CN111536874A - Robot pose detection system and method - Google Patents
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Abstract
The invention discloses a robot pose detection system and a method, which can detect a measured robot at different positions and attitude angles by utilizing the advantage of high distance measurement precision of a laser tracker and combining the characteristics of high rigidity and high flexibility of a measuring head of a joint arm coordinate machine, and avoid the problem that the robot cannot be comprehensively detected due to light shielding; the system can detect the robot at any position and any posture within the working range of the robot to be detected at one time, a laser tracker does not need to be moved during the detection, and if the individual position cannot be measured, only the articulated arm coordinate machine needs to be moved. The measuring head range can be further extended by lengthening the positioning target ball checking fixture towards the root part of the articulated arm coordinate machine; the coordinate system relation among the laser tracker, the articulated arm coordinate machine, the positioning target ball checking fixture and the special connecting and positioning target ball fixture is established by the measuring and positioning target ball checking fixture and the special connecting and positioning target ball fixture, and the coordinate system can be switched between the coordinate systems at will through the conversion of the coordinate system.
Description
Technical Field
The invention relates to the technical field of robot pose detection, in particular to a robot pose detection system and method.
Background
At present, with the increasingly wide use of high-precision flexible robots, the online pose detection technology is more and more emphasized by people, and a laser tracker is generally used as a more conventional detection means. The laser tracker is used as a measuring standard device, a plurality of target balls are arranged at the tail end of a measured robot, the tail end position and the posture of the robot are calculated by measuring the coordinates of the target balls, and compared with the nominal value of a robot control computer, the pose error of the robot is calculated. The method has the advantages of high precision, high detection speed and the like, so the method has a wide application range.
However, due to the limitation of the laser tracking technology, the detection of the pose of the robot can only be realized under the condition that the light path is not shielded, and the detection cannot be carried out once the light is shielded. Therefore, the pose detection of the robot is one-sided, so that the D-H parameters of the robot cannot be compensated in an all-dimensional manner, and the pose and track accuracy of the high-precision robot is influenced. And the robot can not be detected by only using the articulated arm coordinate measuring machine due to the limitation of the measuring range (the measuring range is less than 3 meters).
Therefore, it is an urgent need to solve the problems of the art to provide a novel robot pose detection system and method.
Disclosure of Invention
The invention aims to provide a robot pose detection system and a method, which are used for solving the problems in the prior art and adopt a laser tracker, a joint arm coordinate machine and a measurement method matched with a special detection tool. The laser tracker is used as a main standard device to provide standard displacement and angle values, the articulated arm is connected with a light beam emitted by the laser tracker through the positioning target ball checking fixture and establishes a corresponding coordinate system, and the full attitude angle and position accuracy of different positions of the robot can be detected once within a light beam receiving range by utilizing the flexible measurement capability of the articulated arm coordinate machine.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a robot pose detection system which comprises a laser tracker, a joint arm coordinate machine, a positioning target ball detection tool, a tested robot, a tail end special detection tool, a special connecting positioning target ball clamp and a control computer, wherein tracking laser of the laser tracker is connected with the joint arm coordinate machine through the positioning target ball detection tool; the special connecting and positioning target ball fixture is arranged at the rear end of a measuring head of the articulated arm coordinate machine, consists of a tracking target ball positioning fixture and a special target ball and is used for transferring a laser beam of the laser tracker to the articulated arm measuring head; and the control computer processes the real-time acquired data of the detection system, summarizes all feedback data of the detected robot and calculates the deviation of each pose.
Preferably, the laser tracking system further comprises a tracker support and an articulated arm support, and the laser tracker and the articulated arm coordinate machine are respectively arranged on the tracker support and the articulated arm support.
The invention also provides a robot pose detection method, which comprises the following steps:
firstly, adjusting a tested robot to an initial working pose, and placing a laser tracker and a joint arm coordinate machine in a working range of the tested robot;
measuring a positioning target ball checking fixture by using a flexible measuring head of a joint arm coordinate machine, thereby obtaining the position coordinate of the positioning target ball; then, measuring and positioning the coordinates of the target ball checking fixture by using the target ball of the laser tracker, thereby obtaining the position relation of the target ball checking fixture and the target ball;
thirdly, the positioning target ball is loaded into a special connecting positioning target ball clamp with a position relation determined in advance by using the position coordinate of the positioning target ball detecting tool, so that the articulated arm coordinate machine and the laser tracker are connected through the positioning target ball to form a laser tracking articulated arm measuring system;
measuring a base coordinate system of the measured robot body by using a laser tracking articulated arm measuring system, and enabling the robot coordinate system to be reduced into a coordinate system of the laser tracking articulated arm measuring system; measuring a special checking fixture for the tail end of the tested robot by using a laser tracking articulated arm measuring system to obtain the position and posture coordinates of each point;
fifthly, detecting the pose of the robot by using the robot measuring software and the robot control computer to enable the measured robot to enter an initial working state;
and step six, after the detection is finished, judging whether the robot meets the related technical requirements or not according to the detection result, if the detection result does not meet the related technical requirements, measuring the D-H parameters of the detected robot through the laser tracking articulated arm measuring system, inputting the optimized calibration result into the robot control computer for re-detection, and performing iterative measurement, thereby improving the pose precision index of the robot.
