CN108297100A - Mechanical arm parameter calibration method, device and system and mechanical arm - Google Patents
Mechanical arm parameter calibration method, device and system and mechanical arm Download PDFInfo
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- CN108297100A CN108297100A CN201810142553.9A CN201810142553A CN108297100A CN 108297100 A CN108297100 A CN 108297100A CN 201810142553 A CN201810142553 A CN 201810142553A CN 108297100 A CN108297100 A CN 108297100A
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/40—Engine management systems
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Abstract
The invention relates to a method, a device and a system for calibrating parameters of a mechanical arm and the mechanical arm, belonging to the technical field of automation, wherein the method comprises the following steps: after the mechanical arm is controlled to run to a target position in a left-hand posture, acquiring a first position actually reached by the mechanical arm and a first joint angle set corresponding to the first position; after the mechanical arm is controlled to operate to the target position in the right-hand posture, acquiring a second position actually reached by the mechanical arm and a second joint angle set corresponding to the second position; and calibrating parameters of the mechanical arm according to the distance between the first position and the second position, the first joint angle set and the second joint angle set. The invention reduces the cost of calibrating the parameters of the mechanical arm.
Description
Technical field
The present invention relates to technical field of automation, more particularly to a kind of mechanical arm parameter calibration method, device and system,
Mechanical arm.
Background technology
Mechanical arm refer to high-precision, high speed glue dispensing machine hand, mechanical arm be a multiple-input and multiple-output, nonlinearity,
The complication system of close coupling.Because of its unique operating flexibility, in industry assembling, the fields such as safety anti-explosive are answered extensively
With.
Before use, parameter calibration must be carried out to mechanical arm.However, it is found by the inventors that currently, being directed to the ginseng of mechanical arm
Number calibration system includes ball mark instrument, automatic theodolite, three coordinate measuring machine, laser tracker etc., although these system precision are very
Height, but it is expensive, and professional is needed to operate.
In conclusion traditional mechanical arm parameter calibration mode cost is higher.
Invention content
Based on this, it is necessary to be directed to traditional higher problem of mechanical arm parameter calibration mode cost, provide a kind of machinery
Arm parameter calibration method, device and system, mechanical arm.
A kind of mechanical arm parameter calibration method, includes the following steps：
It is controlled to after left hand posture runs to target location in mechanical arm, obtains be actually reached first of mechanical arm
It sets and its corresponding first joint angle set；
The mechanical arm be controlled to right hand posture to the target location run after, obtain mechanical arm be actually reached
The second position and its corresponding second joint angle set；
According to the distance between the first position and the second position, the first joint angle set and the second joint
Angle set carries out parameter calibration to the mechanical arm.
A kind of mechanical arm parameter calibration device, including：
First acquisition module, for mechanical arm be controlled to left hand posture to target location run after, obtain machinery
The first position and its corresponding first joint angle set that arm is actually reached；
Second acquisition module, for the mechanical arm be controlled to right hand posture to the target location run after,
Obtain the second position and its corresponding second joint angle set that mechanical arm is actually reached；
Demarcating module, for according to the distance between the first position and the second position, the first joint angle set
Parameter calibration is carried out to the mechanical arm with second joint angle set.
A kind of mechanical arm parameter calibration system, including：
Controller and image acquiring device；
Described image acquisition device be used for mechanical arm be controlled to left hand posture to target location run after, obtain machine
The first position and its corresponding first joint angle set that tool arm is actually reached, and it is controlled to right hand posture in the mechanical arm
After being run to the target location, the second position and its corresponding second joint angle set that mechanical arm is actually reached are obtained；
The controller is used for according to the distance between the first position and the second position, the first joint angle set
Parameter calibration is carried out to the mechanical arm with second joint angle set.
A kind of mechanical arm, including the mechanical arm parameter calibration system.
A kind of mechanical arm parameter calibration system, including：
Camera, controller and end-of-arm tooling；
The end-of-arm tooling is set to the end of mechanical arm, and the camera is set to above the end-of-arm tooling, and for shooting
The end-of-arm tooling, the output end of the camera are connected with the input terminal of controller, output end and the machinery of the controller
Arm is connected；
The controller is run with left hand posture to target location for control machinery arm, and control machinery arm is with right hand appearance
State is run to target location；
When the camera is run with left hand posture for obtaining mechanical arm, first position that the end-of-arm tooling is actually reached
And its corresponding first joint angle set, and when obtaining mechanical arm and being run with right hand posture, what the end-of-arm tooling was actually reached
The second position and its corresponding second joint angle set；
The controller is additionally operable to according to the distance between the first position and the second position, the first joint angle collection
It closes and second joint angle set carries out parameter calibration to the mechanical arm.
