CN100489449C - Workpieces coordinate system calibration method based on relative measurement - Google Patents
Workpieces coordinate system calibration method based on relative measurement Download PDFInfo
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- CN100489449C CN100489449C CNB2006100908017A CN200610090801A CN100489449C CN 100489449 C CN100489449 C CN 100489449C CN B2006100908017 A CNB2006100908017 A CN B2006100908017A CN 200610090801 A CN200610090801 A CN 200610090801A CN 100489449 C CN100489449 C CN 100489449C
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- 238000005259 measurement Methods 0.000 title claims abstract description 67
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- 230000008569 process Effects 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 38
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- 230000009897 systematic effect Effects 0.000 description 2
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Abstract
The invention discloses a workpiece reference frame marking method which is based on relative measurement which is used to mark workpiece reference frame whose precision and work precision are higher; the method controls movement of robot by marking position of measuring device and original value of workpiece reference frame, and generating surface process path on surface of dummy surface, records offset of said object point by measuring coordinate of said object point, by resolving conversion matrix between original value and real value of said workpiece reference frame to accomplish marking of said workpiece reference frame; by the method, measurement can be simplified, system error of robot can be compensated, marking precision of robot reference frame and working precision can be increased.
Description
Technical field
The present invention relates to the pose calibration technique field of workpiece, the scaling method of workpieces coordinate system among particularly a kind of robot field.
Background technology
It is robot field's gordian technique that coordinate system is demarcated, and its task is to determine the position of workpiece, instrument etc. in the processing of robots system.General workpiece calibration algorithm can be called the algorithm based on absolute measurement; This class algorithm is that measurement point is converted to robot end's coordinate system (Tool
0) under coordinate (workpiece is fixed on robot end's situation) or be converted to coordinate (workpiece is fixed in the situation of world coordinate system) under the world coordinate system; Then, demarcate the location of workpiece with other algorithm such as least square method again.The method of absolute measurement can be finished the location of workpieces coordinate system pose (Wobj) to a certain extent, but, in the absolute measurement process, have the systematic error of robot and measuring system calibrated error etc., this makes scaling method of the prior art accurate inadequately for the demarcation of these location of workpieces.
Summary of the invention
Technical matters to be solved by this invention provides a kind of stated accuracy and the higher workpieces coordinate system scaling method based on relative measurement of homework precision.
For solving the problems of the technologies described above, the technical scheme that the present invention takes provides a kind of workpieces coordinate system scaling method based on relative measurement, it is characterized in that, comprising:
A1. the relative zero of calibration measurements device and the position between robot base coordinate sys-tem relation is fixed described workpiece described robot end, wherein, and described measurement mechanism and described robot base stationkeeping;
A2. workpieces coordinate system is tentatively demarcated, obtained the initial value of described workpieces coordinate system pose;
A3. generate the surface working path on the surface of the three-dimensional model of described workpiece, the point on the wherein said path is called impact point;
A4. measure the coordinate of described impact point by described measurement mechanism with respect to described measurement mechanism relative zero;
A5. initial value by finding the solution described workpieces coordinate system pose and the transition matrix between the actual value are finished the demarcation of described workpieces coordinate system.
Preferably, described workpieces coordinate system is tentatively demarcated is that method by absolute measurement is carried out.
Preferably, generating the surface working path on the surface of described workpiece three-dimensional model in the steps A 3 is to realize by off-line programming technique.
Preferably, steps A 5 further comprises: utilize least square method to make described side-play amount minimum, and then obtain the initial value of described workpieces coordinate system pose and the transition matrix between the actual value.
Preferably, technique scheme can also comprise step: A6. with the calibration value of the described workpieces coordinate system that obtains in the steps A 5 as initial value, repeating step A4 finally finishes the accurate demarcation to described workpieces coordinate system.