Preferably, the laser tracker and the articulated arm coordinate machine are respectively arranged on a tracker support and an articulated arm support.
Compared with the prior art, the invention has the following beneficial technical effects:
1. the robot pose detection system and method provided by the invention can be used for detecting the robot to be detected at different positions and attitude angles by utilizing the advantage of high distance measurement precision of the laser tracker and combining the characteristics of high rigidity and high flexibility of the joint arm coordinate machine measuring head, thereby avoiding the problem that the robot cannot be comprehensively detected due to light shielding.
2. The robot pose detection system and the robot pose detection method provided by the invention can detect the robot at any position and any posture in the working range of the robot to be detected at one time, a laser tracker does not need to be moved during detection, and only the articulated arm coordinate machine needs to be moved if the individual position cannot be measured. And the measuring head range (about 2.9 meters at most) can be further extended by lengthening the positioning target ball detecting tool to the root part of the articulated arm coordinate machine.
3. The robot pose detection system and method provided by the invention have a large measurement range (0-20 m), and meanwhile, the high distance measurement precision advantage of the laser tracker is combined, so that the precision is increased to +/-30 microns +0.8 x 10 compared with that of the traditional method-6L)。
4. According to the robot pose detection system and method provided by the invention, the coordinate system relation among the laser tracker, the articulated arm coordinate machine, the positioning target ball detection tool and the special connecting and positioning target ball clamp is established through the measuring and positioning target ball detection tool and the special connecting and positioning target ball clamp, so that the coordinate systems can be switched freely through the transformation of the coordinate systems.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of a laser tracking articulated arm measurement system according to the present invention;
in the figure: 1-laser tracker, 2-tracker bracket, 3-joint arm coordinate machine, 4-joint arm bracket, 5-positioning target ball detector, 6-tested robot, 7-end special detector, 8-special connecting positioning target ball clamp and 9-robot control computer.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a robot pose detection system and a robot pose detection method, which are used for solving the problems in the prior art.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The embodiment provides a robot pose detection system which comprises a laser tracker 1, a tracker support 2, a joint arm coordinate machine 3, a joint arm support 4, a positioning target ball detection tool 5, a measured robot 6, a tail end special detection tool 7, a special connecting positioning target ball clamp 8 and a control computer 9, wherein the laser tracker and the joint arm coordinate machine are respectively arranged on the tracker support and the joint arm support.
Absolute ranging (ADM) error of the laser tracker 1 in the above step: (+/-) (8μm + 0.8X 10-6L) can provide a high-precision displacement standard value, and the tracking laser is connected with the articulated arm coordinate machine through the positioning target ball check tool 5.
The single-point detection precision of the articulated arm coordinate machine 3 is 0.020mm, the locating target ball detection tool 5 is connected with the laser tracker 1, the pose precision of the articulated arm coordinate machine depends on the detection precision of the articulated arm coordinate machine and the absolute distance measurement error of the laser tracker, and the articulated arm coordinate machine is irrelevant to other structural joints of the shutdown arm. By utilizing the high flexibility, the all-dimensional attitude angle precision and the position precision of the robot can be measured at one time.
The positioning target ball detection tool 5 establishes a coordinate relationship between the laser tracker 1 and the articulated arm coordinate machine 3 through a high-precision ball (the size of the high-precision ball is set to be 7/8 inches in order to be matched with the size of the target ball of the laser tracker) with the roundness smaller than 0.001mm, so that the measurement of the articulated arm measuring head on the special detection tool 7 for the tail end is realized.
The special end checking fixture 7 is arranged at the end of the tested robot 6, and four standard ball bases are arranged on the special end checking fixture and can adsorb four standard target balls (steel balls can be used for specific requirements). The coordinate values are measured by a joint arm coordinate machine (hereinafter referred to as a laser joint measuring system) of the simultaneous laser tracker, thereby establishing a coordinate system of the end clamp.
