CN111152260A - A joint rotation angle auxiliary measurement system and method of a series rotary joint manipulator - Google Patents
A joint rotation angle auxiliary measurement system and method of a series rotary joint manipulator Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
本发明提供了本发明提供了一种串联旋转关节机械臂的关节转角辅助测量系统，包括：姿态测量单元和计算机，所述姿态测量单元包括微处理器，和与微处理器电信号连接的三轴加速度计、三轴陀螺仪和三轴磁力计；姿态测量单元还具有固定端，姿态测量单元通过固定端固定设置在机械臂的每个关节的任一平面的任一位置上；姿态测量单元与计算机通讯连接；计算机用于根据姿态测量单元的姿态信息解算机械臂的关节转角；实现灵活方便、高效准确、不受环境影响的关节转角测量；使得测量不受环境限制，经过求解，可以获得串联型机械臂在运动过程中的关节转角信息，极大简化了机械臂关节转角测量过程。
The present invention provides a joint angle auxiliary measurement system of a series rotary joint manipulator, comprising: an attitude measurement unit and a computer, the attitude measurement unit includes a microprocessor, and three electrical signals connected to the microprocessor axis accelerometer, three-axis gyroscope and three-axis magnetometer; the attitude measurement unit also has a fixed end, and the attitude measurement unit is fixedly arranged on any position of any plane of each joint of the mechanical arm through the fixed end; the attitude measurement unit Communication and connection with the computer; the computer is used to calculate the joint angle of the manipulator according to the attitude information of the attitude measurement unit; to realize flexible, convenient, efficient and accurate joint angle measurement that is not affected by the environment; so that the measurement is not restricted by the environment, and after solving, it can be Obtaining the joint angle information of the tandem manipulator during motion greatly simplifies the process of measuring the manipulator's joint angle.
Description
Technical Field
The invention belongs to the technical field of mechanical arm joint corner measurement, and relates to a measurement method for auxiliary measurement of a joint corner of a mechanical arm with a series-connection rotary joint by utilizing an attitude detection unit comprising an industrial-grade triaxial gyroscope, an industrial-grade triaxial accelerometer and an industrial-grade triaxial magnetometer.
Background
The high-precision encoder system contained in the mechanical arm is the main means for a user to obtain the angle information of each joint of the mechanical arm in the motion process. Usually, in order to more accurately monitor information such as the position and the posture of the mechanical arm in the motion process, a user usually introduces a set of joint rotation angle auxiliary measuring system.
The joint corner auxiliary measurement system can be used as an auxiliary means for monitoring the joint corner information of the mechanical arm, and provides necessary joint angle auxiliary measurement information for the purposes of fault diagnosis, parameter correction and the like of the mechanical arm. However, the existing measurement system is complex and complicated when used for measuring the auxiliary joint angle of the serial rotary joint mechanical arm, and how to flexibly and conveniently measure the auxiliary joint angle is a technical problem to be solved.
Disclosure of Invention
The invention provides a joint corner auxiliary measuring method of a serial rotary joint mechanical arm, which aims to realize flexible and convenient auxiliary joint angle measurement of the serial rotary joint mechanical arm. The method is completely independent of a high-precision encoder system contained in a mechanical arm body, is suitable for a multi-degree-of-freedom mechanical arm, and realizes joint corner measurement of the mechanical arm with the serial rotary joint by utilizing an attitude detection unit containing an industrial-grade triaxial gyroscope, an industrial-grade triaxial accelerometer and an industrial-grade triaxial magnetometer.
The invention provides a joint corner auxiliary measurement method of a serial rotary joint mechanical arm, aiming at the problem of joint corner auxiliary measurement of the serial rotary joint mechanical arm.
The technical scheme adopted by the invention is as follows:
in a first aspect, the present invention provides a joint rotation angle auxiliary measurement system for a serial rotary joint mechanical arm, including: the attitude measurement unit comprises a microprocessor, and a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer which are electrically connected with the microprocessor; the attitude measuring unit is fixedly arranged at any position of any plane of each joint of the mechanical arm through the fixed end;
the attitude measurement unit is in communication connection with the computer;
and the computer is used for calculating the joint rotation angle of the mechanical arm according to the attitude information of the attitude measurement unit.
Further, the inertial measurement unit further comprises a communication component and a power supply component.
Furthermore, the power supply assembly supplies power for the microprocessor, the three-axis accelerometer, the three-axis gyroscope, the three-axis magnetometer and the communication assembly; the communication assembly is used for transmitting the attitude information obtained by resolving the inertia measurement equipment to a computer in a serial port, network cable, Bluetooth and WiFi mode.
