CN110893619A - Industrial robot position appearance calibrating device based on laser tracker - Google Patents
Industrial robot position appearance calibrating device based on laser trackerDownload PDFInfo
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- CN110893619A CN110893619ACN201911163153.7ACN201911163153ACN110893619ACN 110893619 ACN110893619 ACN 110893619ACN 201911163153 ACN201911163153 ACN 201911163153ACN 110893619 ACN110893619 ACN 110893619A
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- laser tracker
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Translated fromChinese
Description
Technical Field
The invention relates to an industrial robot pose calibration device based on a laser tracker, relates to the field of geometric measurement calibration, and particularly relates to 6-axis industrial robot pose calibration.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices for industrial fields, which can automatically perform work and are machines that rely on their own power and control capabilities to perform various functions. Industrial robots are widely used in many aspects of social life as representatives of advanced and intelligent industrial equipment. The industrial robot is widely applied to a plurality of fields of automobile manufacturing, mechanical processing industry, energy collection, electronic and electrical industry and the like.
The positioning accuracy of the robotic motion system is critical to controlling the quality level of the production line. To make accuracy control in the actual operation process, accuracy errors caused by the static motion accuracy (geometric errors, thermal and load deformation errors) of a mechanical system and the transient characteristics (transition process) of the high-frequency response of an electromechanical system are tested. In the aspect of quality control, the positioning accuracy directly influences the production operation quality of spraying and welding robots, the industrial robots replace manual labor to carry out various repeated and large-amount mechanical labor, and the robots are inevitably required to have higher motion stability and repetition accuracy so as to ensure that overlarge accumulated errors cannot be generated. Therefore, the pose accuracy and other motion characteristic indexes need to be tested.
The invention adopts a special tool for a laser tracker to carry out the calibration work of the pose accuracy of the industrial robot.
Disclosure of Invention
The invention aims to provide an industrial robot pose calibration device based on a laser tracker, which solves the space pose of a robot by adopting a laser tracker and a special tool clamp through multi-point tracking measurement, thereby realizing the calibration of the pose of the robot.
In order to achieve the above object, the present invention provides an industrial robot pose calibration apparatus based on a laser tracker, the apparatus comprising: the system comprises a laser tracker, tracker self-calibration equipment and a special detection tool clamp; the laser tracker acquires coordinate information of a measured object based on a coordinate measuring system combining angle measurement and length measurement; the tracker self-calibration equipment performs self-calibration on the tracker before calibration; the special tool clamp for detection provides 4 measuring points of the working surface. The laser tracker is field equipment, needs transport equipment, and self-calibration equipment carries out calibration check to it before measuring at every turn to ensure that the tracker quantity value is accurate, the frock target ball of tracker tracking fixing on the robot measures during the use.
The above industrial robot pose calibration device based on the laser tracker is characterized in that the tracker self-calibration equipment is a spherical mark post with the length of 800 mm.
The above industrial robot position appearance calibrating device based on laser tracker, wherein, it adopts aluminium alloy material to detect special frock clamp.
The above industrial robot position appearance calibrating device based on laser tracker, wherein, it wholly adopts the fretwork design to detect special frock clamp.
The above industrial robot position appearance calibrating device based on laser tracker, wherein, detect special frock clamp both sides and be equipped with four target ball chassis, every target ball chassis is equallyd divide and is installed 3 steel balls of 1mm and be used for the target ball location.
The above-mentioned industrial robot position appearance calibrating device based on laser tracker, wherein, tracker self-calibration equipment comprises 1 connecting rod and 2 standard balls.
The industrial robot pose calibration device based on the laser tracker is characterized in that the connecting rod is 800mm long and is made of carbon fibers.
The above-mentioned industrial robot position appearance calibrating device based on laser tracker, wherein, standard ball adopts to be made by porcelain material, and the diameter is 25 mm.
The invention also provides a calibration method for calibrating the pose of the industrial robot based on the laser tracker, which comprises the following specific steps:
step one, a laser tracker is supported at a position 1-2 meters outside an industrial robot, and meanwhile, a visible fan-shaped area of a laser emitting head of a main machine of the tracker can cover the whole robot motion range, and an object is not blocked between the laser tracker and the robot;
step two, after the tracker host is fully preheated, the measurement self-calibration equipment carries out self-calibration;
fixing a special tool for the robot at the tail end of the industrial robot, and placing a spherical target lens of the tracker on the tool;
fourthly, the tracker establishes a body coordinate system of the industrial robot;
measuring coordinates of each target ball on the tool by the laser tracker in an ADM mode;
sixthly, moving the industrial robot to generate corresponding pose change;
and seventhly, solving the pose parameters by a solution method of the space pose.
According to the industrial robot pose calibration device based on the laser tracker, in the second step, the laser tracker measures the distance between the ball center of the ball rod and the ball rod, the difference between the measured value and the nominal value of the ball rod is not more than 0.01mm, namely the ball rod passes through self-calibration, and the equipment precision meets the requirement.
