作，例如焊接。The robot may include a base, at least two robot axes connected in sequence, and a tool connected to the robot shaft, the tool being used to work with a workpiece, such as welding.
机器人的轴的数量应为至少两个，例如，机器人轴的数量可以为两个、三个或者六个等等。在本实施例中，机器人的轴的数量为六个。The number of robot axes should be at least two. For example, the number of robot axes can be two, three, or six. In this embodiment, the number of axes of the robot is six.
处理系统可以设置在独立于变位机和机器人的设备中，或设置于机器人中，又或设置于变位机中，本申请对此不作限定。The processing system may be provided in a device independent of the positioner and the robot, or in the robot, or in the positioner, which is not limited in this application.
S101：确定变位机的各轴的角度以得到变位机的第一目标位姿，以及确定变位机处于第一目标位姿时机器人的工具坐标系相对变位机的工件坐标系的变换参数 uA v。 S101: Determine the angles of the axes of the positioner to obtain the first target position of the positioner, and determine the transformation of the tool coordinate system of the robot to the workpiece coordinate system of the positioner when the positioner is in the first target position. Parameter u A v .
第一目标位姿和变位机处于第一目标位姿时机器人的工具坐标系相对变位 机的工件坐标系的变换参数 uA v可以为预先设定的。例如，用户可以预先设定随时间变化的变位机的m轴的角度α m(t)，其中，m为变位机的m轴，α m(t)为变位机的m轴随时间变化的角度，m为大于等于1小于等于q的整数，q为变位机的总轴数，以及在变位机的各轴的角度随时间变化时，机器人的工具坐标系相对变位机的工件坐标系的变换参数 uA v(t)，并将α m(t)和 uA v(t)存储至存储装置中，以在实现机器人与变位机的联动时，处理系统可以读取存储器中的α m(t)和 uA v(t)。 The transformation parameter u A v of the tool coordinate system of the robot relative to the workpiece coordinate system of the positioner when the first target posture and the positioner are in the first target posture may be preset. For example, the user can pre-set the angle α m (t) of the m-axis of the positioner that changes with time, where m is the m-axis of the positioner and α m (t) is the m-axis of the positioner with time The angle of change, m is an integer greater than or equal to 1 and less than or equal to q, q is the total number of axes of the positioner, and when the angle of each axis of the positioner changes with time, the tool coordinate system of the robot is relatively The transformation parameters u A v (t) of the workpiece coordinate system, and α m (t) and u A v (t) are stored in the storage device, so that when the robot and the positioner are linked, the processing system can read Α m (t) and u A v (t) in memory.
变位机处于第一目标位姿为变位机的m轴在某一预定时刻t0的角度α m(t0)，变换参数 uA v为某一预定时刻t0的 uA v(t0)的值。 The positioner is in the first target posture as the angle α m (t0) of the m-axis of the positioner at a predetermined time t0, and the transformation parameter u A v is the value of u A v (t0) at a predetermined time t0 .
变位机的各轴的角度可以为变位机的各轴相对水平面的角度，或者预定平面的角度，或者变位机各轴相对各轴坐标系的x轴方向的角度、y轴方向的角度或者z轴方向的角度。变位机的m轴的角度为α m。 The angle of each axis of the positioner can be the angle of each axis of the positioner with respect to the horizontal plane, or the angle of a predetermined plane, or the angle of each axis of the positioner with respect to the x-axis direction and the y-axis direction of each axis coordinate system Or the z-axis angle. The angle of the m-axis of the positioner is α m .
S102：获得变位机处于第一目标位姿时变位机的工件坐标系相对世界坐标系的变换参数 wA u。 S102: Obtain the transformation parameter w A u of the workpiece coordinate system of the positioner relative to the world coordinate system when the positioner is in the first target posture.
其中，获得变换参数 wA u的方法请参阅下述S201～S203的描述。 For a method of obtaining the transformation parameter w A u , refer to the description of S201 to S203 below.
S103：利用 uA v、 wA u以及机器人的每相邻两轴的轴坐标系之间的变换参数，得到机器人的各轴的角度，进而得到机器人的第二目标位姿。 S103: Use the transformation parameters between u A v , w A u and the axis coordinate system of each adjacent two axes of the robot to obtain the angle of each axis of the robot, and then obtain the second target pose of the robot.
利用 uA v、 wA u以及机器人的每相邻两轴的轴坐标系之间的变换参数，得到机器人的各轴的角度，包括：利用 uA v、 wA u得到变位机处于第一目标位姿时机器人的f轴坐标系相对机器人的基座坐标系的变换参数 bA f；利用 bA f和机器人的每相邻两轴的轴坐标系之间的变换参数，得到机器人的各轴的角度。 Use u A v , w A u and the transformation parameters between the axis coordinate systems of each two adjacent axes of the robot to obtain the angle of each axis of the robot, including: using u A v , w A u to get the positioner in the first position The transformation parameter b A f of the robot's f-axis coordinate system relative to the base coordinate system of the robot at a target pose; the transformation parameters between b A f and the axis coordinate system of each adjacent two axes of the robot are used to obtain the robot's The angle of each axis.
其中，利用公式(1)得到变换参数 bA f： Among them, the transformation parameter b A f is obtained by using formula (1):
公式(1)： bA f＝( wA b) -1wA u uA v( fA v) -1。 Formula (1): b A f = ( w A b ) -1w A u u A v ( f A v ) -1 .
其中， wA b为机器人的基座坐标系相对世界坐标系的变换参数； fA v为机器人的工具坐标系相对机器人的f轴的坐标系的变换参数。 Among them, w A b is a transformation parameter of the robot's base coordinate system relative to the world coordinate system; f A v is a transformation parameter of the robot's tool coordinate system relative to the f-axis coordinate system of the robot.
在得到 bA f后，利用公式(2)的得到机器人的各轴的角度： After b A f is obtained, the angles of the axes of the robot are obtained using formula (2):
公式(2)： bA f＝ bB 1R(β 1) 1B 2R(β 2)... f-1B fR(β f)。 Formula (2): b A f = b B 1 R (β 1 ) 1 B 2 R (β 2 ) ... f-1 B f R (β f ).
其中， bB 1为机器人的1轴坐标系相对机器人的基座坐标系的变换参数；β 1、β 2、β f分别为机器人的1轴、2轴、f轴的角度； 1B 2、 f-1B f分别为机器人的2轴坐标系相对机器人的1轴坐标系的变换参数、机器人的f轴坐标系相对机器人的f-1轴坐标系的变换参数；R(β 1)、R(β 2)、R(β f)为机器人的1轴、2轴、f轴在变位机处于第一目标位姿时的旋转参数，f为机器人的总轴数，其中， Among them, b B 1 is a transformation parameter of the robot's 1-axis coordinate system relative to the base coordinate system of the robot; β 1 , β 2 , and β f are the angles of the robot's 1-axis, 2-axis, and f-axis, respectively; 1 B 2 , f-1 B f is the transformation parameter of the robot's 2-axis coordinate system relative to the robot's 1-axis coordinate system, and the f-axis coordinate system of the robot relative to the robot's f-1 axis coordinate system; R (β 1 ), R (β 2 ), R (β f ) are the rotation parameters of the robot's 1-axis, 2-axis, and f-axis when the positioner is in the first target posture, and f is the total number of axes of the robot, where:
Figure PCTCN2018095680-appb-000001
Figure PCTCN2018095680-appb-000001
通过上述方式，本申请实施例机器人与变位机的联动方法能够根据变位机的各轴的角度，得到机器人的各轴的角度，从而实现机器人与变位机的联动。In the above manner, the method for linkage between the robot and the positioner according to the embodiment of the present application can obtain the angle of each axis of the robot according to the angle of each axis of the positioner, thereby realizing the linkage between the robot and the positioner.
