CN107053154A - A kind of method demarcated for robot precision - Google Patents
A kind of method demarcated for robot precision Download PDFInfo
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- CN107053154A CN107053154A CN201710330218.7A CN201710330218A CN107053154A CN 107053154 A CN107053154 A CN 107053154A CN 201710330218 A CN201710330218 A CN 201710330218A CN 107053154 A CN107053154 A CN 107053154A
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- 239000011159 matrix material Substances 0.000 claims abstract description 15
- 230000009466 transformation Effects 0.000 claims abstract description 15
- 238000005516 engineering process Methods 0.000 claims description 5
- 238000003754 machining Methods 0.000 claims description 4
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- 238000006243 chemical reaction Methods 0.000 description 2
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a kind of method demarcated for robot precision, comprise the following steps：Base coordinate system is set up, is that a theoretical reference coordinate system is specified in each joint of robot, with D H representations to robot modeling, sets up the transformation matrix A in two neighboring jointn+1, transformation matrix right multiplied total transformation matrix T to robot successively；Calculating robot end sets up robot inaccuracy accounting equation △ X=X` X, obtains △ X with respect to the theoretical pose X of reference frame；Robot parameter error △ P=(X are obtained using least square methodTX)‑1XT△ X, each joint parameter error Pn=Pn‑1+ △ P, finally by the D H model parameters of these error compensations to robot.Easy to operate, cost of the invention is relatively low, and robot precision is greatly improved.
Description
Technical field
The present invention relates to robotic technology field, and in particular to a kind of method demarcated for robot precision.
Background technology
Robot precision refers to repetitive positioning accuracy and absolute fix precision, is mainly constrained to processing of robots and assembling essence
Degree, precision calibration can be modified on the basis of this build-in attribute to its D-H parameter.The side of current industrial robot demarcation
Method mainly includes open loop demarcation (laser tracker, IGPS), based on methods such as physical constraint demarcation, view-based access control model demarcation, wherein
There are problems that measurement cost is high, be limited to machining accuracy,.
The content of the invention
It is an object of the invention to provide a kind of method demarcated for robot precision, to solve existing robot mark
The problem of determining low precision, easy to operate, cost is relatively low, and robot precision is greatly improved.
To achieve the above object, specifically, the method for being used for robot precision's demarcation comprises the following steps：
1) base coordinate system, is set up, robot is located in base coordinate system, measures robot end in base coordinate system
Position；
2) a theoretical reference coordinate system, is specified for each joint of robot, with D-H representations to robot modeling, often
The motion pose in individual joint is determined by four kinematics parameters：Adjacent links angle theta；Between adjacent links apart from d；Adjacent segment
Apart from a；Adjacent segment between centers angle α；
3) the transformation matrix A in two neighboring joint, is set upn+1, transformation matrix right multiplied total conversion square to robot successively
Battle array T；
4), theoretical pose X of the calculating robot end with respect to reference frame；
5) robot inaccuracy accounting equation △ X=X`-X, wherein X=F (a, d, T, θ, α), are set up, robot end is actual
Pose X`=F (a+ △ a, d+ △ d, T+ △ T, θ+△ θ, α+△ α)；
6) △ X, are obtained；
7) robot parameter error △ P=(X, are obtained using least square methodTX)-1XT△X；
8), each joint parameter error Pn=Pn-1+ △ P, repeat step 1)~7) repeatedly, finally these error compensations are arrived
In the D-H Mo Xing parameter of robot.
Step 1) described in position specific method of the robot end in base coordinate system that measure be：In robot
Each joint installs encoder, and each encoder connects data collecting card by data/address bus, and data collecting card is by the number of encoder
According to being transferred to computer and calculate position of the robot end in base coordinate system.
Step 4) described in theoretical pose X accounting equations be：
X=ZTE；
The transformation matrix that wherein Z is associated for the mechanical arm of robot with reference frame, robot end is with respect to place
Mechanical arm is fixed, so specifying coordinate system for robot end, E is the coordinate system of mechanical arm tail end.
Step 1) described in the specific method for setting up base coordinate system be：A rectangular box is processed, and in rectangular box
Surface engraving goes out coordinate points, using any three faces intersection point of casing as the origin of coordinates, sets up base coordinate system.
Described rectangular box is processed using CNC process technologies, and machining accuracy is 0.01mm.
Described transformation matrix An+1=rot (z, θ) trans (0,0, d) trans (a, 0,0) rot (x, a).