A kind of computer readable storage medium, is stored thereon with computer program, which realizes when being executed by processor
The mechanical arm parameter calibration method.
A kind of computer equipment, including memory, processor and storage can be run on a memory and on a processor
Computer program, the processor realize the mechanical arm parameter calibration method when executing described program.
Above-mentioned mechanical arm parameter calibration method, device and system, mechanical arm, computer readable storage medium and computer
Equipment, by obtaining mechanical arm under left hand posture and right hand posture corresponding to the actual motion position of target location and its correspondence
Joint angle parameter calibration is carried out to mechanical arm, can fully automatic operation, manual record is not necessarily to, without using ball mark instrument, automatic
The dedicated calibration tool such as theodolite, reduces the cost of mechanical arm parameter calibration.
Description of the drawings
Fig. 1 is the mechanical arm parameter calibration method flow chart of one embodiment；
Fig. 2 is the amount articulated mechanical arm schematic diagram of one embodiment；
Fig. 3 is right-hand man's posture schematic diagram of one embodiment；
Fig. 4 is the module map of the mechanical arm parameter calibration device of one embodiment；
Fig. 5 is the structural schematic diagram of the mechanical arm parameter calibration system of one embodiment.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It should be noted that the term " first second " involved by the embodiment of the present invention is only to be similar pair of difference
As not representing the particular sorted for object, it is possible to understand that ground, " first second " can be interchanged specific in the case of permission
Sequence or precedence.It should be appreciated that the object that " first second " is distinguished can be interchanged in the appropriate case, so as to retouch here
The embodiment of the present invention stated can be implemented with the sequence other than those of illustrating or describing herein.
The term " comprising " and " having " of the embodiment of the present invention and their any deformations, it is intended that cover non-exclusive
Including.Such as contain series of steps or the process, method, system, product or equipment of (module) unit are not limited to
The step of listing or unit, but further include the steps that optionally not listing or unit, or further include optionally for these
The intrinsic other steps of process, method, product or equipment or unit.
Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments
It is contained at least one embodiment of the application.Each position in the description occur the phrase might not each mean it is identical
Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and
Implicitly understand, embodiment described herein can be combined with other embodiments.
Referenced herein " multiple " refer to two or more."and/or", the association for describing affiliated partner are closed
System indicates may exist three kinds of relationships, for example, A and/or B, can indicate：Individualism A exists simultaneously A and B, individualism
These three situations of B.It is a kind of relationship of "or" that character "/", which typicallys represent forward-backward correlation object,.
As shown in Figure 1, the present invention provides a kind of mechanical arm parameter calibration method, it may include following steps：
S1 is controlled to after left hand posture runs to target location in mechanical arm, obtains mechanical arm is actually reached the
One position and its corresponding first joint angle set；
S2 is controlled to after right hand posture runs to the target location in the mechanical arm, it is practical to obtain mechanical arm
The second position of arrival and its corresponding second joint angle set；
S3, according to the distance between the first position and the second position, the first joint angle set and described second
Joint angle set carries out parameter calibration to the mechanical arm.
The so-called mechanical arm of the present invention can refer to high-precision, high speed glue dispensing machine hand, and mechanical arm is that a multi input is more
Output, nonlinearity, close coupling complication system.Because of its unique operating flexibility, in industry assembling, safety anti-explosive etc.
It is used widely in field.Mechanical arm generally comprises multiple joints, it can be achieved that multiple degree of freedom, and action is more flexible, is suitable for
Narrow space works.Common mechanical arm may include two joint mechanical arm and three-joint mechanical arm, such as SCARA (Selective
Compliance Assembly Robot Arm select compliance to put together machines arm) mechanical arm.For ease of description, hereafter
Illustrated by taking two joint mechanical arm as an example.
As shown in Fig. 2, being the two joint mechanical arm of one embodiment, including joint 1, joint 2, connecting rod 1 and connecting rod 2, connect
The end of end, that is, mechanical arm of bar 2.When connecting rod 1 and connecting rod 2 are in coUinear state, the line of connecting rod 1 and connecting rod 2 can be determined
Justice is the zero of mechanical arm, as shown in phantom in Figure 2.
