CN109176488A - A kind of flexible robot's Kinematic Calibration method and system - Google Patents
A kind of flexible robot's Kinematic Calibration method and system Download PDFInfo
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- CN109176488A CN109176488A CN201811137048.1A CN201811137048A CN109176488A CN 109176488 A CN109176488 A CN 109176488A CN 201811137048 A CN201811137048 A CN 201811137048A CN 109176488 A CN109176488 A CN 109176488A
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1635—Programme controls characterised by the control loop flexible-arm control
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Abstract
The invention discloses a kind of flexible robot's Kinematic Calibration method and system, and the nominal pose of cooperating joint section under zero linkage angular error is obtained according to the nominal joint angles of cooperating joint section；The nominal rope length of cooperating joint section is reached using Decoupled driving structure driving cooperating joint section, and the attained pose of cooperating joint section is obtained, the linkage angular error of cooperating joint section is finally obtained according to the nominal pose of cooperating joint section and the attained pose of cooperating joint section；And the linkage angular error of robot is obtained according to the linkage angular error of multiple cooperating joint sections；The kinematic error parameter for overcoming existing rope to drive flexible robot is various, and series and parallel structure leads to be mutually coupled effect between parameter by force, and the low technical problem of parameter calibration precision improves the stated accuracy of robot.
Description
Technical field
The present invention relates to robot field, especially a kind of flexible robot's Kinematic Calibration method and system.
Background technique
Currently, the flexible robot of existing 2m freedom degree, is connected in series by m joint segments, each joint segments by 3 with
On rope driving, have motor position sensor and rope pull sensor.It is existing flexible robot with reference to Fig. 1, Fig. 1
The schematic diagram of joint segments；In Fig. 1, illustrate the drive connection situation of a cooperating joint section, joint segments by 3 driving ropes into
Row drives, and passes through driving rope and linkage rope composition series and parallel structure between the sub- joint of joint segments.Relative to tradition machinery
Arm, flexible robot have very thin trunk, and the freedom degree of redundancy has embodied extremely strong flexible in complicated snagged environment
Property, it is therefore widely used in the job tasks such as nuclear power field, the maintenance of space industry large scale equipment, maintenance, assembly.These are narrow
Fine manipulation task under small space often requires that flexible robot's absolute fix precision in end with higher.However with
Under several aspect factors, will affect the precision of flexible robot, and then influence the ability of its operation:
(1) in the parts machining of flexible robot and installation assembling process, many errors be there is.These errors
By the accumulation and amplification in multiple joints, the biggish error in end is eventually led to.
(2) confined space of its joint and special rope driving method, result in its sensor and are concentrated mainly on
The root of robot can not directly feed back the angular dimension in joint, and there is the errors of joint angles.
(3) driving rope has certain elasticity, and the driving rope of flexible robot will be elongated after this multiple use,
And then the angle in joint is also influenced, lead to the error of end.
In order to improve the end positioning accuracy of flexible robot, the energy of the fine manipulation of its small space is further enhanced
Power needs periodically demarcating to flexible robot's relative motion parameter, to improve its performance.However, since rope drive is soft
Property robot belongs to series-parallel robot, kinematic parameter is various and parameter between show the influence of mutual close coupling,
Lead to that there is nonlinear relationship between each kinematic kinematic parameter errors and the position and attitude error of end, it is traditional
Scaling method based on model is difficult to directly be applied.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention
One purpose is to provide a kind of flexible robot's Kinematic Calibration method and system, improves the stated accuracy of robot.
The technical scheme adopted by the invention is that: a kind of flexible robot's Kinematic Calibration method, including cooperating joint section
Demarcating steps and Robot calibration step, wherein
The cooperating joint section demarcating steps include:
The name of the cooperating joint section under zero linkage angular error is obtained according to the nominal joint angles of cooperating joint section
Pose；
The cooperating joint section is driven using Decoupled driving structure so that driving rope reaches the cooperating joint section
Nominal rope length, and obtain the attained pose of the cooperating joint section, wherein according to the nominal joint angle of the cooperating joint section
The nominal rope length of the cooperating joint section is calculated in degree, and the Decoupled driving structure is fixed on described for driving rope
On first sub- joint of movable joint section, all sub- joints of the cooperating joint section pass through the structure of linkage rope connection；
The linkage is obtained according to the nominal pose of the cooperating joint section and the attained pose of the cooperating joint section to close
The linkage angular error of segment；
The Robot calibration step includes:
The linkage angular error of multiple cooperating joint sections is obtained using the cooperating joint section demarcating steps；
It is combined to obtain the linkage angular error of robot according to the linkage angular error of the multiple cooperating joint section,
The robot includes multiple cooperating joint sections.