The another kind of technical scheme that the present invention takes provides a kind of workpieces coordinate system scaling method based on relative measurement, it is characterized in that, comprising:
B1. the position between the relative zero of calibration measurements device and robot end's coordinate system relation, wherein, described measurement mechanism is fixed in the end of described robot, and described workpiece and described robot location fix;
B2. workpieces coordinate system is tentatively demarcated, obtained the initial value of described workpieces coordinate system pose;
B3. generate the surface working path on the surface of the three-dimensional model of described workpiece, the point on the wherein said path is called impact point;
B4. measure the coordinate of described impact point by described measurement mechanism with respect to described measurement mechanism relative zero;
B5. initial value by finding the solution described workpieces coordinate system pose and the transition matrix between the actual value are finished the demarcation of described workpieces coordinate system.
Preferably, described workpieces coordinate system is tentatively demarcated is that method by absolute measurement is carried out.
Preferably, generating the surface working path on the surface of described workpiece three-dimensional model among the step B3 is to realize by off-line programming technique.
Preferably, step B5 further comprises: utilize least square method to make described side-play amount minimum, and then obtain the initial value of described workpieces coordinate system pose and the transition matrix between the actual value.
Preferably, technique scheme can also comprise step: B6. with the calibration value of the described workpieces coordinate system that obtains among the step B5 as initial value, repeating step B4 finally finishes the accurate demarcation to described workpieces coordinate system.
Compare with prior art, technical scheme of the present invention has the following advantages:
1. can use contact and noncontact measurement device as survey instrument, as a Laser Measuring measuring device etc., measuring process is simple;
2. need not to obtain the absolute coordinate of measurement point, only need the deviate and the nonlinear least square method of utilization relative measurement to compensate and calculate the demarcation that can realize workpieces coordinate system, operating process is easy, quick, and the result is accurate;
3. in the error compensation process, local equalize the robot system error, improved the homework precision of robot coordinate system stated accuracy and final system.
Description of drawings
Fig. 1 is the structural drawing of embodiment of the present invention;
Fig. 2 is the process flow diagram of embodiment of the present invention;
Fig. 3 is the structural drawing of second kind of embodiment of the present invention;
Fig. 4 is the process flow diagram of second kind of embodiment of the present invention;
Embodiment
Core concept of the present invention is: demarcate the initial value of workpieces coordinate system pose (Wobj), utilize the initial value of Wobj and the transition matrix between the actual value, finish the demarcation of workpieces coordinate system.
With reference to Fig. 1, be the structural drawing of embodiment of the present invention;
As shown in the figure, comprise robot 10, measurement mechanism 11, workpiece 12, wherein the pedestal 101 of robot 10 and measurement mechanism 11 are fixing respectively, and it is medium for example to be fixed on world coordinate system, and workpiece 12 is fixed in the end 102 of robot 10.
With reference to Fig. 2, be the process flow diagram of embodiment of the present invention;
Because measurement mechanism 11 is relative static with robot base 101, the position orientation relation that utilizes known calibration technique can finish between measurement mechanism 11 and the robot base 101 is demarcated, and supposes that it is
BT
MWorkpiece 12 is fixed in robot end 102, so that robot 10 carries out the editor of measuring route to it.
Preferably, can be by method or additive method based on absolute measurement, workpiece 12 coordinate systems are tentatively demarcated, for example:, finish preliminary demarcation workpiece 12 coordinate systems by the position of measuring workpieces 12 surface characteristics points under robot end's 102 coordinate systems.
Preferably, can be by technology such as off-line programings, generate the surface working path on the surface of the three-dimensional model of workpiece 12, wherein, the point on the path is called impact point (Target).
According to tool location (the relative zero position of described measurement mechanism is made as tool location), workpiece 12 coordinate system pose initial values and workpiece 12 surperficial impact points, control robot 10 holding workpieces 12 move to described impact point, measure the coordinate of described impact point with respect to measurement mechanism 11 relative zeros by measurement mechanism 11, this coordinate is the side-play amount of impact point.
Because have error between the Wobj of initial Wobj and reality, so when each Target ran to measurement mechanism 11 relative zeros, what measure was practical work piece 12 lip-deep points, this coordinate and ideal situation in measurement mechanism 11 has deviation.And each measured value be exactly actual impact point with the impact point of theory between side-play amount (Offsets); The utilization least square method makes the Offsets minimum, obtains the transition matrix between actual Wobj and the initial Wobj, and then obtains the Wobj of reality.