The special connecting and positioning target ball clamp 8 is arranged at the rear end of a measuring head of the articulated arm coordinate machine, consists of a tracking target ball positioning clamp and a special target ball and is used for switching the laser beam of the laser tracker 6 to the articulated arm measuring head. The positioning position of the target ball can be determined by the detection requirement, and when the detection requirement precision is high, the positioning target ball can be set to be close to the position of a measuring head of the shutdown arm, so that the measurement error can be reduced; when the detection requirement is special, the special connecting and positioning target ball clamp 8 can be installed to the joint close to the root part of the articulated arm, so that the measurement range of the articulated arm can be lengthened (the maximum measurement range can be widened to 2.7 meters).
The control computer 9 processes the real-time collected data of the laser joint measurement system, summarizes all feedback data of the robot to be measured, and calculates the deviation of each pose.
The laser tracker 1 and the joint arm coordinate machine 3 are optically connected to form a measuring whole, so that the high-precision measuring capability of the laser tracker and the measuring head flexibility and rigidity capability of the joint arm coordinate machine can be utilized, and the range, efficiency and precision of the pose of the robot can be improved. The positioning target ball checking fixture 5 can convert and butt the contact type measuring head of the joint arm coordinate machine and the optical measuring head of the laser tracker, can transfer the coordinate system of the laser tracker to the joint arm measuring head, and can ensure that the measuring head extends to the range of 2.7 meters (within 0.029 mm) under the condition of certain precision. The system utilizes the high precision of the laser tracker in large-range measurement and the flexibility and the high rigidity of the measuring head of the articulated arm coordinate machine, and avoids the defects of optical shielding limitation of the laser tracker measuring target ball, small measuring range of the articulated arm coordinate machine and low large-range precision. The special end checking fixture 7 is provided with four high-precision metal target balls and positioning grooves, and is used for connecting a robot end coordinate system with a base coordinate system of a laser tracker of the robot end coordinate system. The laser tracker and the articulated arm coordinate machine can be mutually used as references, and when the laser tracker is used for collecting the inconvenience of a specific robot, the articulated arm coordinate machine can be used as the measurement reference of the whole device (the precision can be reduced), so that the measurement items with specific requirements are solved.
Based on the robot pose detection system, the embodiment further provides a robot pose detection method, which includes the following steps:
firstly, a tested robot 6 is adjusted to an initial working pose, a laser tracker 1 and a joint arm coordinate machine 3 are placed in a working range of the robot, the laser tracker 1 and the joint arm coordinate machine 3 are respectively installed on a tracker support 2 and a joint arm support 4, and the laser tracker 1 and the joint arm coordinate machine 3 are kept at proper distances, so that the requirement of the robot on the detection range is met;
step two, measuring a positioning target ball checking fixture 5 by using a flexible measuring head of a joint arm coordinate machine, thereby obtaining the position coordinate of the positioning target ball; then, measuring and positioning the coordinates of the target ball checking fixture 5 by using the target ball of the laser tracker, thereby obtaining the position relation of the two;
thirdly, the positioning target ball is loaded into a special connecting positioning target ball clamp 8 with a position relation determined in advance by using the position coordinate of the positioning target ball detecting tool 5, so that the articulated arm coordinate machine 3 and the laser tracker 1 are connected through the positioning target ball to form a laser tracking articulated arm measuring system (as shown in figure 1);
measuring a base coordinate system of the tested robot 6 body by using a laser tracking articulated arm measuring system, and enabling the robot coordinate system to be reduced into a coordinate system of the laser tracking articulated arm measuring system; then, a special end checking fixture 7 on the tested robot 6 is measured by a laser tracking articulated arm measuring system to obtain the position and pose coordinates of each point;
step five, detecting the pose of the robot according to the national standard GBT12642-2013 industrial robot performance standard and test method thereof in the initial working state of the tested robot 6 by using the robot measuring software and the robot control computer 9;
and step six, after the detection is finished, judging whether the robot meets the related technical requirements or not according to the detection result, if the detection result does not meet the related technical requirements, measuring the D-H parameters of the robot 6 to be detected through the laser tracking articulated arm measuring system, inputting the optimized calibration result into the robot control computer 9 for re-detection, and performing iterative measurement, thereby improving the pose precision index of the robot.