It can be proved that the direct kinematics of mechanical arm meet：
In formula, x is represented under cartesian space coordinate system, the X axis coordinate of mechanical arm tail end point, and y represents cartesian space seat
Under mark, the Y axis coordinate of mechanical arm tail end point, l1Represent the length of connecting rod 1, l2Represent the length of connecting rod 2, θ1Represent joint angle 1
The angle of (i.e. the first joint angle), θ2Represent the angle at joint angle 2 (i.e. second joint angle).Coordinate system in the present embodiment can be adopted
It is normally at mechanical arm pedestal with the origin of the coordinate system of mechanical arm itself, the coordinate system.
Corresponding to the left hand posture and right hand posture of mechanical arm, have when mechanical arm is in same distal point two groups it is different
Inverse Kinematics Solution, i.e. two groups of different θ1, θ2.Wherein, the left hand posture of mechanical arm is machinery when joint 2 is on the left of zero
The posture of arm, the right hand posture for walking mechanical arm are the posture that joint 2 is in mechanical arm when on the right side of zero.The pass of right-hand man's posture
Key is characterized in that joint 1,2 takes a left side, the corresponding θ of right hand posture respectively1, θ2, mechanical arm tail end can all be in same point.Such as Fig. 3 institutes
Show, the θ in Fig. 3L1And θL2When being that mechanical arm tail end is in position shown in Fig. 3 respectively, the joint angle in the first joint under left hand posture
With the joint angle (θ i.e. under left hand posture of second joint1, θ2)；θ in Fig. 3R1And θR2It is that mechanical arm tail end is in Fig. 3 respectively
When shown position, the joint angle (θ i.e. under right hand posture of the joint angle and second joint in the first joint under right hand posture1, θ2)。
From figure 3, it can be seen that θL1And θR1It is the line under left hand posture and right hand posture between mechanical arm tail end point and joint 1 respectively
With the angle between connecting rod 1, θL2And θR2It is between left hand posture and the extended line and connecting rod 2 of right hand posture lower link 1 respectively
Angle.In step sl, the first joint angle collection is combined into the set of the angle in each joint under left hand posture, and in figure 3, first closes
It is { θ to save angle setL1, θL2}；In step s 2, second joint angle collection is combined into the collection of the angle in each joint under right hand posture
It closes, in figure 3, second joint angle set is { θR1, θR2}。
It in one embodiment, can be first according to known mechanical arm parameter control in order to carry out parameter calibration to mechanical arm
Mechanical arm tail end processed is run with right-hand man's posture to some preset target location P respectively, but due to process and assemble and zero
The reasons such as setting is inaccurate, it is known that mechanical arm parameter be it is inaccurate, therefore, mechanical arm tail end to not target location P,
First position P can be arrived separately atLWith second position PR, can be according to PLAnd PRAnd its corresponding joint angle set carries out mechanical arm
Parameter calibration.
For example, according to the direct kinematics equation of mechanical arm, following equation can be constructed：
F=d-dist；
In formula, XLAnd YLThe first position of mechanical arm tail end point is in flute card space that coordinate system respectively under left hand posture
Abscissa and ordinate, XRAnd YRThe second position of mechanical arm tail end point is in flute card space that coordinate respectively under right hand posture
Abscissa in system and ordinate, θL1And θL2It is that the joint angle in corresponding first joint in the first position and second are closed respectively
The joint angle of section, θR1And θR2It is the joint angle of the joint angle and second joint in corresponding first joint in the second position respectively,
l1And l2It is the length of the first joint and second joint, x respectively1、x2And x3It is l respectively1、l2And θ2Parameter offset, dist is
PLAnd PRThe distance between, dist=| PL-PR|, the value of dist can be obtained by measuring.
Following Optimized model can be constructed：
Above-mentioned model is solved, x is obtained1、x2And x3Value, then, according to x1、x2And x3Parameter is carried out to mechanical arm
Calibration.
Further, multiple target locations can also be chosen, respectively obtain mechanical arm correspond to multiple target locations away from
From, the first joint angle set and second joint angle set, and according to the distance corresponding to multiple target locations, the first joint angle collection
It closes and second joint angle set carries out parameter calibration to mechanical arm.Parameter calibration is carried out by using multi-group data, improves ginseng
The accuracy of number calibration.