请参阅图2，图2是本申请实施例获得变换参数 wA u的方法的流程示意图。 Please refer to FIG. 2, which is a schematic flowchart of a method for obtaining a transformation parameter w A u according to an embodiment of the present application.
S201：获取变位机的q轴坐标系相对变位机的1轴坐标系的变换参数 1A q。 S201: Obtain the transformation parameter 1 A q of the q-axis coordinate system of the positioner relative to the 1-axis coordinate system of the positioner.
其中，变位机的1轴为变位机中依序连接的各轴中的首轴，变位机的q轴为变位机中依序连接的各轴中的尾轴，且变位机的q轴与工件连接。Among them, one axis of the positioner is the first axis among the axes sequentially connected in the positioner, the q axis of the positioner is the tail axis among the axes sequentially connected in the positioner, and the positioner The q-axis is connected to the workpiece.
其中，获取变换参数 1A q的方法请参阅S301～S302。 For the method of obtaining the transformation parameter 1 A q , refer to S301 to S302.
S202：获得变位机的1轴坐标系相对世界坐标系的变换参数 wA 1。 S202: Obtain the transformation parameter w A 1 of the 1-axis coordinate system of the positioner relative to the world coordinate system.
其中，获得变换参数 wA 1的方法有两种，该两种方法的选取取决于变位机在开机后是否移动过。 There are two methods for obtaining the transformation parameter w A 1 , and the selection of the two methods depends on whether the positioner has been moved after the machine is turned on.
具体而言：若检测到变位机的位置相比于变位机开机时无变化，获得变换参数 wA 1的方法为：获取变位机的m轴的轴坐标系相对世界坐标系的变换参数 wA m，其中，m的取值范围为1～q，q为变位机的总轴数；从变换参数 wA m中获取变换参数 wA 1。 Specifically: if it is detected that the position of the positioner has no change compared to when the positioner is turned on, the method for obtaining the transformation parameter w A 1 is: obtaining the transformation of the m-axis axis coordinate system of the positioner relative to the world coordinate system Parameter w A m , where m ranges from 1 to q, where q is the total number of axes of the positioner; the transformation parameter w A 1 is obtained from the transformation parameter w A m .
其中，获取变换参数 wA m的方法请参阅下述S401～S404。 For the method of obtaining the transformation parameter w A m , refer to S401 to S404 described below.
若检测到变位机的位置相比于变位机开机时存在变化，则利用 wA u， 1A q以及 qA u得到变换参数 wA 1。 If it is detected that there is a change in the position of the positioner compared to when the positioner is turned on, then w A u , 1 A q and q A u are used to obtain the transformation parameter w A 1 .
其中， wA 1可以由公式(3)得到： Among them, w A 1 can be obtained by formula (3):
公式(3)： wA 1＝ wA u( 1A q qA u) -1。 Formula (3): w A 1 = w A u ( 1 A q q A u ) -1 .
其中， wA u为 wA b和 bA u依次相乘得到， wA b为机器人的基座坐标系相对世界坐标系的变换参数， bA u为变位机处于第一目标位姿时变位机的工件坐标系相对机器人的基座坐标系的变换参数。 Among them, w A u is obtained by multiplying w A b and b A u in sequence, w A b is the transformation parameter of the robot's base coordinate system relative to the world coordinate system, and b A u is when the positioner is in the first target posture. The transformation parameters of the workpiece coordinate system of the positioner relative to the base coordinate system of the robot.
获得变换参数 bA u的方法请参阅下述S701～S703。 For the method of obtaining the transformation parameter b A u , please refer to the following S701 to S703.
S203：获得变位机的工件坐标系相对变位机的q轴坐标系的变换参数 qA u。 S203: Obtain a transformation parameter q A u of the workpiece coordinate system of the positioner relative to the q-axis coordinate system of the positioner.
获得变换参数 qA u的方法请参阅下述S601～S602。 For the method of obtaining the transformation parameter q A u , please refer to the following S601 to S602.
S202和S203可以同时执行，也可以先执行S203，再执行S202。S202 and S203 can be executed at the same time, or S203 can be executed before S202.
S204：由 wA 1、 1A q以及 qA u计算得到 wA u。 S204: w A u obtained by the A 1, 1 A q and q A u calculate w.
其中， wA u由 wA 1、 1A q以及 qA u依次相乘得到，具体而言， wA u＝ wA 1 1A q qA u。 Wherein, w A u is obtained by multiplying w A 1 , 1 A q, and q A u in order. Specifically, w A u = w A 1 1 A q q A u .
请参阅图3，图3是本申请实施例获取变换参数 1A q的方法的流程示意图。 Please refer to FIG. 3, which is a schematic flowchart of a method for obtaining a transformation parameter 1 A q according to an embodiment of the present application.
S301：利用变换参数 wA m得到变位机处于第一目标位姿时变位机的m轴坐标系相对变位机的m-1轴坐标系的变换参数 m-1A m。 S301: Use the transformation parameter w A m to obtain the transformation parameter m-1 A m of the m-axis coordinate system of the positioner relative to the m-1 axis coordinate system of the positioner when the positioner is in the first target posture.
其中，变换参数 m-1A m可以由公式(4)得到： Among them, the transformation parameter m-1 A m can be obtained by formula (4):
公式(4)： m-1A m＝( wA 1R(α 1) 1A 2R(α 2)… m-2A m-1R(α m-1)) -1wA m。 Formula (4): m-1 A m = ( w A 1 R (α 1 ) 1 A 2 R (α 2 ) ... m-2 A m-1 R (α m-1 )) -1w A m .
其中，
Figure PCTCN2018095680-appb-000002
among them,
Figure PCTCN2018095680-appb-000002
应理解，由于当m＝1时， 0A 1和α 0没有意义，因此，S301中的m为大于等于2小于等于q的整数，q为变位机的总轴数。 It should be understood that since 0 A 1 and α 0 are meaningless when m = 1, m in S301 is an integer greater than or equal to 2 and less than or equal to q, and q is the total number of axes of the positioner.
其中，α 1、α 2、α m-1为变位机处于第一目标位姿时，变位机的1轴、2轴、m-1轴的角度；R(α 1)、R(α 2)、R(α m-1)为变位机处于第一目标位姿时，变位机的1轴、2轴、m-1轴的旋转参数； 1A 2、 m-2A m-1为变位机处于第一目标位姿时，变位机的2轴坐标系相对变位机的1轴坐标系的变换参数、变位机的m-2轴坐标系相对变位机的m-1轴坐标系的变换参数。 Among them, α 1 , α 2 , and α m-1 are the angles of the 1-axis, 2-axis, and m-1 axis of the positioner when the positioner is in the first target posture; R (α 1 ), R (α 2 ), R (α m-1 ) are the rotation parameters of the 1-axis, 2-axis, and m-1 axis of the positioner when the positioner is in the first target posture; 1 A 2 , m-2 A m- 1 is the transformation parameter of the 2-axis coordinate system of the positioner relative to the 1-axis coordinate system of the positioner when the positioner is in the first target posture, m-2 of the positioner relative to m of the positioner -1 axis coordinate system transformation parameters.