Further, the Robot calibration step further include:
The name of the robot under the linkage angular error of the robot is obtained according to the nominal joint angles of robot
Pose；
The robot is driven using normal driving structure so that driving rope reaches the nominal rope length of robot, and obtains
The attained pose of the robot, wherein the name of the robot is calculated according to the nominal joint angles of the robot
Adopted rope length, the different cooperating joint sections are driven with different normal driving structures, and the normal driving structure is driving rope
Rope is fixed on all sub- joints of the cooperating joint section, and all sub- joints of the cooperating joint section are connected by linkage rope
The structure connect；
The initial rope of the robot is obtained according to the attained pose of the nominal pose of the robot and the robot
Long error.
Further, the attained pose of the nominal pose of the robot according to multiple groups and the robot utilizes minimum two
Multiply the initial rope length error that iterative method obtains the robot.
Further, the nominal pose and the robot of robot described in least-squares iteration method processing multiple groups are utilized
Attained pose is to obtain the initial rope length error of the robot.
Further, the attained pose of the cooperating joint section is obtained using laser traces method.
It is of the present invention another solution is that a kind of flexible robot's Kinematic Calibration system, the flexible machine
Device people's Kinematic Calibration system includes cooperating joint segment mark order member and Robot calibration unit, wherein
The cooperating joint segment mark order member includes:
The nominal pose of cooperating joint section obtains module, for obtaining zero according to the nominal joint angles of cooperating joint section
The nominal pose of the cooperating joint section under dynamic angular error；
The attained pose of cooperating joint section obtains module, for driving the cooperating joint using Decoupled driving structure
Section and obtains the attained pose of the cooperating joint section so that driving rope reaches the nominal rope length of the cooperating joint section,
In, the nominal rope length of the cooperating joint section, the parameter are calculated according to the nominal joint angles of the cooperating joint section
Decoupling driving structure is that driving rope is fixed on first sub- joint of the cooperating joint section, the institute of the cooperating joint section
There is sub- joint to pass through the structure of linkage rope connection；
The linkage angular error of cooperating joint section obtains module, for according to the cooperating joint section nominal pose and institute
The attained pose for stating cooperating joint section obtains the linkage angular error of the cooperating joint section；
The Robot calibration unit includes:
Link angular error demarcating module, for obtaining multiple cooperating joint sections using the cooperating joint segment mark order member
Linkage angular error；It is combined to obtain the linkage angle of robot according to the linkage angular error of the multiple cooperating joint section
Error is spent, the robot includes multiple cooperating joint sections.
Further, the Robot calibration unit further include:
The nominal pose of robot obtains module, for being obtained according to the nominal joint angles of robot in the robot
Linkage angular error under robot nominal pose；
The attained pose of robot obtains module, for driving the robot using normal driving structure so that driving is restricted
Rope reaches the nominal rope length of robot, and obtains the attained pose of the robot, wherein is closed according to the name of the robot
Section angle calculation obtains the nominal rope length of the robot, and the different cooperating joint sections is driven with different normal driving structures
Dynamic, the normal driving structure is that driving rope is fixed on all sub- joints of the cooperating joint section, the cooperating joint
The structure that all sub- joints of section pass through linkage rope connection；
The initial rope length error of robot obtains module, for the nominal pose and the robot according to the robot
Attained pose obtain the initial rope length error of the robot.
Further, the end of the robot is provided with target ball, and the reality of the robot is obtained using laser tracker
Border pose.
Further, the end of the cooperating joint section is provided with target ball, obtains the linkage using laser tracker and closes
The attained pose of segment.
The beneficial effects of the present invention are:
The present invention provides a kind of flexible robot's Kinematic Calibration method and system, according to the nominal joint of cooperating joint section
Angle obtains the nominal pose of cooperating joint section under zero linkage angular error；Cooperating joint is driven using Decoupled driving structure
Section reaches the nominal rope length of cooperating joint section, and obtains the attained pose of cooperating joint section, finally according to the name of cooperating joint section
The linkage angular error of the attained pose of adopted position appearance and cooperating joint section acquisition cooperating joint section；And according to multiple cooperating joint sections
Linkage angular error obtain robot linkage angular error；Existing rope is overcome to drive the kinematic error parameter of flexible robot
Various, series and parallel structure leads to be mutually coupled effect between parameter by force, and the low technical problem of parameter calibration precision improves robot
Stated accuracy.