For example, in step sl, left hand posture can be controlled to each target location { P in mechanical arm1,P2,L,Pn}
After operation, each first position { P that mechanical arm is actually reached is obtained respectivelyL1,PL2,L,PLn, and respectively with each first
Set corresponding first joint angle set { θL1,θL2,L,θLn, wherein the corresponding first joint angle set in i-th of first position WithIt is that the joint angle in corresponding first joint in i-th of first position and second are closed respectively
The joint angle of section.In step s 2, right hand posture can be controlled to each target location { P in mechanical arm1,P2,L,PnFortune
After row, each second position { P that mechanical arm is actually reached is obtained respectivelyR1,PR2,L,PRn, and respectively with each second position
Gather { θ in corresponding second joint angleR1,θR2,L,θRn, wherein the corresponding second joint angle set in i-th of second position WithIt is that the joint angle in corresponding first joint in i-th of second position and second are closed respectively
The joint angle of section.It in step s3, can be according to { { dist1,θL1,θR1},{dist2,θL2,θR2},L,{distn,θLn,θRn}}
Parameter calibration is carried out to mechanical arm, wherein distiFor i-th of first position PLiWith i-th of second position PRiThe distance between, n
For positive integer, the sum of selected target location is indicated, that is, the group number measured.
It in a specific embodiment, can be according to corresponding to multiple target locations when carrying out parameter calibration to mechanical arm
Distance establish Optimized model；Gather to institute according to corresponding to the first joint angle set of multiple target locations and second joint angle
It states Optimized model to be solved, obtains the parameter offset of mechanical arm；The mechanical arm is carried out according to the parameter offset
Parameter calibration.
For example, according to the direct kinematics equation of mechanical arm, following equation can be constructed：
Fi=di-disti；
In formula, XLiAnd YLiIn flute card space, you sit for i-th of first position of mechanical arm tail end point respectively under left hand posture
Abscissa and ordinate in mark system, XRiAnd YRiI-th of second position of mechanical arm tail end point is in flute respectively under right hand posture
Abscissa and ordinate in your coordinate system of card space,WithIt is the pass in corresponding first joint in i-th of first position respectively
The joint angle at angle and second joint is saved,WithIt is the joint angle and second in corresponding first joint in i-th of second position respectively
The joint angle in joint, l1And l2It is the length of the first joint and second joint, x respectively1、x2And x3It is l respectively1、l2And θ2Parameter
Offset, distiFor PLiAnd PRiThe distance between.
It is thus possible to obtain vector：F=[F1,L,Fi,L,Fn], i=1, L, n construct following optimization mould according to the vector
Type：
T representing matrix transposition operate.Above-mentioned model is solved, parameters offset, and then basis can be obtained
The parameter offset carries out parameter calibration to the mechanical arm.Wherein, solution mode includes but not limited to gradient descent method, ox
- Euler method or Levenberg-Marquard algorithms in any one.
In one embodiment, camera can be used to obtain the position of mechanical arm, and according to following mode of operation come to machine
Tool arm carries out parameter calibration：
(1) control machinery arm is run with left hand posture to a point P.Record the angle (θ in joint 1 and joint 2 at this timeL1,
θL2), and the position (X under camera coordinates systemL,YL)。
(2) angle in the corresponding right hand posture of P points corresponding joint 1 and joint 2 is calculated, and is transported to the point with right hand posture
Row.Record the angle (θ in joint 1 and joint 2 at this timeR1,θR2), and the position (X under camera coordinates systemR,YR)。
(3) by (XL,YL) and (XR,YR) calculate dist value：
Wherein, dist1 is the (X under camera coordinates systemL,YL) and (XR,YRThe distance between) two points, it is sat with mechanical arm
Numerical value under mark system is identical.
(4) F is constructed：
F=d-dist.
(5) (1)-(4) are repeated, records multi-group data, construct vector f=[F1,L,Fi,L,Fn], i=1, L, n.
(6) solving-optimizing model obtains l1、l2And θ2Parameter offset x1、x2And x3：
(7) by x1、x2And x3The controller of mechanical arm is write back, parameter calibration is completed.
The mechanical arm parameter calibration method of the present invention has the following advantages：
(1) be not necessarily to ball mark instrument, automatic theodolite, the special calibratings instrument such as three coordinate measuring machine, laser tracker, save at
This.
(2) the principle of the present invention is simple, need not solve the transformational relation of camera coordinates system and mechanical arm coordinate system, construction
Optimized model be easy to solve.
(3) present invention is after programming is realized, can fully automatic operation handle data, operation letter woth no need to manual record
It is single, application easy to spread.