具体而言：在公式(4)中，应先计算变换参数 1A 2，其中， 1A 2＝( wA 1R(α 1)) -1wA 2；再得到 1A 2后，计算变换参数 2A 3，其中， 2A 3＝( wA 1R(α 1) 1A 2R(α 2)) -1wA 3，以此类推，直至计算到变换参数 q-1A q，其中， q-1A q＝( wA 1R(α 1) 1A 2R(α 2)… q-1A qR(α q-1)) -1wA q。 Specifically: In the formula (4), the transformation parameter 1 A 2 should be calculated first, where 1 A 2 = ( w A 1 R (α 1 )) -1w A 2 ; after obtaining 1 A 2 , calculate the transformation Parameter 2 A 3 , where 2 A 3 = ( w A 1 R (α 1 ) 1 A 2 R (α 2 )) -1w A 3 , and so on, until the transformation parameter q-1 A q is calculated, where , Q-1 A q = ( w A 1 R (α 1 ) 1 A 2 R (α 2 ) ... q-1 A q R (α q-1 )) -1w A q .
变换参数 wA m的获取方法请参阅下述的S401～S404。 For how to obtain the conversion parameter w A m , refer to S401 to S404 described below.
S302：利用 m-1A m以及变位机处于第一目标位姿时变位机的m轴的旋转参数R(α m)，得到变换参数 1A q。 S302: Use m-1 A m and the rotation parameter R (α m ) of the m-axis of the positioner when the positioner is in the first target posture to obtain a transformation parameter 1 A q .
其中α m为变位机处于第一目标位姿时m轴的角度。 Where α m is the angle of the m axis when the positioner is in the first target posture.
其中，旋转参数
Figure PCTCN2018095680-appb-000003
其中，m为大于等于1小于等于q的整数，q为变位机的总轴数。 Among them, the rotation parameter
Figure PCTCN2018095680-appb-000003
Among them, m is an integer greater than or equal to 1 and less than or equal to q, and q is the total number of axes of the positioner.
可以利用公式(5)，得到变换参数 1A q。 Equation (5) can be used to obtain the transformation parameter 1 A q .
公式(5)： 1A q＝R(α 1) 1A 2R(α 2)… q-1A qR(α q)。 Formula (5): 1 A q = R (α 1 ) 1 A 2 R (α 2 ) ... q-1 A q R (α q ).
其中，α 1、α 2、α q为变位机处于第一目标位姿时，变位机的1轴、2轴、q 轴的角度；R(α 1)、R(α 2)、R(α q)为变位机处于第一目标位姿时，变位机的1轴、2轴、q轴的旋转参数， 1A 2、 q-1A q为变位机的2轴坐标系相对变位机的1轴坐标系的变换参数、变位机的q轴坐标系相对变位机的q-1轴坐标系的变换参数。 Among them, α 1 , α 2 , and α q are the angles of the 1-axis, 2-axis, and q-axis of the positioner when the positioner is in the first target posture; R (α 1 ), R (α 2 ), R (α q ) is the 1-axis, 2-axis, and q-axis rotation parameters of the positioner when the positioner is in the first target posture, 1 A 2 and q-1 A q are the 2-axis coordinate system of the positioner Transformation parameters of the 1-axis coordinate system of the relative positioner, and transformation parameters of the q-axis coordinate system of the positioner relative to the q-1 axis coordinate system of the positioner.
请参阅图4，图4是本申请实施例获取变换参数 wA m的方法的流程示意图。 Please refer to FIG. 4, which is a schematic flowchart of a method for obtaining a transformation parameter w A m according to an embodiment of the present application.
S401：旋转变位机的m轴至n m个不同的角度。 S401: Rotate the m-axis of the positioner to n m different angles.
其中n m为大于等于3的整数，m为大于等于1小于等于q的整数，q为变位机的总轴数。 Where n m is an integer greater than or equal to 3, m is an integer greater than or equal to 1 and less than or equal to q, and q is the total number of axes of the positioner.
具体而言，可以旋转变位机的1轴至n 1个不同的角度、旋转变位机的2轴至n 2个不同的角度、…、旋转变位机的q轴至n q个不同的角度，其中，n 1、n 2、…、n q的值可以均不同，也可以有至少两个相同，本申请对此不作限定，只要能够保证n 1、n 2、…、n q的值均大于等于3即可。 Specifically, it is possible to rotate 1 position of the positioner to n 1 different angles, 2 axis of positioner to n 2 different angles, ..., q axis of the positioner to n q different Angle, where n 1 , n 2 , ..., n q may have different values, or at least two are the same, which is not limited in this application, as long as the values of n 1 , n 2 , ..., n q can be guaranteed All are 3 or more.
在本步骤中，旋转变位机的m轴至n m个不同的角度时，应保持变位机的1轴～m-1轴不动。例如，当旋转变位机的2轴至n 2个不同的角度时，应保持变位机的1轴不动；当旋转变位机的3轴至n 3个不同的角度时，应保持变位机的1轴和二轴不动；…当旋转变位机的q轴至n q个不同的角度时，应保持变位机的1轴～q-1轴不动。 In this step, when rotating the m-axis of the positioner to n m different angles, the 1-m-1 axis of the positioner should be kept stationary. For example, when rotating the positioner's 2 axes to n 2 different angles, keep the positioner's 1 axis stationary; when rotating the positioner's 3 axes to n 3 different angles, it should keep changing The 1st and 2nd axes of the positioner do not move;… When rotating the q-axis of the positioner to n q different angles, the 1-q-1 axis of the positioner should be kept stationary.
S402：在变位机的m轴每旋转一个角度时，使机器人的工具中心点TCP接触变位机的m轴上的同一位置，以得到机器人的工具中心点TCP相对机器人的基座坐标系的n m个第一TCP基位置坐标。 S402: Each time the m axis of the positioner rotates by an angle, the tool center point TCP of the robot is brought into contact with the same position on the m axis of the positioner to obtain the tool center point TCP of the robot relative to the base coordinate system of the robot. n m first TCP base position coordinates.
具体而言：可以先令机器人的工具中心点TCP接触1轴上的同一位置，以得到机器人的工具中心点TCP相对机器人的基座坐标系的n 1个第一TCP基位置坐标；接着保持变位机的1轴的角度不变，旋转变位机的2轴至n 2个不同的角度，使机器人的工具中心点TCP接触2轴上的同一位置，以得到机器人的工具中心点TCP相对机器人的基座坐标系的n 2个第一TCP基位置坐标；以此类推，直到保持变位机的1轴～q-1轴的角度不变，旋转变位机的q轴至n q个不同的角度，令机器人的工具中心点TCP接触q轴上的同一位置，以得到机器人的工具中心点TCP相对机器人的基座坐标系的n q个第一TCP基位置坐标。 Specifically: the tool center point TCP of the robot can be first brought into contact with the same position on 1 axis to obtain the n 1 first TCP base position coordinates of the tool center point TCP of the robot relative to the base coordinate system of the robot; The angle of the 1 axis of the position machine is unchanged. Rotate the 2 axis of the positioner to 2 different angles to make the tool center point TCP of the robot contact the same position on the 2 axis to obtain the tool center point TCP of the robot relative to the robot. N 2 first TCP base position coordinates of the base coordinate system; and so on, until the angle of 1 to q-1 axis of the positioner is maintained, and the q axis of the positioner is rotated to n q different Angle of the tool center point TCP of the robot to contact the same position on the q axis to obtain n q first TCP base position coordinates of the tool center point TCP of the robot relative to the base coordinate system of the robot.