Detailed description of the invention
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing:
Fig. 1 is the schematic diagram of the joint segments of existing flexible robot；
Fig. 2 is an a kind of specific reality of the Decoupled driving structure of flexible robot's Kinematic Calibration method in the present invention
Illustration is applied to be intended to；
Fig. 3 is that attained pose obtains in an a kind of specific embodiment of flexible robot's Kinematic Calibration method in the present invention
Take schematic diagram；
Fig. 4 is the kinematics spatial relation description schematic diagram that rope drives super redundant mechanical arm；
Fig. 5 is linkage type joint segments freedom degree configuration diagram；
Fig. 6 is the specific embodiment joint schematic diagram that rope drives super redundant mechanical arm；
Fig. 7 is that the joint of Fig. 6 simplifies isoboles；
Fig. 8 is the joint model coordinate system analysis chart of Fig. 6；
Fig. 9 is the rope length in single sub- joint to the calculation flow chart of joint angle；
Figure 10 is the rope length of cooperating joint section to the calculation flow chart of joint angles；
Figure 11 is calculation flow chart of the flexible arm rope length to joint angles；
Figure 12 is an a kind of specific embodiment cooperating joint section of flexible robot's Kinematic Calibration method in the present invention
Link angular error demarcation flow figure；
Figure 13 is an a kind of whole arm of specific embodiment robot of flexible robot's Kinematic Calibration method in the present invention
Initial rope length error calibration flow chart.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.
Embodiment 1
A kind of flexible robot's Kinematic Calibration method, including cooperating joint section demarcating steps and Robot calibration step,
Wherein, cooperating joint section demarcating steps include:
It is obtained according to the nominal joint angles (i.e. theoretical joint angles) of cooperating joint section and is linked under zero linkage angular error
The nominal pose (i.e. theoretical pose) of joint segments, in the present invention, terminal position and posture abbreviation pose.
Cooperating joint section is driven using Decoupled driving structure so that driving rope reaches the name rope of cooperating joint section
Long (i.e. theoretical rope length), and obtain the attained pose of cooperating joint section, wherein according to the nominal joint angles meter of cooperating joint section
Calculation obtains the nominal rope length of cooperating joint section, is a kind of flexible robot's Kinematic Calibration method in the present invention with reference to Fig. 2, Fig. 2
Decoupled driving structure a specific embodiment schematic diagram；In the present embodiment, the driving rope of cooperating joint section has three,
Decoupled driving structure is that driving rope is fixed on the disk in first sub- joint of cooperating joint section, driving rope and drive
Dynamic control cabinet connection, the structure that all sub- joints of cooperating joint section pass through linkage rope connection；One driving rope configuration one
A motor is driven, and is provided with motor position sensor and rope pull sensor.In the present embodiment, three motors
It is all made of the mode of force-location mix control, the control model of motor can switch over.When driving cooperating joint section, there are 2
Motor uses the mode of position control, another motor uses the mode of constant force control；First sub- joint of motor driven
It is moved, remaining sub- joint also follows first sub- joint to move together due to the effect of linkage rope.It is with reference to Fig. 3, Fig. 3
In the present invention in an a kind of specific embodiment of flexible robot's Kinematic Calibration method attained pose acquisition schematic diagram；This reality
It applies in example, the end of cooperating joint section is provided with target ball, the actual bit of cooperating joint section is obtained using API laser tracker
Appearance.
The linkage angle of cooperating joint section is obtained according to the nominal pose of cooperating joint section and the attained pose of cooperating joint section
Spend error.
Based on Decoupled driving structure, the calibration of the linkage angular error of each cooperating joint section of robot is completed.
Then each cooperating joint section head and the tail are assembled to the flexible motion arm for forming robot together, each cooperating joint section
It is driven with a normal driving structure, with reference to Fig. 1, illustrates the normal driving structure of a cooperating joint section, normal driving knot
Structure is that driving rope is fixed on all sub- joints of cooperating joint section, and all sub- joints of cooperating joint section pass through linkage rope
The structure of connection；In the present embodiment, normal driving structure drives cooperating joint section using 3 driving ropes.Robot calibration step
Suddenly include:
The linkage angular error of multiple cooperating joint sections is obtained using cooperating joint section demarcating steps；
Robot includes multiple cooperating joint sections, then is combined according to the linkage angular error of multiple cooperating joint sections
To the linkage angular error of robot.Due to linkage angular error not the re-assemblying with cooperating joint section of cooperating joint section
And change, therefore, the linkage angular error of robot can be directly with reference to the calibration result of the linkage angular error of cooperating joint section.