As shown in figure 4, the present invention also provides a kind of mechanical arm parameter calibration devices, it may include：
First acquisition module 110, for mechanical arm be controlled to left hand posture to target location run after, obtain machine
The first position and its corresponding first joint angle set that tool arm is actually reached；
Second acquisition module 120 runs it for being controlled to right hand posture in the mechanical arm to the target location
Afterwards, the second position and its corresponding second joint angle set that mechanical arm is actually reached are obtained；
Demarcating module 130, for according to the distance between the first position and the second position, the first joint angle collection
It closes and second joint angle set carries out parameter calibration to the mechanical arm.
The mechanical arm parameter calibration system of the present invention and the mechanical arm parameter calibration method of the present invention correspond, above-mentioned
The technical characteristic and advantage that the embodiment of mechanical arm parameter calibration method illustrates are suitable for mechanical arm parameter calibration system
In the embodiment of system, hereby give notice that.
The mechanical arm parameter calibration device of the present invention has the following advantages：
(1) be not necessarily to ball mark instrument, automatic theodolite, the special calibratings instrument such as three coordinate measuring machine, laser tracker, save at
This.
(2) the principle of the present invention is simple, need not solve the transformational relation of camera coordinates system and mechanical arm coordinate system, construction
Optimized model be easy to solve.
(3) present invention is after programming is realized, can fully automatic operation handle data, operation letter woth no need to manual record
It is single, application easy to spread.
As shown in figure 5, the present invention also provides a kind of mechanical arm parameter calibration systems, it may include：
Controller 210 and image acquiring device 220；
Described image acquisition device 220 be used for mechanical arm be controlled to left hand posture to target location run after, obtain
The first position and its corresponding first joint angle set that mechanical arm is actually reached are taken, and the right hand is controlled in the mechanical arm
After posture is run to the target location, the second position and its corresponding second joint angle collection that mechanical arm is actually reached are obtained
It closes；
The controller 210 is used for according to the distance between the first position and the second position, first joint angle
Set and second joint angle set carry out parameter calibration to the mechanical arm.
Control machinery arm is transported with right hand posture to target location with left hand posture to target location operation and control machinery arm
Capable process can be first carried out and be stored in advance, and the present embodiment can be directly using the data to prestore.Wherein, first carry out in advance this two
A step can be executed by controller 210, can also be executed by other control systems.
In one embodiment, camera can be used in image acquiring device 220.In another embodiment, for the ease of
The position of mechanical arm tail end and the posture of mechanical arm are shot, can end-of-arm tooling 230 be set in mechanical arm tail end, be obtained by image
It takes device to shoot position and the posture of the end-of-arm tooling 230, and machine is obtained according to the position of the end-of-arm tooling 230 and posture
The position of tool arm end and posture.Further, can also on end-of-arm tooling 230 setting flag 240, pass through shoot end mark
The position of note 240 can calculate dist, it is assumed that mechanical arm tail end is with left hand posture in-position PLWhen end-of-arm tooling on mark
Position be PL', mechanical arm tail end is with right hand posture in-position PRWhen end-of-arm tooling on the position that marks be PR', then dist1
=| PL'-PR'|.Dist=dist1 is appreciated that, so as to calculate dist.It is calculated by the position of shot mark 240
Distance of the mechanical arm tail end under different postures, can prevent mechanical arm tail end from being blocked by mechanical arm itself.Optionally, it can be used
The label 240 larger with the color distinction of end-of-arm tooling 230, or the 240 (example of label that geometric properties are regular shapes can be used
Such as, rectangle, circle etc.), it can also use while meet the label 240 of above-mentioned two condition.With 230 color distinction of end-of-arm tooling
It is larger, then label 240 can be captured in order to image acquiring device；It is the label 240 of regular shape using geometric properties, is convenient for
Solve geometric center.
In one embodiment, controller 210, can be first according to known machinery in order to carry out parameter calibration to mechanical arm
Arm state modulator mechanical arm tail end reaches some preset target location P with right-hand man's posture respectively, in one embodiment, should
Step can be executed by controller.But due to process and assemble and reset are inaccurate etc., it is known that mechanical arm parameter be
Inaccurate, therefore, mechanical arm tail end can only arrive separately at first position P to not target location PLWith second position PR, can
According to PLAnd PRAnd its corresponding joint angle set carries out parameter calibration to mechanical arm.