Step 6) in, due to error very little, robot inaccuracy accounting equation is simplified to linear equation and calculates △ X：
The invention has the advantages that：The base coordinate system of a reality is set up, passes through the theoretical position in calculating robot end
Appearance and attained pose obtain robot inaccuracy, further calculate the parameter error for obtaining robot, then mend each parameter error
Repay in the D-H Mo Xing parameter of robot, easy to operate, cost of the invention is relatively low, and robot precision is greatly improved.
Brief description of the drawings
Fig. 1 is robot architecture's schematic diagram of the embodiment of the present invention 1.
Fig. 2 is the schematic diagram of reference frame.
Fig. 3 is the structural representation of embodiment 3.
Embodiment
Following examples are used to illustrate the present invention, but are not limited to the scope of the present invention.
Embodiment 1
Referring to Fig. 1~2, the method for being used for robot precision's demarcation comprises the following steps：
1) rectangular box, is processed using CNC process technologies, machining accuracy is 0.01mm, in rectangular box surface engraving
Go out coordinate points, using any three faces intersection point of casing as the origin of coordinates, set up base coordinate system.Robot is arranged on base by pedestal
In plinth coordinate system, encoder is installed in each joint of robot, each encoder connects data collecting card, number by data/address bus
The data of encoder are transferred to computer according to capture card and position of the robot end in base coordinate system is calculated.
2) a theoretical reference coordinate system, is specified for each joint of robot, with D-H representations to robot modeling, often
The motion pose in individual joint is determined by four kinematics parameters：Adjacent links angle theta；Between adjacent links apart from d；Adjacent segment
Apart from a；Adjacent segment between centers angle α.
3) the transformation matrix A in two neighboring joint, is set upn+1, transformation matrix right multiplied total conversion square to robot successively
Battle array T；
Wherein each parameter is with reference to table one.
The parameter in each joint of table one, robot
| Joint | θ(°) | α(°) | a(mm) | d(mm) |
| 1 | 0 | -90 | 0 | 120 |
| 2 | 90 | -90 | 100 | 0 |
| 3 | 0 | 0 | 300 | 0 |
| 4 | 90 | 90 | 0 | 300 |
| 5 | 0 | -90 | 100 | 0 |
| End | 178 |
Due to being wu-zhi-shan pig, T5=A1A2A3A4A5。
4), the theoretical pose X using following equation computer device people ends with respect to reference frame；
X=ZTE；
The transformation matrix that wherein Z is associated for the mechanical arm of robot with reference frame, robot end is with respect to place
Mechanical arm is fixed, so specifying coordinate system for robot end, E is the coordinate system of mechanical arm tail end.
5) robot inaccuracy accounting equation △ X=X`-X, wherein X=F (a, d, T, θ, α), are set up, robot end is actual
Pose X`=F (a+ △ a, d+ △ d, T+ △ T, θ+△ θ, α+△ α).
6), due to error very little, robot inaccuracy accounting equation is simplified to linear equation and calculates △ X：
Obtain △ X.
7) robot parameter error △ P=(X, are obtained using least square methodTX)-1XT△X。
8), each joint parameter error Pn=Pn-1+ △ P, repeat step 1)~7) repeatedly, by iterating until error
It is sufficiently small, finally by the D-H Mo Xing parameter of these error compensations to robot, with reference to table two.
Table two, each joint parameter of calibrated robot
| Joint | θ(°) | α(°) | a(mm) | d(mm) |
| 1 | 0 | -90 | -1.005 | 121.23 |
| 2 | 90.24 | -90 | 98.25 | 0 |
| 3 | 0.125 | 0.12 | 300.29 | 0.98 |
| 4 | 90.12 | 90.301 | 0.25 | 301.6 |
| 5 | -0.823 | -89.56 | 103.2 | 0.524 |
| End | 179.28 |
This D-H parameter value is implanted in realistic model, then carries out precision test.
Error contrast before and after table three, Robot calibration
| Evaluation index | Before demarcation | After demarcating for the first time |
| Worst error | 13.635 | 1.520 |
| Mean error | 8.563 | 0.856 |
Robot precision is greatly improved in the present invention it can be seen from table three.
Embodiment 2
Robot in the present embodiment can be six axles or more, can equally be demarcated using the above method.