Compared with the prior art, the technology belongs to in-situ online calibration, the device can be detected on site, and an industrial robot does not need to be dismantled and carried.
Drawings
The invention discloses an industrial robot pose calibration device based on a laser tracker, which is provided by the following embodiments and attached drawings.
FIG. 1 general design of the device
FIG. 2 space pose vector diagram
FIG. 3 is a 3D model diagram of the tooling
FIG. 4 is a drawing of the tooling
FIG. 5 is a 3D model of a golf club
FIG. 6 drawing of the ball arm
FIG. 7 calibration layout
Detailed Description
An industrial robot pose calibration device based on a laser tracker according to the present invention will be described in further detail with reference to fig. 1 to 7.
The invention adopts the special tool clamp for the laser tracker and realizes the resolving of the space pose of the robot through multi-point tracking measurement, thereby realizing the calibration of the pose of the robot.
Design of industrial robot calibrating device
The general design of the hardware calibration device of the industrial robot is shown in figure 1 and consists of 3 parts, including a laser tracker, a tracker self-calibration device and a special detection tool clamp. The laser tracker is a coordinate measuring system based on the combination of angle measurement and length measurement, and can simultaneously acquire coordinate information of an object to be measured; the tracker self-calibration equipment is a spherical mark post with the length of 800mm, and is mainly used for self-calibrating the tracker before calibration so as to ensure reliable measurement of the tracker; the special detection tool clamp provides 4 measuring points of the working surface, so that the calculation of the space pose is realized.
Second, resolving the space pose of the robot
The robot is calibrated by adopting the laser tracker, 3 measurement target positions are arranged on a special detection tool clamp, tracking measurement is carried out according to the space coordinate tracker of three non-collinear feature points, and each pose actual value of the industrial robot is calculated.
The pose of the industrial robot is a translation vector T and a direction vector R of the robot under a space coordinate system, the translation vector T is coordinate values (x, y, z), and the direction vector R is angles of the robot which rotate around three axes x → y → z of a D-H coordinate system in sequence
The determination of the robot space pose is to find the values of the translation vector T and the direction vector R (as shown in fig. 2).
When the robot is in an initial state, establishing an object space coordinate system x-y-z; x is the number of1-y1-z1A moving coordinate system moving along with the robot; p is a feature point fixed on the robot. The coordinates of each point are described in a vector: t is the initial space coordinate of the characteristic point P, T is the translation vector of the motion platform, r is the position of the characteristic point in the moving coordinate system, and P is the coordinate of the characteristic point after the robot moves in the space coordinate system.
The position of the platform pose can be obtained by solving according to the positions of the feature points on the robotNumber: translation vector T and angle element
The value of (c). The robot rotates theta, psi around the space coordinate axis x-y-z in sequence,
Angle, resulting in a rotation matrix L:
after the robot moves, the vector relation can be obtained
P＝T+r (4-2)
r＝L·t (4-3)
T＝[X Y Z](4-4)
From (4-3) or (4-4)
P＝T+L·t (4-5)
In the calibration scheme, we set three feature points, so there are
P1＝T+L·t1(4-6)
P2＝T+L·t2(4-7)
P3＝T+L·t3(4-8)
(4-7) - (4-8) and (4-8) - (4-9) can be obtained
P1－P2＝L(t1－t2) (4-9)
P2－P3＝L(t2－t3) (4-10)
In the formula Pi、ti(i ═ 1, 2, 3) are known, so that the three angle elements contained in the rotation matrix L can be solved
That is to say the direction vector R has been solved. Is obtained by the formula (4-7)
T＝P1－L·t1(4-11)
Will have solved
By substituting equation (4-11), the translation vector T of the platform, i.e., (X, Y, Z) can be solved. Therefore, all pose parameters are obtained
Design of special tool clamp
The robot tool is designed by adopting an aluminum alloy material, the basic shape of the robot tool is a trapezoid-like quadrilateral structure, the size of the robot tool is about (500 multiplied by 300) mm, and the thickness of the robot tool is 10 mm. The whole body adopts a hollow design, and the characteristics of light weight, difficult deformation and the like are considered. Four 1.5' target ball chassis are arranged on two sides of the tool, and each circular chassis is equally provided with 3 steel balls with the diameter of 1mm for positioning the target ball. The specific tool structure model is shown in fig. 3 and 4.
Design of self-correcting equipment
The self-correcting device is used for verifying the measurement accuracy of the tracker. The self-correcting rod consists of 1 connecting rod and 2 standard balls, the length of the connecting rod is 800mm, the standard balls are made of carbon fibers, the standard balls are made of porcelain materials, the diameter of the standard balls is 25mm, the roundness is preferably less than 5 micrometers, and the center distances of the standard balls are provided on the measuring rod for comparison, and the self-correcting rod is specifically shown in fig. 5 and 6.