For example, according to the direct kinematics equation of mechanical arm, following equation can be constructed：
F=d-dist；
In formula, XLAnd YLThe first position of mechanical arm tail end point is in flute card space that coordinate system respectively under left hand posture
Abscissa and ordinate, XRAnd YRThe second position of mechanical arm tail end point is in flute card space that coordinate respectively under right hand posture
Abscissa in system and ordinate, θL1And θL2It is that the joint angle in corresponding first joint in the first position and second are closed respectively
The joint angle of section, θR1And θR2It is the joint angle of the joint angle and second joint in corresponding first joint in the second position respectively,
l1And l2It is the length of the first joint and second joint, x respectively1、x2And x3It is l respectively1、l2And θ2Parameter offset, dist is
PLAnd PRThe distance between, dist=| PL-PR|, the value of dist can be obtained by measuring.
Following Optimized model can be constructed：
Above-mentioned model is solved, x is obtained1、x2And x3Value, then, according to x1、x2And x3Parameter is carried out to mechanical arm
Calibration.
Further, multiple target locations can also be chosen, obtain mechanical arm correspondence respectively by image acquiring device 220
Distance, the first joint angle set and second joint angle in multiple target locations are gathered, and according to corresponding to multiple target locations
Distance, the first joint angle set and second joint angle set to mechanical arm carry out parameter calibration.By using multi-group data into
Row parameter calibration improves the accuracy of parameter calibration.
For example, image acquiring device 220 can be configured to left hand posture to each target location { P in mechanical arm1,P2,
L,PnAfter operation, each first position { P that mechanical arm is actually reached is obtained respectivelyL1,PL2,L,PLn, and respectively with it is each
The corresponding first joint angle set { θ in first positionL1,θL2,L,θLn, wherein corresponding first joint angle in i-th of first position
Set WithIt is the joint angle and in corresponding first joint in i-th of first position respectively
The joint angle in two joints.Right hand posture can also be configured to each target location { P in mechanical arm1,P2,L,PnRun it
Afterwards, each second position { P that mechanical arm is actually reached is obtained respectivelyR1,PR2,L,PRn, and it is corresponding with each second position respectively
Second joint angle gather { θR1,θR2,L,θRn, wherein the corresponding second joint angle set in i-th of second position WithIt is that the joint angle in corresponding first joint in i-th of second position and second are closed respectively
The joint angle of section.It in step s3, can be according to { { dist1,θL1,θR1},{dist2,θL2,θR2},L,{distn,θLn,θRn}}
Parameter calibration is carried out to mechanical arm, wherein distiFor i-th of first position PLiWith i-th of second position PRiThe distance between, n
For positive integer, the sum of selected target location is indicated, that is, the group number measured.
It in a specific embodiment, can be according to corresponding to multiple when controller 210 carries out parameter calibration to mechanical arm
The distance of target location establishes Optimized model；According to corresponding to the first joint angle set of multiple target locations and second joint angle
Set solves the Optimized model, obtains the parameter offset of mechanical arm；According to the parameter offset to the machine
Tool arm carries out parameter calibration.
For example, according to the direct kinematics equation of mechanical arm, following equation can be constructed：
Fi=di-disti；
In formula, XLiAnd YLiIn flute card space, you sit for i-th of first position of mechanical arm tail end point respectively under left hand posture
Abscissa and ordinate in mark system, XRiAnd YRiI-th of second position of mechanical arm tail end point is in flute respectively under right hand posture
Abscissa and ordinate in your coordinate system of card space,WithIt is the pass in corresponding first joint in i-th of first position respectively
The joint angle at angle and second joint is saved,WithIt is the joint angle and second in corresponding first joint in i-th of second position respectively
The joint angle in joint, l1And l2It is the length of the first joint and second joint, x respectively1、x2And x3It is l respectively1、l2And θ2Parameter
Offset, distiFor PLiAnd PRiThe distance between.
It is thus possible to obtain vector：F=[F1,L,Fi,L,Fn], i=1, L, n construct following optimization mould according to the vector
Type：
T representing matrix transposition operate.Controller 210 solves above-mentioned model, can obtain parameters offset,
And then parameter calibration is carried out to the mechanical arm according to the parameter offset.Wherein, solution mode includes but not limited to gradient
Any one in descent method, Newton―Leibniz formula or Levenberg-Marquard algorithms.
Above-described embodiment using image acquiring device measurement markers point in mechanical arm left hand posture and right hand posture away from
The angle in the joint 1 and joint 2 of deviation and mechanical arm in left hand posture and right hand posture.By repeatedly measuring, will demarcate
Problem is converted to least squares problem, reduces computation complexity.
The mechanical arm parameter calibration system of the present invention has the following advantages：
(1) compare with ball mark instrument, automatic theodolite, the scaling schemes such as three coordinate measuring machine, laser tracker, this programme
Hardware configuration is simple, and price is low, cost-effective.