S403：利用n m个第一TCP基位置坐标得到变位机的m轴坐标系的原点相对机器人的基座坐标系的坐标，和变位机的m轴坐标系中各坐标轴的单位向量。 S403: Use the n m first TCP base position coordinates to obtain the coordinates of the origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot, and the unit vector of each coordinate axis in the m-axis coordinate system of the positioner.
变位机的m轴坐标系的原点相对机器人的基座坐标系的坐标可以用
Figure PCTCN2018095680-appb-000004
表示，变位机的m轴坐标系中各坐标轴的单位向量可以用
Figure PCTCN2018095680-appb-000005
表示。本步骤中的m为大于等于1且小于等于q的整数，q为变位机的总轴数。 The origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot can be used
Figure PCTCN2018095680-appb-000004
Indicates that the unit vector of each coordinate axis in the m-axis coordinate system of the positioner can be used
Figure PCTCN2018095680-appb-000005
Means. In this step, m is an integer greater than or equal to 1 and less than or equal to q, and q is the total number of axes of the positioner.
承前所述，利用n 1个第一TCP基位置坐标，得到1轴坐标系的原点相对机器人的基座坐标系的坐标
Figure PCTCN2018095680-appb-000006
以及变位机的1轴坐标系中各坐标轴的单位向量
Figure PCTCN2018095680-appb-000007
利用n 2个第一TCP基位置坐标，得到2轴坐标系的原点相对机器人的基座坐标系的坐标
Figure PCTCN2018095680-appb-000008
以及变位机的2轴坐标系中各坐标轴的单位向量
Figure PCTCN2018095680-appb-000009
以此类推，直到利用n q个第一TCP基位置坐标，得到2轴坐标系的原点相对机器人的基座坐标系的坐标
Figure PCTCN2018095680-appb-000010
以及变位机的q轴坐标系中各坐标轴的单位向量
Figure PCTCN2018095680-appb-000011
As mentioned earlier, the coordinates of the origin of the 1-axis coordinate system with respect to the base coordinate system of the robot are obtained using n 1 first TCP base position coordinates.
Figure PCTCN2018095680-appb-000006
And the unit vector of each coordinate axis in the 1-axis coordinate system of the positioner
Figure PCTCN2018095680-appb-000007
Use n 2 first TCP base position coordinates to obtain the coordinates of the origin of the 2-axis coordinate system relative to the base coordinate system of the robot
Figure PCTCN2018095680-appb-000008
And the unit vector of each coordinate axis in the 2-axis coordinate system of the positioner
Figure PCTCN2018095680-appb-000009
And so on, until the n q first TCP base position coordinates are used to obtain the coordinates of the origin of the 2-axis coordinate system relative to the base coordinate system of the robot
Figure PCTCN2018095680-appb-000010
And the unit vector of each coordinate axis in the q-axis coordinate system of the positioner
Figure PCTCN2018095680-appb-000011
得到变位机的m轴坐标系的原点相对机器人的基座坐标系的坐标，和变位机的m轴坐标系中各坐标轴的单位向量的具体步骤，请参阅下述S501～S504。For the detailed steps of obtaining the coordinates of the origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot and the unit vector of each coordinate axis in the m-axis coordinate system of the positioner, please refer to the following S501 to S504.
S404：由变位机的m轴坐标系的原点相对机器人的基座坐标系的坐标，和变位机的m轴坐标系中各坐标轴的单位向量得到变换参数 wA m。 S404: The transformation parameter w A m is obtained from the coordinates of the origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot, and the unit vector of each coordinate axis in the m-axis coordinate system of the positioner.
具体而言：由m轴坐标系的原点相对机器人的基座坐标系的坐标，和变位机的m轴坐标系中各坐标轴的单位向量得到变换参数 wA m，包括：利用变位机的m轴坐标系的原点相对机器人的基座坐标系的坐标，和变位机的m轴坐标系中各坐标轴的单位向量，得到变位机的m轴坐标系相对机器人的基座坐标系的变换参数 bA m；利用公式(6)得到变换参数 wA m： Specifically, the transformation parameter w A m is obtained from the coordinates of the origin of the m-axis coordinate system relative to the base coordinate system of the robot and the unit vector of each coordinate axis in the m-axis coordinate system of the positioner, including: using the positioner The coordinates of the origin of the m-axis coordinate system relative to the base coordinate system of the robot and the unit vector of each coordinate axis in the m-axis coordinate system of the positioner, to obtain the m-axis coordinate system of the positioner relative to the base coordinate system of the robot Transformation parameter b A m ; use the formula (6) to obtain the transformation parameter w A m :
公式(6)： wA m＝ wA b bA m。 Formula (6): w A m = w A b b A m .
其中，
Figure PCTCN2018095680-appb-000012
m为大于等于1小于等于q的整数，q为变位机的总轴数。
Figure PCTCN2018095680-appb-000013
分别为变位机的m轴坐标系x轴、y轴、z轴方向的单位向量；
Figure PCTCN2018095680-appb-000014
为m轴坐标系的原点相对机器人的基座坐标系的坐标。 among them,
Figure PCTCN2018095680-appb-000012
m is an integer greater than or equal to 1 and less than or equal to q, and q is the total number of axes of the positioner.
Figure PCTCN2018095680-appb-000013
Unit vectors in the x-axis, y-axis, and z-axis directions of the m-axis coordinate system of the positioner;
Figure PCTCN2018095680-appb-000014
Is the coordinate of the origin of the m-axis coordinate system relative to the base coordinate system of the robot.
承前所述，利用
Figure PCTCN2018095680-appb-000015
得到 wA 1＝ wA b bA 1；利用
Figure PCTCN2018095680-appb-000016
得到 wA 2＝ wA b bA 2；以此类推，直到利用
Figure PCTCN2018095680-appb-000017
得到 wA q＝ wA b bA q。 As mentioned before, use
Figure PCTCN2018095680-appb-000015
Get w A 1 = w A b b A 1 ; use
Figure PCTCN2018095680-appb-000016
Get w A 2 = w A b b A 2 ; and so on, until
Figure PCTCN2018095680-appb-000017
This gives w A q = w A b b A q .
在得到利用 wA m后，还可以利用 wA m计算得到变位机的m轴坐标系。 After utilized w A m, m may also be obtained axis coordinate system positioner calculated using w A m.
通过上述方法，能够得到变位机处于第一目标位姿时，变位机的m轴坐标系相对世界坐标系的变换参数 wA m，进而精确得到变位机的各轴坐标系位置。更进一步地，用户可以对变位机的各轴的角度变化情况预先设定，从而使处理系 统能够得到随时间变化的变位机的各轴坐标系位置，进而使处理系统能够对变位机上的工件位置进行精确的控制。 Through the above method, when the positioner is in the first target posture, the transformation parameter w A m of the m-axis coordinate system of the positioner relative to the world coordinate system can be obtained, and then the positions of the axis coordinate systems of the positioner can be accurately obtained. Furthermore, the user can pre-set the change of the angle of each axis of the positioner, so that the processing system can obtain the position of each axis coordinate system of the positioner that changes with time, so that the processing system can The workpiece position is precisely controlled.