For example the linkage angular error of a cooperating joint section is one 6 × 1 matrix, then 5 such cooperating joint section compositions
Robot whole arm linkage angular error be 30 × 1 matrix.
Compared with traditional scaling method, this method has parameter using Decoupled driving structure driving cooperating joint section
Between decoupling, the high advantage of stated accuracy mutually, and obtain pose using laser tracker and not only facilitate implementations, but also calibration
High-efficient, its caused end positioning accuracy of kinematic error for solving flexible robot is low, and fine manipulation ability is limited, and
And the labyrinth series-parallel due to robot, so that the problem of showing close coupling between its kinematic parameter, improves
Stated accuracy can be widely applied to the calibration of flexible robot.
Further, the nominal pose of multiple groups cooperating joint section and the attained pose data of cooperating joint section, and benefit are obtained
With the nominal pose of least-squares iteration method processing multiple groups robot and the attained pose of the robot to obtain robot
Initial rope length error.
Embodiment 2
Embodiment 2, Robot calibration step are obtained based on embodiment 1 further include:
The nominal pose of the robot under the linkage angular error of robot is obtained according to the nominal joint angles of robot；
With reference to Fig. 1, robot is driven using normal driving structure so that driving rope reaches the nominal rope length of robot, and obtains
The nominal rope length of robot, different connection are calculated according to the nominal joint angles of robot for the attained pose for taking robot
Movable joint section is driven with different normal driving structures, each cooperating joint section is driven with a normal driving structure.
In the present embodiment, normal driving structure drives cooperating joint section using 3 driving ropes, and is provided with motor position sensor
With rope pull sensor.When driving the whole arm of robot, 3 motors of 3 driving ropes in each cooperating joint section
In, a motor uses power control mode, remaining 2 motor controls mode using position, to guarantee the tension effects of driving rope.Into
One step, with reference to Fig. 3, similarly, the end of robot is provided with target ball, then utilizes the available machine of API laser tracker
The attained pose of people；
The initial rope length error of robot is obtained according to the attained pose of the nominal pose of robot and robot.Further
Ground obtains the nominal pose of multiple groups robot and the attained pose data of robot, and according to the nominal pose of multiple groups robot
The initial rope length error of least-squares iteration method acquisition robot is utilized with the attained pose of robot.Wherein, robot is first
Beginning rope length error is the error between the ideal value and true value of the driving rope of robot.
So far, flexible robot's Kinematic Calibration method of the invention completes the fortune of the whole arm of cooperating joint section and robot
It is dynamic to learn parameter calibration, the linkage angular error of the whole arm of linkage angular error, robot including cooperating joint section and initially
Rope length error.
Embodiment 3
Embodiment 3 is that the specific implementation process of flexible robot's Kinematic Calibration method is specifically described:
Firstly, carrying out the kinematic analysis of rope driver tool arm, rope drives the kinematics analysis of super redundant mechanical arm
Not only include the mapping relations between joint space and operating space, further comprises rope driving space and arrive joint space
Mapping relations.Therefore its kinematics analysis can be divided into two steps: derive the mapping relations of joint space and operating space first, i.e.,
Relationship between robot end's coordinate system pose and joint variable ψ, α；It again derives rope driving space and joint space reflects
Penetrate relationship, i.e. relationship between joint variable ψ, α and driving rope lengths variation delta li, as shown in Figure 4.
The map analysis for carrying out joint space and operating space first carries out Forward Kinematics Analysis to joint segments, such as Fig. 5 institute
Show, using classical D-H method, establishes the D-H coordinate system for single joint section.According to the coordinate system of foundation, it is available its
Corresponding D-H parameter list is as shown in table 1.
1 cooperating joint section DH parameter list of table
Then homogeneous transformation parameterization matrix of the i+1 referential relative to the i-th referential, can be denoted as
C θ in formulai=cos θi,sθi=sin θi。
Due to using the motion mode of linkage between the Minor articulus of flexible mechanical arm joint segments, then exist between joint angle
Relationship below:
WhereinFor the linkage angular error in the i-th joint of cooperating joint section,For cooperating joint
The basic joint angle of section m, θm,iFor the specific angle in its sub- joint.Then the linkage angular error of cooperating joint section isTotal n
When a cooperating joint section, the joint angles of flexible robot can be indicated are as follows:Wherein
For the basic joint angle of arm,For the linkage angular error of whole arm.
It is hereby achieved that the positive kinematics expression formula of single cooperating joint section are as follows:
Wherein θm=[θm,1 θm,2 … θm,2i] be cooperating joint section m specific joint angles, T be end pose X correspondence
Homogeneous transform matrix.