The principle of the invention is as follows:
the method is characterized in that a laser tracker and a joint arm coordinate machine are combined, a laser beam tracking principle is utilized, a joint arm high-rigidity high-flexibility measuring head is combined, a laser tracker base coordinate system is taken as a reference, a positioning target ball checking fixture is used for associating a joint arm measuring head coordinate system with the laser tracker to form a laser tracking joint arm measuring system, a special connecting positioning fixture installed at the tail end of a robot is measured, so that pose data of the robot under each pose are obtained, and high-precision detection and calibration can be carried out on the omnidirectional pose of the robot within a large range (0-20 m) through robot pose measuring software.
The principle of transformation of the coordinate system is as follows:
a cartesian coordinate system { a },Ap is a vector in space, then the vector can be expressed as:
the transformation matrix of the { B } coordinate system with respect to the { A } coordinate system can be expressed as:
formula for the angle of rotation θ of the rigid body about axis X, Y, Z:
AXB,AYB,AZBis a unit vector of three coordinate axes of a coordinate system B. r isijIs the projection of each vector in the direction of the central axis of the reference coordinate system { A }. From the properties of the homogeneous matrix:
position conversion: known pointBThe position of P in the B coordinate system, then a vector can be obtainedAThe position coordinates of P in the { A } coordinate system are:
AP＝BP+APA-B(5)
APA-Bis the translation relation between the { A } coordinate system and the { B } coordinate system.
Posture conversion: known pointBP's attitude in the { B } coordinate system, converted to a description of that point relative to the { A } coordinate systemAP。
Wherein,
is the rotation of the { B } coordinate system relative to the { A } coordinate system.
Thus, it is knownBDescription of P in coordinate system B, translation of B and AAPA-BAnd rotation
To find outAThe description of P in the { a } coordinate system defines a homogeneous transformation matrix of 4 × 4:
wherein,
is the transformation of the coordinate system B with respect to A.
The inverse transformation is as follows:
the principle and the implementation mode of the invention are explained by applying specific examples, and the description of the above examples is only used for helping understanding the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In summary, this summary should not be construed to limit the present invention.
Claims (3)
1. A robot pose detection system is characterized in that: the system comprises a laser tracker, a joint arm coordinate machine, a positioning target ball checking fixture, a tested robot, a special tail end checking fixture, a special connecting and positioning target ball fixture and a control computer, wherein tracking laser of the laser tracker is connected with the joint arm coordinate machine through the positioning target ball checking fixture; the special connecting and positioning target ball fixture is arranged at the rear end of a measuring head of the articulated arm coordinate machine, consists of a tracking target ball positioning fixture and a special target ball and is used for transferring a laser beam of the laser tracker to the articulated arm measuring head; and the control computer processes the real-time acquired data of the detection system, summarizes all feedback data of the detected robot and calculates the deviation of each pose.
2. The robot pose detection system of claim 1, wherein: the laser tracker and the articulated arm coordinate machine are respectively arranged on the tracker bracket and the articulated arm bracket.
3. A robot pose detection method is characterized by comprising the following steps:
firstly, adjusting a tested robot to an initial working pose, and placing a laser tracker and a joint arm coordinate machine in a working range of the tested robot;
measuring a positioning target ball checking fixture by using a flexible measuring head of a joint arm coordinate machine, thereby obtaining the position coordinate of the positioning target ball; then, measuring and positioning the coordinates of the target ball checking fixture by using the target ball of the laser tracker, thereby obtaining the position relation of the target ball checking fixture and the target ball;
thirdly, the positioning target ball is loaded into a special connecting positioning target ball clamp with a position relation determined in advance by using the position coordinate of the positioning target ball detecting tool, so that the articulated arm coordinate machine and the laser tracker are connected through the positioning target ball to form a laser tracking articulated arm measuring system;
measuring a base coordinate system of the measured robot body by using a laser tracking articulated arm measuring system, and enabling the robot coordinate system to be reduced into a coordinate system of the laser tracking articulated arm measuring system; measuring a special checking fixture for the tail end of the tested robot by using a laser tracking articulated arm measuring system to obtain the position and posture coordinates of each point;
fifthly, detecting the pose of the robot by using the robot measuring software and the robot control computer to enable the measured robot to enter an initial working state;
and step six, after the detection is finished, judging whether the robot meets the related technical requirements or not according to the detection result, if the detection result does not meet the related technical requirements, measuring the D-H parameters of the detected robot through the laser tracking articulated arm measuring system, inputting the optimized calibration result into the robot control computer for re-detection, and performing iterative measurement, thereby improving the pose precision index of the robot.
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Application publication date: 20200814 |