(2) principle of this programme is simple, need not solve the transformational relation of camera coordinates system and mechanical arm coordinate system, construction
Least squares problem, be easy to solve.
(3) this programme is after programming is realized, can fully automatic operation handle data, operation letter woth no need to manual record
It is single, application easy to spread.
Further, the embodiment of the present invention also provides a kind of ginseng of the mechanical arm in mechanical arm, including above-mentioned any embodiment
Number calibration system.
In one embodiment, the present invention also provides a kind of mechanical arm parameter calibration systems, it may include：
Camera, controller and end-of-arm tooling；
The end-of-arm tooling is set to the end of mechanical arm, and the camera is set to above the end-of-arm tooling, and for shooting
The end-of-arm tooling, the output end of the camera are connected with the input terminal of controller, output end and the machinery of the controller
Arm is connected；
The controller is run with left hand posture to target location for control machinery arm, and control machinery arm is with right hand appearance
State is run to target location；
When the camera is run with left hand posture for obtaining mechanical arm, first position that the end-of-arm tooling is actually reached
And its corresponding first joint angle set, and when obtaining mechanical arm and being run with right hand posture, what the end-of-arm tooling was actually reached
The second position and its corresponding second joint angle set；
The controller is additionally operable to according to the distance between the first position and the second position, the first joint angle collection
It closes and second joint angle set carries out parameter calibration to the mechanical arm.
Wherein, a label can be set on end-of-arm tooling.By the position of shot mark come calculating machine arm end not
With the distance under posture, it can prevent mechanical arm tail end from being blocked by mechanical arm itself.Further, it can be used and end-of-arm tooling
The larger label of color distinction, or the label (for example, rectangle, circle etc.) that geometric properties are regular shapes can be used, also may be used
To use while meet the label of above-mentioned two condition.It is larger with end-of-arm tooling color distinction, then it can be filled in order to which image obtains
It sets and captures label；It is the label of regular shape using geometric properties, convenient for solving geometric center.
The mode and the parameter calibration side in above-mentioned mechanical arm parameter calibration method embodiment that controller carries out parameter calibration
Formula is identical, and details are not described herein again.
Further, the embodiment of the present invention also provides a kind of computer readable storage medium, is stored thereon with computer journey
Sequence, which is characterized in that the program realizes the mechanical arm parameter calibration method in above-mentioned any one embodiment when being executed by processor.
Further, the embodiment of the present invention also provides a kind of computer equipment, including memory, processor and is stored in
On reservoir and the computer program that can run on a processor, which is characterized in that the processor is realized when executing described program
Mechanical arm parameter calibration method in above-mentioned any one embodiment.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (system of such as computer based system including processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicating, propagating or passing
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.
The more specific example (non-exhaustive list) of computer-readable medium includes following：It is connected up with one or more
Electrical connection section (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can be for example by carrying out optical scanner to paper or other media, then into edlin, interpretation or when necessary with it
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the present invention can be realized with hardware, software, firmware or combination thereof.Above-mentioned
In embodiment, software that multiple steps or method can in memory and by suitable instruction execution system be executed with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit application-specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiments or example in can be combined in any suitable manner.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (14)
1. a kind of mechanical arm parameter calibration method, which is characterized in that include the following steps：
Be controlled to after left hand posture runs to target location in mechanical arm, obtain the first position that is actually reached of mechanical arm and
Its corresponding first joint angle set；
It is controlled to after right hand posture runs to the target location in the mechanical arm, obtains mechanical arm is actually reached the
Two positions and its corresponding second joint angle set；
According to the distance between the first position and the second position, the first joint angle set and second joint angle collection
It closes and parameter calibration is carried out to the mechanical arm.
2. mechanical arm parameter calibration method according to claim 1, which is characterized in that according to the first position and second
The distance between position, the first joint angle set and second joint angle set carry out parameter calibration to the mechanical arm
The step of include：
Distance, the first joint angle set and second joint angle collection that the mechanical arm corresponds to multiple target locations are obtained respectively
It closes；
According to corresponding to multiple target locations distance, the first joint angle set and second joint angle set to the mechanical arm into
Row parameter calibration.