通过上述方式，本实施例能够得到变位机的m轴坐标系相对世界坐标系的变换参数 wA m进而精确得到变位机的m轴坐标系。 In the above manner, this embodiment can obtain the transformation parameter w A m of the m-axis coordinate system of the positioner relative to the world coordinate system, and then accurately obtain the m-axis coordinate system of the positioner.
请参阅图5，图5是本申请实施例得到变位机的m轴坐标系的原点相对机器人的基座坐标系的坐标和变位机的m轴坐标系中各坐标轴的单位向量的方法的流程示意图。Please refer to FIG. 5. FIG. 5 is a method for obtaining the origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot and the unit vector of each coordinate axis in the m-axis coordinate system of the positioner according to the embodiment of the present application. Flow diagram.
S501：由n m个第一TCP基位置坐标形成k m个位置坐标组合。 S501: Form k m position coordinate combinations from n m first TCP base position coordinates.
其中，每三个第一TCP基位置坐标组成一位置坐标组合，k m为大于或等于1的整数。本步骤中的m为大于等于1小于等于q的整数，q为变位机的总轴数。 Wherein, every three first TCP base position coordinates form a position coordinate combination, and k m is an integer greater than or equal to 1. In this step, m is an integer greater than or equal to 1 and less than or equal to q, and q is the total number of axes of the positioner.
具体而言，
Figure PCTCN2018095680-appb-000018
in particular,
Figure PCTCN2018095680-appb-000018
S502：利用k m个位置坐标组合得到k m个原点相对机器人的基座坐标系的坐标。 S502: Use k m position coordinate combinations to obtain the coordinates of k m origins relative to the base coordinate system of the robot.
S503：利用k m个原点相对机器人的基座坐标系的坐标，得到变位机的m轴坐标系的原点相对机器人的基座坐标系的坐标。 S503: using robot coordinate relative to the origin of the base coordinate system, the m k, m-axis to obtain the coordinate origin of the coordinate system positioner opposite the robot base coordinate system.
具体而言，当k m为1时，将1个原点相对机器人的基座坐标系的坐标作为变位机的m轴坐标系的原点相对机器人的基座坐标系的坐标。 Specifically, when the K m is 1, the coordinates of an origin of the base coordinate system relative to the robot as the origin of coordinates of the m-axis of the coordinate system positioner opposite the robot base coordinate system.
当k m大于1时，将k m个原点相对机器人的基座坐标系的坐标进行算术平均，得到变位机的m轴坐标系的原点相对机器人的基座坐标系的坐标。即，利用公式(7)得到变位机的m轴坐标系的原点相对机器人的基座坐标系的坐标
Figure PCTCN2018095680-appb-000019
When the K m is greater than 1, the K m th coordinate origin relative to the robot base coordinate system are arithmetically averaged to obtain the m-axis coordinate origin of the coordinate system positioner opposite the robot base coordinate system. That is, the coordinates of the origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot are obtained by using formula (7).
Figure PCTCN2018095680-appb-000019
公式(7)：
Figure PCTCN2018095680-appb-000020
Formula (7):
Figure PCTCN2018095680-appb-000020
其中，
Figure PCTCN2018095680-appb-000021
为变位机的m轴坐标系第j个原点相对机器人的基座坐标系的坐标。j为大于等于1小于等于k m的整数。 among them,
Figure PCTCN2018095680-appb-000021
It is the coordinate of the j-th origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot. j is an integer from 1 to k m .
S504：利用k m个位置坐标组合和变位机的m轴坐标系的原点相对机器人的基座坐标系的坐标，得到变位机的m轴坐标系中各坐标轴的单位向量。 S504: The unit vector of each coordinate axis in the m-axis coordinate system of the positioner is obtained by using the combination of k m position coordinates and the coordinates of the origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot.
通过公式(8)～公式(12)并利用最小二乘法获取变位机的m轴坐标系中各坐标轴的单位向量：The unit vectors of each coordinate axis in the m-axis coordinate system of the positioner are obtained by using formulas (8) to (12) and the least square method:
公式(8)：
Figure PCTCN2018095680-appb-000022
Formula (8):
Figure PCTCN2018095680-appb-000022
公式(9)：
Figure PCTCN2018095680-appb-000023
Formula (9):
Figure PCTCN2018095680-appb-000023
公式(10)：
Figure PCTCN2018095680-appb-000024
Formula (10):
Figure PCTCN2018095680-appb-000024
公式(11)：
Figure PCTCN2018095680-appb-000025
Formula (11):
Figure PCTCN2018095680-appb-000025
公式(12)：
Figure PCTCN2018095680-appb-000026
Formula (12):
Figure PCTCN2018095680-appb-000026
其中，
Figure PCTCN2018095680-appb-000027
分别为为第j个位置坐标组合中的三个第一TCP基位置坐标，j为大于等于1小于等于k m的整数；
Figure PCTCN2018095680-appb-000028
为由第j个位置坐标组合确定的z坐标轴的单位向量；θ ij为变位机的m轴的第j个位置坐标组合中的第i个角度；
Figure PCTCN2018095680-appb-000029
为变位机的m轴的第j个位置坐标组合中的第i个第一TCP基位置坐标；
Figure PCTCN2018095680-appb-000030
Figure PCTCN2018095680-appb-000031
分别为m轴坐标系中x、y、z坐标轴的单位向量。 among them,
Figure PCTCN2018095680-appb-000027
Are three position coordinates of a first TCP yl j-th position coordinates combination, j is greater than or equal to 1 k an integer less than or equal to m;
Figure PCTCN2018095680-appb-000028
Is the unit vector of the z-coordinate axis determined by the j-th position coordinate combination; θ ij is the i-th angle in the j-th position coordinate combination of the m-axis of the positioner;
Figure PCTCN2018095680-appb-000029
The i-th first TCP base position coordinate in the j-th position coordinate combination of the m-axis of the positioner;
Figure PCTCN2018095680-appb-000030
Figure PCTCN2018095680-appb-000031
The unit vectors are the x, y, and z coordinate axes in the m-axis coordinate system.
由于
Figure PCTCN2018095680-appb-000032
以及
Figure PCTCN2018095680-appb-000033
为k m个坐标系中各坐标轴的单位向量和k m个原点相对机器人的基座坐标系的坐标的平均结果，且获取变位机的m轴坐标系中各坐标轴的单位向量的方法为利用最小二乘法获取，因此，能够使得到的
Figure PCTCN2018095680-appb-000034
Figure PCTCN2018095680-appb-000035
以及
Figure PCTCN2018095680-appb-000036
更加准确。 due to
Figure PCTCN2018095680-appb-000032
as well as
Figure PCTCN2018095680-appb-000033
A method of averaging the unit vector of each coordinate axis in the k m coordinate systems and the coordinates of the k m origin with respect to the base coordinate system of the robot, and obtaining the unit vector of each coordinate axis in the m axis coordinate system of the positioner In order to obtain using the least squares method,
Figure PCTCN2018095680-appb-000034
Figure PCTCN2018095680-appb-000035
as well as
Figure PCTCN2018095680-appb-000036
more precise.
请参阅图6，图6是本申请实施例获得变换参数 qA u的方法的流程示意图。 Please refer to FIG. 6, which is a schematic flowchart of a method for obtaining a transformation parameter q A u according to an embodiment of the present application.