Embodiment 3
Referring to Fig. 3, in order to further ensure the accuracy of robot precision's demarcation, the present embodiment is in the adjacent machine of robot
The joint of tool arm is installed by electromagnetic clutch, and the electromagnetic clutch includes fixed arm 2, cursor 1, rotary shaft 3 and clutch
Body, cursor 1 is fixedly connected by straight pin 15 with rotary shaft 3, and rotary shaft 3 is set in relative rotation with fixed arm 2, clutch
Device body is connected between fixed arm 2 and rotary shaft 3 and controls the rotation and stopping of rotary shaft 3, two neighboring mechanical arm difference
Cursor 1 and fixed arm 2 are linked, rotary shaft 3 is locked on fixed arm 2 using clutch body, and then locking cursor 1,
Simple in construction, easy to operate, cost is relatively low, and the precision of robot is greatly improved.Two fixed arms 2 are symmetricly set on cursor 1
Both sides, rotary shaft 3 rotated by bearing 14 and is connected arm 2, and the outside of fixed arm 2 is provided with the end of axial restraint bearing 14
Lid.End cap includes bearing (ball) cover 13 and auxiliary side end cap 16, and auxiliary side end cap 16 is bolted on outside corresponding fixed arm 2
Side, clutch body and bearing (ball) cover 13 are bolted on the outside of a fixed arm 2.
Clutch body includes clutch outer member 4, magnet coil 5, armature 6, friction plate 7, stator 8 and locking spring 10,
Clutch outer member 4 is fixedly connected with bearing (ball) cover 13 and fixed arm 2, and magnet coil 5 is fixed on the circular trough of clutch outer member 4
In, one end of rotary shaft 3 is fixedly connected with a stop collar 12 by taper bolt 11, and friction plate 7 is axially slidably enclosed on spacing
The outside of set 12, friction plate 7 is connected with the synchronous axial system of stop collar 12, and clutch outer member 4 is provided with four paws guide rail, the axle of stator 8
To the four paws guide rail that is slidably connected, multiple friction plates 7 are arranged alternately with stator 8, and armature 6 is fixed on the side of outside stator 8,
Locking spring 10 is provided between armature 6 and clutch outer member 4, locking spring 10 promotes armature 6 to compress stator 8 and friction plate 7,
So that friction plate 7 is fixed, and then by stop collar 12 and rotary shaft 3 cursor 1 is fixed.Clutch outer member 4 is also connected with
There is a regulation back-up ring 9, stator 8 and friction plate 7 are fixed between regulation back-up ring 9 and armature 6, fixed by adjusting the regulation of back-up ring 9
The gap of piece 8 and friction plate 7.
Under clutch powering-off state, that is, magnet coil 5 is powered off, and the precompression of locking spring 10, which compresses armature 6, makes friction
Piece 7 and stator 8 are fitted, and realize the function of locking cursor 1；In the case of clutch is powered, that is, magnet coil 5 obtains electric, electricity
The magnetic force of magnetic coil 5 overcomes the elastic force adhesive armature 6 of locking spring 10, unclamps friction plate 7 and stator 8, and now cursor 1 can be with
Rotation.
Although above with general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements, belong to the scope of protection of present invention without departing from theon the basis of the spirit of the present invention.
Claims (7)
1. a kind of method demarcated for robot precision, it is characterised in that：Described method comprises the following steps：
1) base coordinate system, is set up, robot is located in base coordinate system, measures position of the robot end in base coordinate system
Put；
2) a theoretical reference coordinate system, is specified for each joint of robot, with D-H representations to robot modeling, Mei Geguan
The motion pose of section is determined by four kinematics parameters：Adjacent links angle theta；Between adjacent links apart from d；Adjacent segment distance
a；Adjacent segment between centers angle α；
3) the transformation matrix A in two neighboring joint, is set upn+1, transformation matrix right multiplied total transformation matrix T to robot successively；
4), theoretical pose X of the calculating robot end with respect to reference frame；
5) robot inaccuracy accounting equation △ X=X`-X, wherein X=F (a, d, T, θ, α), robot end's attained pose, are set up
X`=F (a+ △ a, d+ △ d, T+ △ T, θ+△ θ, α+△ α)；
6) △ X, are obtained；
7) robot parameter error △ P=(X, are obtained using least square methodTX)-1XT△X；
8), each joint parameter error Pn=Pn-1+ △ P, repeat step 1)~7) repeatedly, finally by these error compensations to robot
D-H Mo Xing parameter in.