The Forward Kinematics Analysis for carrying out whole arm below, accordingly, for the flexible robot for having N number of cooperating joint section, whole arm
Forward kinematics equation are as follows:
The map analysis of rope spaces and joint space is finally carried out, first the map analysis of progress joint angle to rope length, the
One, the analysis of single sub- joint angle to rope length:
As shown in fig. 6, rope, which drives in the single joint subsystem of super redundant mechanical arm, has 3 inputs, 2 outputs,
In other words, it is a parallel robot, there are 3 driving ropes and 2 freedom degrees.Single joint is independent by 3
Driving rope is driven, and realizes the rotary motion of its three-dimensional space.Therefore, the armed lever according to the design of front arm, in joint
In rope length will not change, and the reason of causing the joint angles to change be then two disks of joint it
Between rope lengths changed.For the rotational angle of accurate description rope driving joint of mechanical arm and the length of joint rope
Relationship between degree, joint model is simplified, and establishes the kinematics model of simple joint, as shown in fig. 7, face B1B2B3, face
A1A2A3Respectively represent wiring disk 2 and wiring disk 1, line segment A1B1、A2B2、A3B3Respectively represent three independent rope l1、l2、
l3, point P then represents the center in joint.Respectively with face B1B2B3, face A1A2A3Center O1、O2For origin, the direction in joint armed lever axle center
Direction for Z axis, two freedom degree rotatings in joint is X, Y-axis, establishes coordinate system coordinate system { 1 }, { 2 }.By Fig. 7 it is known that closing
The central point P of section then immobilizes, and for convenience of analyzing, middle coordinate system { 0 } is established at articulation center point, as shown in figure 8, false
If the distance between two disks are d when the initial position of joint, then for coordinate system { 0 }, { 1 }, when { 1 } is around its X-axis rotation alpha
Angle is further continued for being overlapped after up translating d/2 with { 0 }.Then available homogeneous transform matrix:
For coordinate system { 0 }, { 2 }, coordinate system { 0 } rotates the angle ψ around its Y-axis, is further continued for the Z along postrotational coordinate system
Axis is overlapped after up translating d/2 with { 2 }.Then available homogeneous transform matrix:
Then it is known that transformation matrices between coordinate system { 1 }, { 2 } are as follows:
A point B is arbitrarily taken on wiring disk 21, it is known that ∠ B from figure1O2X2=β, then on disk 1 with B1It is right
It should point A1, also there is ∠ A1O1X1=β then has in coordinate system { 1 }:
In coordinate system { 2 }:
The secondly transformation matrix calculated using front, it is available in coordinate system { 1 }1B1Are as follows:
Wherein, s sin, c cos, r are the radius of the distribution circle for the cord hole for driving rope；Then further calculating can obtain
Rope length l1Are as follows:
Similarly, for rope A2B2、A3B3, then having:
Therefore, the rope lengths in single sub- joint can be indicated uniformly are as follows:
Wherein,For the coordinate transform rotation angle in the i-th joint of m cooperating joint section.
And the rope length of cooperating joint section is calculated, by above it is recognised that the cooperating joint section m with n sub- joints
Rope k length are as follows:
Therefore the rope lengths calculation formula of entire cooperating joint section m can be written as:
WhereinFor the basic joint angle of cooperating joint section m.
In addition, the rope length of whole arm calculates, it is contemplated that each driving rope of control cooperating joint section m is needed across linkage
Joint segments 1,2 ... m-1.Therefore, the driving rope length on whole arm can indicate are as follows:
Wherein M=int ((k+2)/3) represents the cooperating joint segment number of rope k control.
Equally similarly, the rope length of whole arm can indicate are as follows:
Then the map analysis that rope length arrives joint angle is carried out, firstly, carrying out the rope length in single sub- joint to joint angle mapping
Analysis, the analysis meet following condition as the kinematic inverse process of joint angle-rope length:
Wherein fJl(ψ, α)=fJl,i(ψ,α,βi), and the primary condition in joint are as follows:
li=fJl,i(ψ,α)|(0,0)=2d (20)
Here 2d refers to the distance between two disks of joint.
Derivation is carried out to formula (19), available:
Wherein JcIt is the Jacobian matrix about rope spaces and joint space, can specifically indicates are as follows:
So, formula (21) can use each variable differential and carry out equivalent, obtain:
WhereinIt is Jacobian matrix JcIt is inverse.
Based on this, as shown in figure 9, can be calculated under the premise of the length of given two ropes by Numerical Iteration Method
To the angle value of two rotary shafts of single joint.