S601：获取变位机处于第一目标位姿时变位机的工件坐标系相对机器人的基座坐标系的变换参数 bA u。 S601: Obtain a transformation parameter b A u of the workpiece coordinate system of the positioner relative to the base coordinate system of the robot when the positioner is in the first target posture.
获取变换参数 bA u的方法请参阅S701～S703。 For the method of obtaining the transformation parameter b A u , refer to S701 to S703.
S602：利用 bA u得到变换参数 qA u。 S602: Use b A u to obtain the transformation parameter q A u .
利用公式(13)得到变换参数 qA u： Use formula (13) to obtain the transformation parameter q A u :
公式(13)： qA u＝( wA 1 1A q) -1wA b bA u。 Formula (13): q A u = ( w A 1 1 A q ) -1w A b b A u .
其中， wA b为机器人基座坐标系相对世界坐标系的变换参数。 Among them, w A b is a transformation parameter of the robot base coordinate system relative to the world coordinate system.
请参阅图7，图7是本申请实施例获取变换参数 bA u的方法的流程示意图。 Please refer to FIG. 7, which is a schematic flowchart of a method for obtaining a transformation parameter b A u according to an embodiment of the present application.
S701：令机器人的工具中心点TCP碰触变位机的工件坐标系上至少三个位置，以得到机器人的工具中心点TCP相对机器人的基座坐标系的至少三个第二TCP基位置坐标。S701: Make the tool center point TCP of the robot touch at least three positions on the workpiece coordinate system of the positioner to obtain at least three second TCP base position coordinates of the tool center point TCP of the robot relative to the base coordinate system of the robot.
其中，令机器人的工具中心点TCP碰触变位机的工件上至少三个位置，包括：令机器人的工具中心点TCP碰触变位机的工件坐标系的原点、变位机的工件坐标系xOy平面上y>0一侧的一点、变位机的工件坐标系中x轴正方向上的一点。Among them, the tool center point TCP of the robot touches at least three positions on the workpiece of the positioner, including: the tool center point TCP of the robot touches the origin of the workpiece coordinate system of the positioner, the workpiece coordinate system of the positioner A point on the y> 0 side of the xOy plane, a point in the positive direction of the x axis in the workpiece coordinate system of the positioner.
S702：利用至少三个第二TCP基位置坐标计算变位机的工件坐标系相对机器人的基座坐标系的坐标，和变位机的工件坐标系中各坐标轴的单位向量。S702: Calculate the coordinates of the workpiece coordinate system of the positioner relative to the base coordinate system of the robot by using at least three second TCP base position coordinates, and a unit vector of each coordinate axis in the workpiece coordinate system of the positioner.
利用公式(14)～公式(16)得到变位机的工件坐标系中各坐标轴的单位向量：Use formulas (14) to (16) to obtain the unit vectors of each coordinate axis in the workpiece coordinate system of the positioner:
公式(14)：
Figure PCTCN2018095680-appb-000037
Formula (14):
Figure PCTCN2018095680-appb-000037
公式(15)：
Figure PCTCN2018095680-appb-000038
Formula (15):
Figure PCTCN2018095680-appb-000038
公式(16)：
Figure PCTCN2018095680-appb-000039
Formula (16):
Figure PCTCN2018095680-appb-000039
其中，
Figure PCTCN2018095680-appb-000040
分别是变位机的工件坐标系的x、y、z坐标轴的单位向量； among them,
Figure PCTCN2018095680-appb-000040
Unit vectors of the x, y, and z coordinate axes of the workpiece coordinate system of the positioner;
bp x、 bp y、 bp c分别是机器人的工具中心点TCP碰触到的变位机的工件坐标系中x轴正方向上的一点、变位机的工件坐标系xOy平面上y>0一侧的一点、变位机的工件坐标系的原点时，机器人的工具中心点TCP相对机器人的基座坐标系的坐标。 b p x , b p y , b p c are respectively a point in the positive direction of the x axis of the positioner's workpiece coordinate system touched by the tool center point TCP of the robot, and the positioner's workpiece coordinate system on the xOy plane. At a point on the 0 side and the origin of the workpiece coordinate system of the positioner, the coordinates of the tool center point TCP of the robot relative to the base coordinate system of the robot.
S703：利用变位机的工件坐标系相对机器人的基座坐标系的坐标，和变位机的工件坐标系中各坐标轴的单位向量，得到变换参数 bA u。 S703: Use the coordinate of the workpiece coordinate system of the positioner relative to the base coordinate system of the robot and the unit vector of each coordinate axis in the workpiece coordinate system of the positioner to obtain the transformation parameter b A u .
其中，利用 bp c、
Figure PCTCN2018095680-appb-000041
得到变换参数 bA u，具体而言：
Figure PCTCN2018095680-appb-000042
Among them, using b p c ,
Figure PCTCN2018095680-appb-000041
Get the transformation parameter b A u , specifically:
Figure PCTCN2018095680-appb-000042
请参阅图8～图10，图8是本申请实施例机器人系统的结构示意图，图9是本申请实施例变位机的结构示意图，图10是本申请实施例机器人的结构示意图。Please refer to FIGS. 8 to 10. FIG. 8 is a schematic structural diagram of a robot system according to an embodiment of the present application, FIG. 9 is a schematic structural diagram of a positioner according to an embodiment of the present application, and FIG.
在本实施例中，机器人系统80包括变位机81、机器人82以及处理系统83，变位机81包括由依序连接的至少两个变位机轴811，且在变位机的q轴上连接有工件812；机器人82包括基座821、依序连接的至少两个机器人轴822，且在机器人的f轴上连接有工具823，工具823用于配合工件812工作；以及用于控制变位机和/或机器人的处理系统83，处理系统83包括相互连接的存储器831和处理器832，存储器831存储有计算机程序，处理器832用于调用计算机程序以执行上述任一实施例的方法。In this embodiment, the robot system 80 includes a positioner 81, a robot 82, and a processing system 83. The positioner 81 includes at least two positioner shafts 811 connected in sequence, and is connected on the q axis of the positioner. There is a workpiece 812; the robot 82 includes a base 821, at least two robot axes 822 connected in sequence, and a tool 823 is connected to the f-axis of the robot, and the tool 823 is used to cooperate with the workpiece 812 and control the positioner And / or a processing system 83 of the robot, the processing system 83 includes a memory 831 and a processor 832 connected to each other. The memory 831 stores a computer program, and the processor 832 is configured to call the computer program to execute the method of any one of the foregoing embodiments.
可选地，依序连接的至少两个变位机轴811可以包括变位机的1轴8111、变位机的2轴8112、…、变位机第的m轴8113、…、变位机的q轴8114；依序连接的至少两个机器人轴822可以包括机器人的1轴8221、机器人的2轴8222、…机器人的g轴8223、…、机器人的f轴8224。Optionally, the at least two positioner shafts 811 connected in sequence may include a 1st shaft 8111 of the positioner, a 2nd shaft 8112 of the positioner, ..., an m-axis 8113 of the positioner, ..., a positioner The q-axis 8114; the at least two robot axes 822 connected in sequence may include the robot's 1-axis 821, the robot's 2-axis 8822, ... the robot's g-axis 8223, ..., and the robot's f-axis 8224.