The invention also provides a use method of the joint rotation angle auxiliary measuring system of the mechanical arm, which comprises the following steps:
constructing a measuring environment, and fixing an attitude measuring unit on each joint of the serial rotary joint mechanical arm;
unifying coordinate systems, unifying all coordinate systems in the joint corner auxiliary measuring system of the serial rotary joint mechanical arm;
decomposing the composite motion of the mechanical arm, and decomposing the composite motion of each joint of the mechanical arm into a series of independent rotary motions of each joint;
decomposing the composite attitude of the attitude measurement unit, and decomposing the composite attitude output by the attitude measurement unit into a series of attitude changes generated when each joint independently rotates;
and calculating the joint rotation angle of the mechanical arm, and calculating the corresponding joint rotation angle according to the obtained attitude change of the independent rotation motion of each joint of the mechanical arm.
Further, the unified coordinate system includes: the system comprises a world coordinate system, a base coordinate system fixedly connected to a base of the mechanical arm, a navigation coordinate system where an attitude measurement unit is located, a sensor coordinate system fixedly connected to the attitude measurement unit and joint coordinate systems fixedly connected to joints of the mechanical arm; wherein the navigation coordinate system is taken as a north-east-ground coordinate system or a north-west-sky coordinate system.
Further, the compound motion of the mechanical arm is decomposed into independent rotary motion of the current joint and independent rotary motion of each joint connected in series with the current joint in a forward direction according to the sequence of the joint serial numbers from high to low, wherein the joint connected with the base of the mechanical arm is 1, and the joint serial number connected with the tool at the tail end of the mechanical arm is the highest.
Further, the composite attitude decomposition of the attitude measurement unit can be expressed by the following formula:
where Π denotes the successive multiplication symbol, qnA quaternion representing the output of the attitude measurement unit fixed to the joint n describes the change in the attitude of the joint n due to the compound motion. q. q.sn|initAnd the quaternion which is output by the attitude measurement unit fixed on the joint n when the mechanical arm is in the initial state is shown. q. q.sn(ri,θi) Expressing the quaternion output by the attitude measurement unit fixed on the joint n, describing the attitude change of the joint n of the mechanical arm when the joint n makes independent rotation motion, riAxis of rotation, theta, representing the independent rotary motion of joint niThe rotation angle indicating the independent rotational motion of the joint n is the joint rotation angle of the robot arm joint n to be measured.
Further, according to the formula (1), posture changes of the mechanical arm with the N degrees of freedom during independent rotation of each joint are obtained through calculation, and the posture changes have the following form:
wherein q represents a conjugate quaternion.
Further, when calculating the joint angle of the mechanical arm and assuming that the joint n of the mechanical arm independently rotates, the quaternion q output by the attitude measuring unit fixed on the joint nn(rn,θn) Having the form:
qn(rn,θn)＝[p x y z]T(3)
from the relationship of the quaternion and the pair of shaft angles, the following formula can be derived:
the angle calculated according to equation (4) is defined as:
αn＝2arccos p，αn∈(0,π)(8)
further, by substituting the formula (8) into the formulas (5) to (7), the components of the rotation axis when the joint n of the robot arm independently rotates can be calculated as follows:
furthermore, in the practical process, the angle of each joint of the mechanical arm in the rotation process is prevented from approaching zero; substituting the formula (9) into the formulas (5) - (7) can obtain the following three formulas for calculating the joint rotation angle,
the final rotation angle of the joint n is calculated from the formula corresponding to the maximum component of the rotation axis when r is the rotation axisyWhen the component is maximum, the second sub-formula in formula (10) is used to calculate the rotation angle of the joint n during the movement.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides an auxiliary measuring method for joint corners of a serial rotary joint mechanical arm, which is suitable for a serial rotary joint type mechanical arm with any degree of freedom. The attitude output by the attitude measurement unit comprising the industrial-grade triaxial accelerometer, the industrial-grade triaxial magnetometer and the industrial-grade triaxial gyroscope is utilized to realize flexible, convenient, efficient and accurate joint corner measurement without environmental influence.
2. The present invention allows the attitude measurement unit to be fixed to each joint of the robot arm in an arbitrary attitude, simplifying the equipment installation process. Each attitude measurement unit can transmit the measured quaternion information to a computer in real time in the modes of Bluetooth, WiFi, 2.4G and the like, so that the measurement is not limited by the environment. The computer can obtain the joint corner information of the serial mechanical arm in the motion process by utilizing the joint corner measuring method provided by the invention and solving according to the received quaternion information output by each attitude measuring unit in real time.