Wherein, suppose that the relative measurement value that measurement mechanism 11 records is that actual impact point (impact point in the Wobj of reality) arrives the distance value (impact point in initial Wobj has error amount between the impact point of this impact point and reality) between the theoretical impact point; This supposition has been ignored two to the very little factor of result's influence: the skew of instrument calibrated error and the measurement point that caused by initial Wobj and instrument calibrated error (actual measurement to point departed from desirable measurement point).
Find the solution the transition matrix of actual Wobj with least square method with respect to initial Wobj:
Actual target point with respect to the transformational relation of the transition matrix of expectation target point (impact point under initial Wobj) is:
IdealTargetTxyz＝TargetM
-1*Accurate?Wobj
-1*Initial?Wobj*TargetM
Wherein, TargetM is the pose matrixes of workpiece 12 surperficial impact points with respect to workpiece 12 coordinate systems, and Accurate Wobj is actual accurate workpiece 12 coordinate system pose matrixes, and Initial Wobj is initial workpiece 12 coordinate system pose matrixes.
Here actual accurate Wobj value is:
Accurate?Wobj＝Transform*Initial?Wobj
Actual target point is closed with respect to the position of expectation target point:
IdealTargetTxyz(3)＝Offset
Wherein IdealTargetTxyz (3) is the value (being the Z value) of the 3rd element of vectorial IdealTargetTxyz, and Offset is the relative value that measuring equipment records; The utilization nonlinear least square method can solve transition matrix Transform, and then obtains actual Wobj value.
The present invention can also be with the Wobj value of above-mentioned reality as initial value, and repeating step 204 is finally finished the accurate demarcation to workpiece 12 coordinate systems to carry out repeatedly interative computation.
With reference to Fig. 3, be the structural drawing of second kind of embodiment of the present invention;
As shown in the figure, the difference of present embodiment and above preferred embodiment is: the location swap of workpiece 12 and measurement mechanism 11, and promptly workpiece 12 stationkeeping are static relatively with robot 10, and 11 of measurement mechanisms are fixed in robot end 102.
With reference to Fig. 4, be the process flow diagram of second kind of embodiment of the present invention;
Step 401 is fixed on the robot end with measurement mechanism, the position relation between the relative zero of calibration measurements device and robot end's coordinate system;
Because measurement mechanism 11 is fixed on robot end's 102 coordinate systems, the position orientation relation that utilizes known calibration technique can finish between measurement mechanism 11 and the robot end 102 is demarcated, and supposes that it is
Tool0T
M
Step 402 is tentatively demarcated workpieces coordinate system, obtains the initial value of described workpieces coordinate system pose;
Preferably, can be by method or additive method based on absolute measurement, workpiece 12 coordinate systems are tentatively demarcated, for example:, finish preliminary demarcation workpieces coordinate system by the position of measuring workpieces 12 surface characteristics points under robot base 101 coordinate systems.
Step 403 generates the surface working path on the surface of the three-dimensional model of described workpiece;
Preferably, can be by technology such as off-line programings, generate the surface working path on the surface of the three-dimensional model of workpiece 12, wherein, the point on the path is called impact point (Target).
Step 404 is measured the coordinate of described impact point with respect to this measurement mechanism relative zero by measurement mechanism;
According to tool location (the relative zero position of described measurement mechanism is made as tool location), workpieces coordinate system pose initial value and surface of the work impact point, control robot 10 clamping measurement mechanisms 11 move to described impact point, measure the coordinate of described impact point with respect to measurement mechanism 11 relative zeros by measurement mechanism 11, this coordinate is the side-play amount of impact point.
Step 405, the side-play amount of record object point by the initial value of described workpieces coordinate system pose and the transition matrix between the actual value, is finished the demarcation of workpieces coordinate system.