Fifth, working steps of industrial robot pose calibration device based on laser tracker
1. The laser tracker is supported at a position 1-2 meters outside the industrial robot, and meanwhile, a visible fan-shaped area of a laser emitting head of a main machine of the tracker can cover the whole robot motion range, and an object is not blocked between the laser emitting head and the main machine of the tracker;
2. after the tracker host is fully preheated, the measurement self-calibration equipment performs self-calibration. The laser tracker measures the ball center distance length of the ball rod, the difference between the measured value and the nominal value of the ball rod is not more than 0.01mm, the ball rod passes the calibration, and the equipment precision meets the requirement;
3. the special tool for the robot is fixed at the tail end of the industrial robot, and 3-4 spherical target mirrors of the tracker are placed on the tool. The specific layout is shown in FIG. 7;
4. after the steps are completed, the tracker establishes an industrial robot body coordinate system;
5. laser tracker measures each target sphere coordinate (x) on the frock under ADM modeFront i，yFront i，zFront i)；
6. And the moving industrial robot generates corresponding pose change. Repeating thestep 5, and measuring the coordinates (x) after the movementAfter i，yAfter i，zAfter i)；
7. Solving all 6 posture parameters by a resolving method of space postures
Claims (10)
1. An industrial robot position appearance calibrating device based on laser tracker, its characterized in that, the device includes: the system comprises a laser tracker, tracker self-calibration equipment and a special detection tool clamp; the laser tracker acquires coordinate information of a measured object based on a coordinate measuring system combining angle measurement and length measurement; the tracker self-calibration equipment performs self-calibration on the tracker before calibration; the special tool clamp for detection provides 4 measuring points of the working surface.
2. An industrial robot pose calibration device based on laser tracker according to claim 1, characterized in that said tracker self-calibration device is a ball-type target with a length of 800 mm.
3. The laser tracker-based industrial robot pose calibration device according to claim 1, wherein the detection-dedicated tool clamp is made of an aluminum alloy material.
4. The laser tracker-based industrial robot pose calibration device according to claim 3, wherein the detection-dedicated tooling clamp is integrally designed in a hollow manner.
5. The laser tracker-based industrial robot pose calibration device according to claim 4, wherein four target ball chassis are mounted on two sides of the detection-dedicated tool clamp, and each target ball chassis is provided with 3 steel balls with the diameter of 1mm in an equal distribution mode for positioning the target balls.
6. An industrial robot pose calibration device based on laser tracker according to claim 2, characterized by that, the tracker self-calibration device is composed of 1 connecting rod and 2 standard round balls.
7. An industrial robot pose calibration device based on a laser tracker according to claim 6, wherein said connecting rod is 800mm long and made of carbon fiber.
8. An industrial robot pose calibration device based on a laser tracker according to claim 6, wherein the standard round ball is made of porcelain material and has a diameter of 25 mm.
9. A calibration method for industrial robot pose calibration based on a laser tracker is characterized in that,
step one, a laser tracker is supported at a position 1-2 meters outside an industrial robot, and meanwhile, a visible fan-shaped area of a laser emitting head of a main machine of the tracker can cover the whole robot motion range, and an object is not blocked between the laser tracker and the robot;
step two, after the tracker host is fully preheated, the measurement self-calibration equipment carries out self-calibration;
fixing a special tool for the robot at the tail end of the industrial robot, and placing a spherical target lens of the tracker on the tool;
fourthly, the tracker establishes a body coordinate system of the industrial robot;
measuring coordinates of each target ball on the tool by the laser tracker in an ADM mode;
sixthly, moving the industrial robot to generate corresponding pose change;
and seventhly, solving the pose parameters by a solution method of the space pose.
10. The position and orientation calibrating device for the industrial robot based on the laser tracker in the second step is characterized in that in the second step, the laser tracker measures the distance between the ball center of the ball rod, the difference between the measured value and the nominal value of the ball rod is not more than 0.01mm, the self-correction is passed, and the equipment precision meets the requirement.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111536874A (en)* | 2020-05-22 | 2020-08-14 | 吉林省计量科学研究院 | Robot pose detection system and method |
| CN112276999A (en)* | 2020-07-29 | 2021-01-29 | 广东产品质量监督检验研究院（国家质量技术监督局广州电气安全检验所、广东省试验认证研究院、华安实验室） | Rod length calibration method and device for industrial robot based on laser tracker |
| CN112484640A (en)* | 2020-11-23 | 2021-03-12 | 中国科学院光电技术研究所 | Device and method for calibrating magnetorheological polishing tool head for robot based on tracker |
| CN113199510A (en)* | 2021-06-09 | 2021-08-03 | 杭州柳叶刀机器人有限公司 | Precision inspection method for surgical navigation robot |
| CN113427481A (en)* | 2020-03-23 | 2021-09-24 | 微正股份有限公司 | Direct attitude feedback control method and direct attitude feedback control machine |
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| CN113199510A (en)* | 2021-06-09 | 2021-08-03 | 杭州柳叶刀机器人有限公司 | Precision inspection method for surgical navigation robot |
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