可选地，处理系统83可以设置在独立于变位机81和机器人82的设备中，或可以设置于机器人82中，又或可以设置于变位机81中。在本实施例中，处理系统83设置在独立于变位机81和机器人82的设备中。在其它实施例中，处 理系统83可以设置于机器人82中或者设置于变位机81中。本申请对此不作限定。Alternatively, the processing system 83 may be provided in a device separate from the positioner 81 and the robot 82, or may be provided in the robot 82, or may be provided in the positioner 81. In the present embodiment, the processing system 83 is provided in a device separate from the positioner 81 and the robot 82. In other embodiments, the processing system 83 may be provided in the robot 82 or in the positioner 81. This application does not limit this.
请参阅图11，图11是本申请实施例处理系统的结构示意图。Please refer to FIG. 11, which is a schematic structural diagram of a processing system according to an embodiment of the present application.
在本实施例中，处理系统110包括相互连接的存储器111和处理器112，存储器111存储有计算机程序，处理器112用于调用计算机程序以执行上述任一实施的方法。In this embodiment, the processing system 110 includes a memory 111 and a processor 112 that are connected to each other. The memory 111 stores a computer program, and the processor 112 is configured to call the computer program to execute any of the foregoing methods.
可选地，本实施例中的处理系统110可以与上述机器人系统90中的处理系统93可以相同，也可以不同。Optionally, the processing system 110 in this embodiment may be the same as or different from the processing system 93 in the robot system 90 described above.
请参阅图12，图12是本申请实施例存储装置的结构示意图。Please refer to FIG. 12, which is a schematic structural diagram of a storage device according to an embodiment of the present application.
在本实施例中，存储装置120存储有计算机程序121，该计算机程序121能够被执行以实现上述任意一实施例的方法。In this embodiment, the storage device 120 stores a computer program 121, which can be executed to implement the method of any one of the foregoing embodiments.
可选地，存储装置120可以为U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟、光盘或者服务器等各种可以存储程序代码的介质。Optionally, the storage device 120 may be a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, an optical disk, or a server. Program code medium.
可选地，该存储装置120还可以为上述实施例中的存储器831或者存储器111。Optionally, the storage device 120 may also be the memory 831 or the memory 111 in the foregoing embodiment.
区别于现有技术的情况，本申请机器人与变位机的联动方法能够根据变位机的各轴的角度，得到机器人的各轴的角度，从而实现机器人与变位机的联动。Different from the situation of the prior art, the method for linkage between a robot and a positioner according to the present application can obtain the angle of each axis of the robot according to the angle of each axis of the positioner, thereby realizing the linkage between the robot and the positioner.
以上所述仅为本申请的实施方式，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其它相关的技术领域，均同理包括在本申请的专利保护范围内。The above description is only an implementation of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of the application, or directly or indirectly applied to other related technologies The fields are equally covered by the patent protection scope of this application.

Claims (10)

  1. 一种变位机轴坐标系标定方法，其特征在于，所述方法包括：A method for calibrating an axis coordinate system of a positioner, wherein the method includes:
    旋转所述变位机的m轴至n m个不同的角度，其中，n m为大于等于3的整数； Rotating the m-axis of the positioner to n m different angles, where n m is an integer greater than or equal to 3;
    在所述变位机的m轴每旋转一个角度时，使所述机器人的工具中心点TCP接触所述变位机的m轴上的同一位置，以得到所述机器人的工具中心点TCP相对所述机器人的基础坐标系的n m个TCP基位置坐标； When the m-axis of the positioner rotates by one angle, the tool center point TCP of the robot is brought into contact with the same position on the m-axis of the positioner to obtain the relative position The n m TCP base position coordinates of the robot's basic coordinate system;
    利用所述n m个TCP基位置坐标得到所述变位机的m轴坐标系相对世界坐标系的变换参数 wA m； Using the n m TCP base position coordinates to obtain a transformation parameter w A m of the m-axis coordinate system of the positioner relative to a world coordinate system;
    利用 wA m计算得到所述变位机的m轴坐标系； Use w A m to calculate the m-axis coordinate system of the positioner;
    其中，m为大于等于1且小于等于q的整数，q为变位机的总轴数。Among them, m is an integer greater than or equal to 1 and less than or equal to q, and q is the total number of axes of the positioner.
  2. 根据权利要求1所述的方法，其特征在于，所述利用所述n m个TCP基位置坐标得到所述变位机的m轴坐标系相对世界坐标系的变换参数 wA m，包括： The method according to claim 1, wherein the obtaining the transformation parameter w A m of the m-axis coordinate system of the positioner relative to a world coordinate system by using the n m TCP base position coordinates comprises:
    利用所述n m个TCP基位置坐标得到所述变位机的m轴坐标系的原点相对所述机器人基础坐标系的坐标，和所述变位机的m轴坐标系中各坐标轴的单位向量； Use the n m TCP base position coordinates to obtain the coordinates of the origin of the m-axis coordinate system of the positioner relative to the robot basic coordinate system, and the units of each coordinate axis in the m-axis coordinate system of the positioner vector;
    由所述变位机的m轴坐标系的原点相对所述机器人基础坐标系的坐标，和所述变位机的m轴坐标系中各坐标轴的单位向量得到所述变换参数 wA m。 The transformation parameter w A m is obtained from the coordinates of the origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot and the unit vector of each coordinate axis in the m-axis coordinate system of the positioner.
  3. 根据权利要求2所述的方法，其特征在于，所述利用所述n m个TCP基位置坐标得到所述变位机的m轴坐标系的原点相对所述机器人基础坐标系的坐标，和所述变位机的m轴坐标系中各坐标轴的单位向量，包括： The method according to claim 2, wherein the coordinates of the origin of the m-axis coordinate system of the positioner relative to the robot basic coordinate system are obtained by using the n m TCP base position coordinates, and The unit vector of each coordinate axis in the m-axis coordinate system of the positioner includes:
    由所述n m个TCP基位置坐标形成k m个位置坐标组合，其中，每三个所述TCP基位置坐标组成一所述位置坐标组合，k m为大于或等于1的整数； K m position coordinate combinations are formed from the n m TCP base position coordinates, wherein every three of the TCP base position coordinates form a position coordinate combination, and k m is an integer greater than or equal to 1;
    利用k m个所述位置坐标组合得到k m个原点相对所述机器人的基础坐标系的坐标； Use k m of said position coordinate combinations to obtain coordinates of k m origins relative to the base coordinate system of said robot;
    利用k m个原点相对所述机器人的基础坐标系的坐标，得到所述变位机的m轴坐标系的原点相对所述机器人的基础坐标系的坐标； Base coordinate system using the coordinate datums relative to the K m robot base coordinate system to obtain the coordinates of the origin of the m-axis of the coordinate system of the positioner opposite the robot;
    利用k m个所述位置坐标组合和所述变位机的m轴坐标系的原点相对所述机器人的基础坐标系的坐标，得到所述变位机的m轴坐标系中各坐标轴的单位向量。 Use the k m combination of the position coordinates and the coordinates of the origin of the m-axis coordinate system of the positioner relative to the basic coordinate system of the robot to obtain units of each coordinate axis in the m-axis coordinate system of the positioner vector.