In addition, the rope length of single cooperating joint section is to joint angle map analysis.For arbitrary cooperating joint section m, then its
Driving rope can indicate are as follows:
WhereinThe rope k calculating formula of length of the m of cooperating joint section is represented, and is closed
The primary condition of section are as follows:
Wherein n is the number in cooperating joint section neutron joint.
Derivation is carried out to formula (24), available:
Wherein JScIt is the rope spaces of cooperating joint section and the Jacobian matrix of joint space, can specifically indicates are as follows:
So, formula (21) can use each variable differential and carry out equivalent, obtain:
WhereinIt is Jacobian matrix JScInverse
Based on this, with reference to Figure 10, wherein LS=[l1 l2] be cooperating joint section wherein 2 driving rope length.It is logical
Numerical Iteration Method is crossed, cooperating joint can be calculated under the premise of the length of given two ropes and linkage angular error
Two basic joint angle values of section
Finally, carrying out whole arm rope length to joint angle map analysis.As shown in figure 11, mapping of the whole arm rope length to joint angles
Analysis is broadly divided into the following steps.
Given rope length Ld=[Ld,1 Ld,2 … Ld,N]=[ld,1,ld,2…,ld,3N], set the cooperating joint of current solution
Number of segment m=1；Ld,iRepresent the expectation rope length of the i-th cooperating joint section.All ropes are in remaining cooperating joint section (i.e. for rope k
For, rope lengths the sum of of the rope k at cooperating joint section 1 to M-1, M=int ((k+2)/3) represents rope k control
Cooperating joint segment number) on length
According to the length of the overall length of rope and rope on remaining section, 3 driving ropes on cooperating joint section m are solved
Length, such as:
LS=Ld,m-lo,m=[ld,3m-2,ld,3m-1,ld,3m]-[lo,3m-2,lo,3m-1,lo,3m]
Utilize rope length LS=[lm,3m-2 lm,3m-1 lm,3m] and Figure 10, the joint angles of cooperating joint section m can be calculated
Update the length of remaining rope k (3m ﹤ k ﹤ 3N) at cooperating joint section m, i.e., more new variables lo, it may be assumed that lo,i=lo,i+
[fsl,m,3i-2(θm) fsl,m,3i-1(θm) fsl,m,3i(θm)]；i>m.
Cooperating joint number of segment adds one, i.e. m=m+1
Step more than repeating completes the rope length of whole arm to the solution of joint angles until m >=N+1.
For the kinematic calibration of cooperating joint section, as can be seen from the above description, peg model is transported with multilayer
The dynamic relationship for learning the close coupling between variable.Its kinematic relation includes rope driving space, joint space and operating space three
The relationship of layer.Its kinematics parameters includes rope lengths and joint angles, is mutually coupled influence between them.Their error,
Non-linear relation is presented to the mapping between the position and posture of end.Its kinematic error model derives as follows:
It is available by formula (3):
The pose of cooperating joint section and the relationship of joint angles areθm=[θ1 …
θ2n]；
It is available by formula (16):
The rope length of cooperating joint section and the relationship of joint angles are LS=fsl(θm)。
The kinematic calibration of cooperating joint section is completed, it can be achieved that solution between parameter using Decoupled driving structure
Coupling, then its kinematic error model derives as follows:
It is available by forward kinematics equation (formula (3)):
Both sides derivation is available:
Wherein JSqFor flexible robot's joint segments cartesian space to the mapping Jacobian matrix of joint space, it can be with
It is expressed as follows:
M is the number in cooperating joint section neutron joint.
Then JSqIt can be split asWith
θmIt can be split as θq1=[θ1 θ2] and θq2=[θ3 … θ2M]。
Then
And
Wherein Jc∈R2×2For the Jacobian matrix (formula (22)) of rope spaces and joint space.
Then
By differential to difference, further equivalent substitution can be obtained:
The pose difference of cooperating joint section is
And the calibration of arm whole for flexible robot, its kinematics can be completed by the derivation of multilayer kinematic relation
The derivation of the model of error.
Firstly, the pose of whole arm is
Rope length according to the available whole arm of formula (18) isL=[l1 … l3m]；
Wherein,For the basic joint angle of whole arm, N is the number of cooperating joint section.
And according toBoth sides differential is available
Wherein, Jacobian matrixOne joint segments by multiple Yaw and Pitch freedom degrees (i.e.
Universal joint) composition, V1It represents all Yaw degree-of-freedom joints in joint segments 1 and moves the linear velocity generated to end, W1Represent joint
All Yaw degree-of-freedom joints move the angular speed generated to end in section 1.