3. mechanical arm parameter calibration method according to claim 2, which is characterized in that according to corresponding to multiple target locations
Distance, the first joint angle set and second joint angle set to the mechanical arm carry out parameter calibration the step of include：
Optimized model is established according to the distance corresponding to multiple target locations；
The Optimized model is carried out according to corresponding to the first joint angle set of multiple target locations and second joint angle set
It solves, obtains the parameter offset of mechanical arm；
Parameter calibration is carried out to the mechanical arm according to the parameter offset.
4. mechanical arm parameter calibration method according to claim 3, which is characterized in that the Optimized model is：
Wherein, Fi=di-disti；
In formula, XLiAnd YLiI-th of first position of mechanical arm tail end point is in flute card space that coordinate system respectively under left hand posture
In abscissa and ordinate, XRiAnd YRiI-th of second position of mechanical arm tail end point is empty in flute card respectively under right hand posture
Between abscissa and ordinate in your coordinate system,WithIt is the joint angle in corresponding first joint in i-th of first position respectively
With the joint angle of second joint,WithIt is the joint angle and second joint in corresponding first joint in i-th of second position respectively
Joint angle, l1And l2It is the length of the first joint and second joint, x respectively1、x2And x3It is l respectively1、l2And θ2Parameter compensation
Value, distiFor the interval between the corresponding flag in i-th of first position and i-th of second position.
5. a kind of mechanical arm parameter calibration device, which is characterized in that including：
It is real to obtain mechanical arm for being controlled to after left hand posture runs to target location in mechanical arm for first acquisition module
The first position and its corresponding first joint angle set that border reaches；
Second acquisition module, for the mechanical arm be controlled to right hand posture to the target location run after, obtain
The second position and its corresponding second joint angle set that mechanical arm is actually reached；
Demarcating module, for according to the distance between the first position and the second position, the first joint angle set and institute
It states second joint angle set and parameter calibration is carried out to the mechanical arm.
6. a kind of mechanical arm parameter calibration system, which is characterized in that including：
Controller and image acquiring device；
Described image acquisition device be used for mechanical arm be controlled to left hand posture to target location run after, obtain mechanical arm
The first position being actually reached and its corresponding first joint angle set, and right hand posture is controlled to institute in the mechanical arm
After stating target location operation, the second position and its corresponding second joint angle set that mechanical arm is actually reached are obtained；
The controller is used for according to the distance between the first position and the second position, the first joint angle set and institute
It states second joint angle set and parameter calibration is carried out to the mechanical arm.
7. mechanical arm parameter calibration system according to claim 6, which is characterized in that further include：
Set on the end-of-arm tooling of mechanical arm tail end；
Described image acquisition device is used to shoot position and the posture of the end-of-arm tooling, and according to the position of the end-of-arm tooling
Position and the posture of mechanical arm tail end are obtained with posture.
8. mechanical arm parameter calibration system according to claim 7, which is characterized in that the end-of-arm tooling is equipped with mark
Note.
9. mechanical arm parameter calibration system according to claim 8, which is characterized in that the color of the label and the end
The color distinction of ending tool is larger；And/or the geometric properties of the label are regular shapes.
10. the mechanical arm parameter calibration system according to claim 6 to 9 any one, which is characterized in that the controller
It is additionally operable to control machinery arm respectively and the target location is reached with left hand posture and right hand posture.
11. a kind of mechanical arm, which is characterized in that including the mechanical arm parameter calibration system described in claim 6 to 10 any one
System.
12. a kind of mechanical arm parameter calibration system, which is characterized in that including：
Camera, controller and end-of-arm tooling；
The end-of-arm tooling is set to the end of mechanical arm, and the camera is set to above the end-of-arm tooling, and described for shooting
End-of-arm tooling, the output end of the camera are connected with the input terminal of controller, output end and the mechanical arm phase of the controller
Connection；
The controller for control machinery arm with left hand posture to target location run, and control machinery arm with right hand posture to
Target location is run；
When the camera is run with left hand posture for obtaining mechanical arm, first position that the end-of-arm tooling is actually reached and its
Corresponding first joint angle set, and when obtaining mechanical arm and being run with right hand posture, the end-of-arm tooling be actually reached second
Position and its corresponding second joint angle set；
The controller be additionally operable to according to the distance between the first position and the second position, the first joint angle set and
The second joint angle set carries out parameter calibration to the mechanical arm.
13. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The mechanical arm parameter calibration method described in Claims 1-4 any one is realized when execution.
14. a kind of computer equipment, including memory, processor and storage are on a memory and the meter that can run on a processor
Calculation machine program, which is characterized in that the processor realizes the machine described in Claims 1-4 any one when executing described program
Tool arm parameter calibration method.
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