3. As an auxiliary measuring means for the joint corner, the method for measuring the joint corner of the serial rotary joint mechanical arm based on the attitude measuring unit has the advantages of low implementation cost and great simplification of the process of measuring the joint corner of the mechanical arm.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a schematic structural diagram of a joint rotation angle auxiliary measurement system of a serial rotary joint mechanical arm constructed according to a preferred embodiment of the invention.
Fig. 2 is a schematic structural diagram of the attitude measurement unit constructed according to embodiment 1 of the present invention.
Fig. 3 is a flowchart of an auxiliary measurement method for a joint corner of a mechanical arm with a serial rotary joint according to the present invention.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience of describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and may be a fixed connection, or may be an integral connection or a detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
Example 1
Fig. 1 is a schematic structural diagram of a system for auxiliary measurement of joint rotation angle of a robot arm with serial rotary joints, constructed according to a preferred embodiment of the present invention, where 1 is the robot arm with serial rotary joints, 2 is an attitude measurement unit, 3 is a control cabinet of the robot arm, 4 is a computer, 5 is a cable between the robot arm 1 and the control cabinet 3, 6 is a cable connecting the control cabinet 3 to the computer 4, and 7 is a communication mode between each attitude measurement unit 2 fixed on the robot arm 1 and the computer 4.
The mechanical arm 1 may be any multi-degree-of-freedom serial rotary joint mechanical arm in practice, and for convenience, a common six-degree-of-freedom serial rotary joint mechanical arm is shown in fig. 1.
The number of the attitude measurement units 2 is matched with the degree of freedom of the mechanical arm, and the attitude measurement units 2 can be fixed on each joint of the mechanical arm 1 in any attitude.
The computer 4 stores a program written according to the auxiliary measuring method for the joint angle of the mechanical arm with the serial rotary joints, and the program is used for calculating and obtaining the joint angle information of the mechanical arm in the motion process according to the attitude information output by the attitude measuring unit 2.
Fig. 2 is a schematic diagram of a configuration of an attitude measurement unit constructed according to a preferred embodiment of the present invention. The attitude measurement unit 2 consists of a microprocessor, an industrial grade triaxial accelerometer, an industrial grade triaxial gyroscope, an industrial grade triaxial magnetometer, a communication assembly and a power supply assembly; the power supply assembly supplies power for the microprocessor, the industrial-grade triaxial accelerometer, the industrial-grade triaxial gyroscope, the industrial-grade triaxial magnetometer and the communication assembly; the communication component is used for outputting the attitude information obtained by resolving by the attitude measuring unit 2 to the computer 4 in a mode of 2.4G, Bluetooth, Wi Fi and the like.
Fig. 3 is a flowchart of an auxiliary measurement method for a joint corner of a serial rotary joint mechanical arm, which is provided by the invention, and comprises three steps, respectively: the method comprises the steps of building a measuring environment, unifying a coordinate system, decomposing the composite motion of the mechanical arm, decomposing the composite gesture of a gesture measuring unit, and calculating the joint rotation angle of the mechanical arm.
The specific implementation steps of the present invention will be further explained below:
step 1: constructing a measuring environment, and fixing an attitude measuring unit on each joint of the serial rotary joint mechanical arm;
step 2: unifying coordinate systems, unifying all coordinate systems in the joint corner auxiliary measuring system of the serial rotary joint mechanical arm;
and step 3: decomposing the composite motion of the mechanical arm, and decomposing the composite motion of each joint of the mechanical arm into a series of independent rotary motions of each joint;
and 4, step 4: decomposing the composite attitude of the attitude measurement unit, and decomposing the composite attitude output by the attitude measurement unit into a series of attitude changes generated when each joint independently rotates;
and 5: and 4, calculating the joint rotation angle of the mechanical arm, and calculating the corresponding joint rotation angle according to the posture change of the independent rotation motion of each joint of the mechanical arm obtained in the step 4.
Furthermore, the serial rotary joint mechanical arm can be a mechanical arm with any degree of freedom.
Furthermore, the attitude measurement unit is fixed at any position of each joint of the mechanical arm in any attitude, and each joint is ensured to be provided with one attitude measurement unit. Each attitude measurement unit comprises an industrial triaxial gyroscope, an industrial triaxial accelerometer and an industrial triaxial magnetometer, the output of the attitude measurement unit comprises quaternion information, and the information output mode of the attitude measurement unit can be Bluetooth, WiFi, 2.4G and the like.