And
em,kRepresent the unit vector of the rotary shaft k of cooperating joint section m, rm,kIt is arrived for the center rotary shaft k of cooperating joint section m
The vector of arm end.v2m-1、v2mAll Yaw, Pitch degree-of-freedom joint movements in joint segments m are respectively represented to generate arm end
Linear velocity, w2m-1、w2mIt respectively represents all Yaw, Pitch degree-of-freedom joints in joint segments m and moves the angle generated to arm end
Speed.
JlFor the mapping matrix of joint space to rope spaces,
Wherein JSci,jThe joint space of the rope i at cooperating joint section j is represented to the mapping of rope spaces,
fsl,j,i(θj) be cooperating joint section j rope i rope length calculation formula.
The nominal pose difference that the whole arm of robot can be obtained is
Then, the detailed process of the kinematic calibration of the whole arm of cooperating joint section and robot is described:
Firstly, machine artificially has the flexible robot of 2m freedom degree in the present embodiment, connected by m cooperating joint section
It forms, each cooperating joint section is driven by 3 or more ropes, has motor position sensor and rope pull sensor.It is soft
The calibration of property robot cooperating joint section can be obtained by laser tracker and the target ball marker of cooperating joint section end
Obtain the position under each cooperating joint section steric configuration and posture.Pass through the terminal position and appearance of the multiple groups cooperating joint section of measurement
State (attained pose), and nominal terminal position and posture (nominal pose), according to the model of kinematic error, with based on minimum
Two iterative methods multiplied, the calibration of the linkage angular error of achievable cooperating joint section.
Specifically, firstly, planning the joint angles of N group flexible robot cooperating joint section m in advanceThis
When plan be using the driving of Decoupled driving structure cooperating joint section joint angles, i.e. the first of cooperating joint section
The joint angles in a sub- joint.According to rope length calculation formula (16), the corresponding rope lengths L of N group joint angles is calculatedS1…LSN,
Wherein LSi=[l1,i l2,i l3,i] represent i-th group of all driving rope length；Connection can be calculated by recycling the equation of positive kinematics
The nominal pose of movable joint sectionIt calculates in the case where not considering to link angular error, i.e.,In the case where, the terminal position and posture X of the name of flexible robot's cooperating joint section m of N groupS,i。
Current data group number i=1 is reset, then current joint angleRope length is LSi.Motor is controlled respectively, so that
All ropes reach corresponding length LSi.Using laser tracker, the end of the cooperating joint section of flexible robot at this time is recorded
Hold true three shaft position and posture X relative to robot rootrS,i；
Then, data group number adds one, i.e. i=i+1.
Above 3 steps are repeated, until i > N, complete the attained pose and nominal pose of flexible robot's cooperating joint section m
Acquisition.
According to the true and nominal terminal position and attitude data of N group flexible robot's cooperating joint section m of test
XS,i, using the method for least-squares iteration, as shown in figure 12, the linkage angle for completing the cooperating joint section m of flexible robot is missed
The calibration of poor parameter.
It is a kind of specific embodiment linkage of flexible robot's Kinematic Calibration method in the present invention with reference to Figure 12, Figure 12
The linkage angular error demarcation flow figure of joint segments；Specific step is as follows for calibration:
(1) attained pose of cooperating joint section is set as XS,real=[XrS,1,XrS,2,XrS,3…XrS,N], nominal pose is XS,Nom=
[XS,1,XS,2,XS,3…XS,N].Initial rope length error and linkage angular error are as follows: [εSl,εSθ]0=0, wherein εSl=[εl1,εl2,εl3]
∈R3×1For the initial rope length error of 3 ropes of cooperating joint section,For angle of linking
Spend error.The attained pose of cooperating joint section under N group calibration configuration is measured, and records corresponding rope length.
Initially in the case of (the number of iterations i=0), the state variable of cooperating joint section under N group configuration are as follows: QS(i)=
[LCS(i),θCq2(i)], wherein LCS(i)=[lC1(i),lC2(i),lC3(i)] represent combination of all rope lengths of N group in i-th, lCk=
[lk,1,lk,2,…,lk,N]TRepresent the length combination under k (1≤k≤3) numbers rope N group configuration, θCq2,i=[θq2,1,…,θq2,N]T
Represent the joint angles θ of N groupq2Combination.