2. the method according to claim 1 demarcated for robot precision, it is characterised in that：Step 1) described in survey
Obtaining position specific method of the robot end in base coordinate system is：Encoder is installed in each joint of robot, it is each to compile
Code device connects data collecting card by data/address bus, and the data of encoder are transferred to computer and calculate machine by data collecting card
Position of the device people end in base coordinate system.
3. the method according to claim 1 demarcated for robot precision, it is characterised in that：Step 4) described in reason
It is by pose X accounting equations：
X=ZTE；
The transformation matrix that wherein Z is associated for the mechanical arm of robot with reference frame, E is the independent coordinate of mechanical arm tail end
System.
4. the method according to claim 1 demarcated for robot precision, it is characterised in that：Step 1) described in build
The specific method of vertical base coordinate system is：A rectangular box is processed, and goes out coordinate points in rectangular box surface engraving, is appointed with casing
Three face intersection points anticipate as the origin of coordinates, base coordinate system is set up.
5. the method according to claim 4 demarcated for robot precision, it is characterised in that：Described rectangular box is
Processed using CNC process technologies, machining accuracy is 0.01mm.
6. the method according to claim 1 demarcated for robot precision, it is characterised in that：Described transformation matrix
An+1=rot (z, θ) trans (0,0, d) trans (a, 0,0) rot (x, a).
7. the method according to claim 1 demarcated for robot precision, it is characterised in that：Step 6) in, due to by mistake
Poor very little, is simplified to linear equation by robot inaccuracy accounting equation and calculates △ X：
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818540A (en) * | 2018-08-28 | 2018-11-16 | 珠海格力智能装备有限公司 | Method and device, the pocessor and storage media of compensating parameter |
| CN109048876A (en) * | 2018-07-03 | 2018-12-21 | 上海新时达电气股份有限公司 | A kind of robot calibration method based on laser tracker |
| CN110039528A (en) * | 2019-03-15 | 2019-07-23 | 广州智能装备研究院有限公司 | A kind of industrial robot Zero calibration method based on dynamic learning |
| CN112190330A (en) * | 2020-12-03 | 2021-01-08 | 华志微创医疗科技（北京）有限公司 | Method and device for locking mechanical arm, storage medium and electronic equipment |
| CN113211445A (en) * | 2021-05-21 | 2021-08-06 | 广东拓斯达科技股份有限公司 | Robot parameter calibration method, device, equipment and storage medium |
| CN113733098A (en) * | 2021-09-28 | 2021-12-03 | 武汉联影智融医疗科技有限公司 | Mechanical arm model pose calculation method and device, electronic equipment and storage medium |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048876A (en) * | 2018-07-03 | 2018-12-21 | 上海新时达电气股份有限公司 | A kind of robot calibration method based on laser tracker |
| CN109048876B (en) * | 2018-07-03 | 2021-10-01 | 上海新时达电气股份有限公司 | Robot calibration method based on laser tracker |
| CN108818540A (en) * | 2018-08-28 | 2018-11-16 | 珠海格力智能装备有限公司 | Method and device, the pocessor and storage media of compensating parameter |
| CN108818540B (en) * | 2018-08-28 | 2021-12-10 | 珠海格力智能装备有限公司 | Method and apparatus for compensating parameter, processor and storage medium |
| CN110039528A (en) * | 2019-03-15 | 2019-07-23 | 广州智能装备研究院有限公司 | A kind of industrial robot Zero calibration method based on dynamic learning |
| CN112190330A (en) * | 2020-12-03 | 2021-01-08 | 华志微创医疗科技（北京）有限公司 | Method and device for locking mechanical arm, storage medium and electronic equipment |
| CN113211445A (en) * | 2021-05-21 | 2021-08-06 | 广东拓斯达科技股份有限公司 | Robot parameter calibration method, device, equipment and storage medium |
| CN113211445B (en) * | 2021-05-21 | 2022-10-14 | 广东拓斯达科技股份有限公司 | Robot parameter calibration method, device, equipment and storage medium |
| CN113733098A (en) * | 2021-09-28 | 2021-12-03 | 武汉联影智融医疗科技有限公司 | Mechanical arm model pose calculation method and device, electronic equipment and storage medium |
| CN113733098B (en) * | 2021-09-28 | 2023-03-03 | 武汉联影智融医疗科技有限公司 | Mechanical arm model pose calculation method and device, electronic equipment and storage medium |
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