Further, the unified coordinate system includes: the system comprises a real world coordinate system, a base coordinate system fixedly connected to a base of the mechanical arm, a navigation coordinate system where an attitude measurement unit is located, a sensor coordinate system fixedly connected to the attitude measurement unit, and a joint coordinate system fixedly connected to each joint of the mechanical arm, wherein the navigation coordinate system is usually taken as a north-east-ground coordinate system or a north-west-sky coordinate system. The purpose of the unified coordinate system is to use the attitude change of the sensor coordinate system of the attitude measurement unit in the navigation coordinate system to express the attitude change of the joint coordinate system of the mechanical arm in the world coordinate system, and further to use the quaternion output by the attitude measurement unit to solve the joint rotation angle of the mechanical arm in the motion process.
Further, the compound motion of the mechanical arm is decomposed into independent rotation motion of the current joint and independent rotation motion of each joint connected in series with the current joint in a forward direction according to the sequence of the joint serial numbers from high to low, wherein the joint serial number connected with the base of the mechanical arm is 1, and the joint serial number connected with the tool at the tail end of the mechanical arm is the highest.
Further, the composite attitude decomposition of the attitude measurement unit can be expressed by the following formula:
where Π denotes the successive multiplication symbol, qnA quaternion representing the output of the attitude measurement unit fixed to the joint n describes the change in the attitude of the joint n due to the compound motion. q. q.sn|initAnd the quaternion which is output by the attitude measurement unit fixed on the joint n when the mechanical arm is in the initial state is shown. q. q.sn(ri,θi) Expressing the quaternion output by the attitude measurement unit fixed on the joint n, describing the attitude change of the joint n of the mechanical arm when the joint n makes independent rotation motion, riAxis of rotation, theta, representing the independent rotary motion of joint niWhich represents the rotation angle of the independent rotational motion of the joint n, i.e., the joint rotation angle of the robot arm joint n to be measured in the present invention.
According to the formula (1), the attitude change of each joint of the mechanical arm with n degrees of freedom in independent rotation can be calculated, and the attitude change has the following form:
wherein q represents a conjugate quaternion.
Further, when calculating the joint angle of the mechanical arm and assuming that the joint n of the mechanical arm independently rotates, the quaternion q output by the attitude measuring unit fixed on the joint nn(rn,θn) Having the form:
qn(rn,θn)＝[p x y z]T(3)
from the relationship of the quaternion and the pair of shaft angles, the following formula can be derived:
further, the angle calculated according to the formula (4) is defined as
αn＝2arccos p，αn∈(0,π)(8)
By substituting the formula (8) into the formulas (5) to (7), the components of the rotation axis when the joint n of the robot arm independently rotates can be calculated as follows:
in order to avoid the occurrence of singular values, the angle of each joint of the mechanical arm during rotation is avoided approaching zero in the practical process. Substituting the formula (9) into the formulas (5) - (7) can obtain the following three formulas for calculating the joint rotation angle,
the final angle of rotation of the joint n is calculated from the formula corresponding to the maximum component of the axis of rotation, e.g. when r is the axis of rotationyWhen the component is maximum, the second sub-formula in formula (10) is used to calculate the rotation angle of the joint n during the movement.
The embodiment of the invention provides an auxiliary measuring method for joint corners of a serial rotary joint mechanical arm, which is suitable for a multi-degree-of-freedom serial rotary joint type mechanical arm. The attitude output by the attitude measurement unit comprising the industrial-grade triaxial accelerometer, the industrial-grade triaxial magnetometer and the industrial-grade triaxial gyroscope is utilized to realize flexible, convenient, efficient and accurate joint corner measurement without environmental influence. The method allows the attitude measurement unit to be fixed to each joint of the robot arm in any attitude, simplifying the equipment installation process. Each attitude measurement unit can transmit the measured quaternion information to a computer in real time in the modes of Bluetooth, WiFi, 2.4G and the like, and the measurement is not limited by the environment. The computer can obtain the joint corner information of the serial mechanical arm in the motion process by utilizing the joint corner measuring method provided by the invention and solving according to the received quaternion information output by each attitude measuring unit in real time. As an auxiliary joint corner measuring means, the method for measuring the joint corner of the serial rotary joint mechanical arm based on the attitude measuring unit has the advantages of low implementation cost and great simplification of the process of measuring the joint corner of the mechanical arm.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. The utility model provides a joint corner auxiliary measuring system of series connection rotary joint arm which characterized in that includes: the attitude measurement unit comprises a microprocessor, and a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer which are electrically connected with the microprocessor; the attitude measuring unit is fixedly arranged at any position of any plane of each joint of the mechanical arm through the fixed end;
the attitude measurement unit is in communication connection with the computer;
and the computer is used for calculating the joint rotation angle of the mechanical arm according to the attitude information of the attitude measurement unit.