  4. 根据权利要求3所述的方法，其特征在于，所述利用k m个原点相对所述机器人的基础坐标系的坐标，得到所述变位机的m轴坐标系的原点相对所述机器人的基础坐标系的坐标，包括： The method according to claim 3, wherein the basis of the m-axis coordinate system of the positioner relative to the robot is obtained by using the coordinates of the k m origins relative to the basic coordinate system of the robot. The coordinates of the coordinate system, including:
    当k m为1时，将1个所述原点相对所述机器人的基础坐标系的坐标，作为所述变位机的m轴坐标系的原点相对所述机器人的基础坐标系的坐标； When k m is 1, the coordinates of one origin with respect to the basic coordinate system of the robot are used as the coordinates of the origin of the m-axis coordinate system of the positioner with respect to the basic coordinate system of the robot;
    当k m大于1时，将k m个所述原点相对所述机器人的基础坐标系的坐标进行算术平均，得到所述变位机的m轴坐标系的原点相对所述机器人的基础坐标系的坐标。 When m is greater than k 1, k is the origin of the coordinates of the m relative to the robot base coordinate system arithmetically averaged to obtain the origin of the base coordinate system of the m-axis of the coordinate system positioner relative to the robot coordinate.
  5. 根据权利要求3所述的方法，其特征在于，所述利用k m个所述位置坐标组合和所述变位机的m轴坐标系的原点相对所述机器人的基础坐标系的坐标，得到所述变位机的m轴坐标系中各坐标轴的单位向量，包括： The method according to claim 3, characterized in that the coordinates of the origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot are obtained by using k m of the position coordinate combinations and the position coordinate system of the robot, to obtain The unit vector of each coordinate axis in the m-axis coordinate system of the positioner includes:
    通过如下公式并利用最小二乘法获取所述变位机的m轴坐标系中各坐标轴的单位向量：The unit vector of each coordinate axis in the m-axis coordinate system of the positioner is obtained by the following formula and using a least square method:
    Figure PCTCN2018095680-appb-100001
    Figure PCTCN2018095680-appb-100001
    Figure PCTCN2018095680-appb-100002
    Figure PCTCN2018095680-appb-100002
    Figure PCTCN2018095680-appb-100003
    Figure PCTCN2018095680-appb-100003
    Figure PCTCN2018095680-appb-100004
    Figure PCTCN2018095680-appb-100004
    Figure PCTCN2018095680-appb-100005
    Figure PCTCN2018095680-appb-100005
    其中，
    Figure PCTCN2018095680-appb-100006
    分别为第j个位置坐标组合中的三个TCP基位置坐标，j为大于等于1小于等于k m的整数；     among them,
    Figure PCTCN2018095680-appb-100006
    Are three position coordinates TCP yl j-th position coordinates combination, j is greater than or equal to 1 k an integer less than or equal to m;
    Figure PCTCN2018095680-appb-100007
    为由第j个位置坐标组合确定的z坐标轴的单位向量；
    Figure PCTCN2018095680-appb-100007
    A unit vector of the z coordinate axis determined by the j-th position coordinate combination;
    θ ij为所述变位机的m轴的第j个位置坐标组合中的第i个角度； θ ij is the i-th angle in the j-th position coordinate combination of the m-axis of the positioner;
    Figure PCTCN2018095680-appb-100008
    为所述变位机的m轴的第j个位置坐标组合中的第i个TCP基位置坐标；
    Figure PCTCN2018095680-appb-100008
    The i-th TCP base position coordinate in the j-th position coordinate combination of the m-axis of the positioner;
    Figure PCTCN2018095680-appb-100009
    分别为所述变位机的m轴坐标系中x、y、z坐标轴的单位向量。
    Figure PCTCN2018095680-appb-100009
    Unit vectors of the x, y, and z coordinate axes in the m-axis coordinate system of the positioner, respectively.
  6. 根据权利要求5所述的方法，其特征在于，所述由所述变位机的m轴坐标系的原点相对所述机器人基础坐标系的坐标，和所述变位机的m轴坐标系中各坐标轴的单位向量得到所述变换参数 wA m，包括： The method according to claim 5, wherein the coordinates of the origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot, and the m-axis coordinate system of the positioner The unit vector of each coordinate axis to obtain the transformation parameter w A m includes:
    利用所述变位机的m轴坐标系的原点相对所述机器人的基础坐标系的坐标，和所述变位机的m轴坐标系中各坐标轴的单位向量，得到所述变位机的m轴坐标系相对所述机器人的基础坐标系的变换参数 bA m，其中，
    Figure PCTCN2018095680-appb-100010
    其中，
    Figure PCTCN2018095680-appb-100011
    为所述变位机的m轴坐标系的原点相对所述机器人的基础坐标系的坐标；     The coordinates of the origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot and the unit vectors of each coordinate axis in the m-axis coordinate system of the positioner are used to obtain the a transformation parameter b A m of the m-axis coordinate system relative to the basic coordinate system of the robot, where:
    Figure PCTCN2018095680-appb-100010
    among them,
    Figure PCTCN2018095680-appb-100011
    The coordinates of the origin of the m-axis coordinate system of the positioner relative to the base coordinate system of the robot;
    利用如下公式得到所述变换参数 wA m： The transformation parameter w A m is obtained by using the following formula:
    wA m＝ wA b bA m； w A m = w A b b A m ;
    其中， wA b为所述机器人的基础坐标系相对世界坐标系的变换参数。 Wherein, w A b is a transformation parameter of a basic coordinate system of the robot relative to a world coordinate system.
  7. 根据权利要求1所述的方法，其特征在于，所述旋转所述变位机的m轴至n m个不同的角度包括：保持所述变位机的1轴～m-1轴不动，旋转所述变位机的m轴至n m个不同的角度； The method according to claim 1, wherein rotating the m-axis to n m different angles of the positioner comprises: keeping 1-m-1 axis of the positioner stationary, Rotating the m-axis of the positioner to n m different angles;
    其中，m为大于等于2且小于等于q的整数。Here, m is an integer of 2 or more and q or less.
  8. 一种机器人系统，其特征在于，所述系统包括：A robot system characterized in that the system includes:
    变位机，所述变位机包括依序连接的至少两个变位机轴，且在所述变位机的末轴上连接有工件；A positioner, which includes at least two positioner shafts connected in sequence, and a workpiece is connected to a final shaft of the positioner;
    机器人，所述机器人包括基座、依序连接的至少两个机器人轴，且在所述机器人的末轴上连接有工具，所述工具用于配合所述工件工作；A robot, the robot comprising a base, at least two robot axes connected in sequence, and a tool connected to a final axis of the robot, the tool used to cooperate with the workpiece;
    处理系统，所述处理系统用于控制所述变位机和/或所述机器人工作，所述处理系统包括相互连接的存储器和处理器，所述存储器存储有计算机程序，所述处理器用于调用所述计算机程序以执行权利要求1-7任意一项所述的方法。A processing system for controlling the work of the positioner and / or the robot, the processing system including a memory and a processor connected to each other, the memory storing a computer program, and the processor for calling The computer program executes the method according to any one of claims 1-7.
  9. 一种处理系统，其特征在于，所述处理系统包括：A processing system, characterized in that the processing system includes:
    相互连接的存储器和处理器，所述存储器存储有计算机程序，所述处理器用于调用所述计算机程序以执行如权利要求1-7任意一项所述的方法。An interconnected memory and a processor. The memory stores a computer program, and the processor is configured to call the computer program to execute the method according to any one of claims 1-7.
  10. 一种存储装置，其特征在于，所述存储装置存储有计算机程序，所述计算机程序能够被执行以实现权利要求1-7任意一项所述的方法。A storage device, wherein the storage device stores a computer program, and the computer program can be executed to implement the method according to any one of claims 1-7.
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