Because have error between the Wobj of initial Wobj and reality, so when the measured device 11 of each Target measured, what measure was practical work piece 12 lip-deep points, this coordinate and ideal situation in measurement mechanism 11 has deviation.And each measured value be exactly actual impact point with the impact point of theory between side-play amount (Offsets); The utilization least square method makes the Offsets minimum, obtains the transition matrix between actual Wobj and the initial Wobj, and then obtains the Wobj of reality.
The present invention can also be with the Wobj value of above-mentioned reality as initial value, and repeating step 604 is finally finished the accurate demarcation to workpiece 12 coordinate systems to carry out repeatedly interative computation.
The process that the derivation of relative theory and transition matrix is described with step 205 among the embodiment 1 is identical, therefore repeats no more.
By the method that above-mentioned two kinds of embodiments are described workpiece 12 is demarcated, its implementation result is as shown in the table:
Before workpiece is demarcated, workpiece 12 impact points that measurement mechanism 11 measures to the distance fluctuation at 11 zero points of measurement mechanism have 2,3mm, after the demarcation, workpiece 12 impact points that measurement mechanism 11 measures to measurement mechanism zero point apart from fluctuating in ± 0.1mm.Result of implementation shows that the present invention has compensated systematic error well, has realized the demarcation to workpieces coordinate system.
More than used specific case principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, the part that all can change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (4)
1. the workpieces coordinate system scaling method based on relative measurement is characterized in that, comprising:
The relative zero of calibration measurements device and the relation of the position between robot base coordinate sys-tem, at the fixing described workpiece of described robot end, wherein, described measurement mechanism and described robot base stationkeeping;
Workpieces coordinate system is tentatively demarcated, obtained the initial value of described workpieces coordinate system pose;
Surface at the three-dimensional model of described workpiece generates the surface working path, and the point on the wherein said path is called impact point;
Measure the coordinate of described impact point by described measurement mechanism with respect to described measurement mechanism relative zero;
Initial value by finding the solution described workpieces coordinate system pose and the transition matrix between the actual value are finished the demarcation of described workpieces coordinate system.
Describedly find the solution the initial value of described workpieces coordinate system pose and the process of the transition matrix between the actual value is:
Find the solution the transition matrix of actual Wobj with least square method with respect to initial Wobj:
Actual target point with respect to the transformational relation of the transition matrix of expectation target point is:
IdealTargetTxyz=TargetM
-1* Accurate Wobj
-1* the actual here accurate Wobj value of Init ial Wobj*TargetM is:
Accurate?Wobj＝Transform*Initial?Wobj
Actual target point is closed with respect to the position of expectation target point:
Idea?lTargetTxyz(3)＝Offset
Wherein, IdealTargetTxyz (3) is the Z value for the value of the 3rd element of vectorial IdealTargetTxyz, Wobj is for demarcating the workpieces coordinate system pose, TargetM is the pose matrixes of workpiece 12 surperficial impact points with respect to workpiece 12 coordinate systems, Accurate Wobj is actual accurate workpiece 12 coordinate system pose matrixes, and Initial Wobj is initial workpiece 12 coordinate system pose matrixes; Offset is the impact point of the reality that records of measuring equipment and the relative value of the side-play amount between the theoretical impact point; The utilization nonlinear least square method can solve transition matrix Transform.
2. the method for claim 1 is characterized in that, described workpieces coordinate system is tentatively demarcated is that method by absolute measurement is carried out.
3. the method for claim 1 is characterized in that, generating the surface working path on the surface of described workpiece three-dimensional model in the step 103 is to realize by off-line programming technique.
4. the method for claim 1 is characterized in that also comprising step:
As initial value, repeating step 104 is finally finished the accurate demarcation to described workpieces coordinate system with the calibration value of the described workpieces coordinate system that obtains in the step 105.
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| CN100489449C true CN100489449C (en) | 2009-05-20 |
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Cited By (1)
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| US11433541B2 (en) | 2019-12-18 | 2022-09-06 | Industrial Technology Research Institute | Automated calibration system and method for a workpiece coordinate frame of a robot |
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