2. The joint angle auxiliary measurement system of a robot arm according to claim 1, wherein the inertial measurement unit further comprises a communication module and a power module.
3. The joint angle auxiliary measurement system of a robot arm of claim 2, wherein the power supply assembly supplies power to the microprocessor, the three-axis accelerometer, the three-axis gyroscope, the three-axis magnetometer, and the communication assembly; the communication assembly is used for transmitting the attitude information obtained by resolving the inertia measurement equipment to a computer in a serial port, network cable, Bluetooth and WiFi mode.
4. A method for using the joint rotation angle auxiliary measuring system of the robot arm according to claims 1-3, comprising the steps of:
constructing a measuring environment, and fixing an attitude measuring unit on each joint of the serial rotary joint mechanical arm;
unifying coordinate systems, unifying all coordinate systems in the joint corner auxiliary measuring system of the serial rotary joint mechanical arm;
decomposing the composite motion of the mechanical arm, and decomposing the composite motion of each joint of the mechanical arm into a series of independent rotary motions of each joint;
decomposing the composite attitude of the attitude measurement unit, and decomposing the composite attitude output by the attitude measurement unit into a series of attitude changes generated when each joint independently rotates;
and calculating the joint rotation angle of the mechanical arm, and calculating the corresponding joint rotation angle according to the obtained attitude change of the independent rotation motion of each joint of the mechanical arm.
5. The joint rotation angle auxiliary measurement method according to claim 4, wherein the unified coordinate system includes: the system comprises a world coordinate system, a base coordinate system fixedly connected to a base of the mechanical arm, a navigation coordinate system where an attitude measurement unit is located, a sensor coordinate system fixedly connected to the attitude measurement unit and joint coordinate systems fixedly connected to joints of the mechanical arm; wherein the navigation coordinate system is taken as a north-east-ground coordinate system or a north-west-sky coordinate system.
6. The joint angle auxiliary measuring method according to claim 4, wherein the decomposing of the compound motion of the mechanical arm is to decompose the compound motion of the mechanical arm into independent rotary motion of a current joint and independent rotary motion of each joint connected in series with the current joint in the forward direction in the order from the highest to the lowest in the joint number, wherein the joint connected to the base of the mechanical arm is 1, and the joint number connected to the end tool of the mechanical arm is the highest;
the composite attitude decomposition of the attitude measurement unit can be represented by the following formula:
where Π denotes the successive multiplication symbol, qnA quaternion representing the output of the attitude measurement unit fixed to the joint n; q. q.sn|initRepresenting a quaternion output by an attitude measuring unit fixed on the joint n when the mechanical arm is in an initial state; q. q.sn(ri,θi) A quaternion representing the output of the attitude measurement unit fixed to the joint n; r isiA rotation axis representing the independent rotational motion of the joint n; thetaiWhich represents the angle of rotation of the independent rotational movement of the joint n.
7. The joint rotation angle auxiliary measurement method according to claim 6, wherein the attitude change of each joint of the N-degree-of-freedom robot arm during independent rotational motion is calculated according to formula (1) and has the following form:
wherein q represents a conjugate quaternion.
8. The joint-angle aided measurement method according to claim 7, wherein, when calculating the joint angle of the robot arm, assuming that the joint n of the robot arm rotates independently, the quaternion q output from the attitude measurement unit fixed to the joint n is calculated by the quaternion qn(rn,θn) Having the form:
qn(rn,θn)＝[p x y z]T(3)
from the relationship of the quaternion and the pair of shaft angles, the following formula can be derived:
the angle calculated according to equation (4) is defined as:
αn＝2arccosp，αn∈(0,π) (8)。
9. the joint angle auxiliary measuring method according to claim 7, wherein the components of the rotation axis when the joint n of the robot arm independently rotates are calculated by substituting the formula (8) into the formulae (5) to (7) as follows:
10. the joint rotation angle auxiliary measuring method according to claim 9, wherein in an actual process, the angle of each joint of the mechanical arm is prevented from approaching zero when rotating; substituting the formula (9) into the formulas (5) - (7) can obtain the following three formulas for calculating the joint rotation angle,
the final rotation angle of the joint n is calculated from the formula corresponding to the maximum component of the rotation axis when r is the rotation axisyWhen the component is maximum, the second sub-formula in formula (10) is used to calculate the rotation angle of the joint n during the movement.
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| CN112643656A (en) * | 2020-11-17 | 2021-04-13 | 天启控制技术(深圳)有限公司 | Attitude control method and system for serial six-joint manipulator |
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