(2) it is poor to calculate the pose of nominal pose and attained pose under initial situation: Δ XS(i)=XS,real(i)-XS,Nom(i), mark
Determine parameter initialization [εSl,εSθ]0=0, and setting the number of iterations is i=0；
(3) it calculates in current state QS,iThe combination Jacobian matrix of lower cooperating joint section, i.e.,
JS(i)=[JS1(i),JS2(i)], wherein JS2(i)=[Jq2,1,Jq2,2,…,Jq2,N] T represents the Jacobi under N group configuration
The combination of matrix J q2, similarly
(4) according to Jacobian matrix JS(i)And terminal position posture difference Δ XS(i), calculate
JS(i) +ΔXS(i)=Δ QS(i)；
(5) initial rope length error and linkage angular error, i.e. [ε are updatedSl,εSθ]i+1=[εSl,εSθ]i+ΔQS(i)。
(6) length of each group of driving rope: L is updatedCS(i+1)=[lC1(i+1),lC2(i+1),lC3(i+1)]=εCl+
[lC1(i),lC2(i),lC3(i)].WhereinRepresent N number of εSlThe combination of matrix.
(7) according to rope length LCS(i+1), using the calculation process (see Figure 10) of rope length to joint angles, calculate N group rope length pair
1 angle, θ of joint answeredCq1(i+1)=[θ1(i+1),θ2(i+1)]。
(8) the sub- joint angles for updating sub- joint 2-M, obtain the corresponding new angle of N group joint angle of entire cooperating joint section
Degree, it may be assumed that
θCq(i+1)=[θCq1(i+1),θCq2(i+1)], wherein θCq2(i+1)=θCq2(i)+εCθ(i), whereinRepresent N number of εSθThe combination of matrix.
(9) according to the joint angles and forward kinematics equation of N group, the nominal pose X of N group at this time is calculatedS,Nom(i+1), according to
Actual pose and new nominal pose calculate pose difference Δ XS(i+1)。
(10) judge Δ XS(i+1)Whether certain value is less than, when the judgment result is yes, iteration terminates, otherwise number of iterations i=
i+1。
(11) (2)-(10) are repeated, until pose difference Δ XS(i+1)Less than certain value ε, single cooperating joint can be completed
The calibration of the linkage angular error of section, i.e., linkage angular error ε at this timeSθFor the result of calibration.
And the calibration of arm whole for flexible robot, it can be after the calibration of multiple cooperating joint sections, by cooperating joint section
It is assembled into whole arm, further new driving rope initial length is demarcated.The linkage angular error of robot at this time, by
In linkage angular error not re-assemblying and change with cooperating joint section, therefore, the linkage angular error of robot can be straight
Connect the calibration result with reference to cooperating joint section.The linkage angular error of robot is the linkage angular error of multiple cooperating joint sections
Combination.And the initial rope length error calibration of the whole arm of flexible robot, it can be measured under several groups configuration by laser tracker
The pose of end, and derive flexible robot kinematic error model, complete the initial rope length of entire flexible robot
Error calibration.
Specifically, the joint angles of N group flexible robot are planned in advanceAccording to rope length calculation formula (18),
Calculate the corresponding rope lengths L of N group joint angles1…LN, wherein Li=[l1,i l2,i … l3N,i] represent i-th group of all driving
Rope length；Recycle the equation of positive kinematicsIt calculates in known linkage angular error εθSituation
Under, the nominal pose X of the flexible robot end of N groupi, whereinFor all cooperating joint sections
The combination for the angular error that links.
Current data group number i=1 is set, then current joint angleRope length is Li.Motor is controlled respectively, so that institute
There is rope to reach corresponding length Li。
Using laser tracker, attained pose of the end of flexible robot at this time relative to robot root is recorded
Xr,i；
Data group number i=i+1.
Above 3 steps are repeated, until i > N, complete the acquisition of the attained pose and nominal pose of flexible robot.
According to the attained pose of the N group flexible robot of test and nominal pose, using the method for least-squares iteration, such as
Shown in Figure 13, the parameter calibration of flexible robot's initial rope length error is completed.
It is an a kind of specific embodiment machine of flexible robot's Kinematic Calibration method in the present invention with reference to Figure 13, Figure 13
The initial rope length error calibration flow chart of the whole arm of people；Specific step is as follows for calibration:
(1) the true pose of robot is set as Xreal=[Xr,1,Xr,2,Xr,3…Xr,N], the nominal pose of robot is
XNom=[Xnom,1,Xnom,2,Xnom,3…Xnom,N].Initial rope length error and linkage angular error are as follows: εl(0)=0, wherein εl=
[εl1,εl2..., εl3N]∈R3N×1For all driving rope initial rope length errors.It measures N group and demarcates configuration lower end pose,
And record corresponding rope length.
Flexible robot's state variable initially in the case of (the number of iterations i=0), under N group configuration are as follows: LC(i), wherein
LC(i)=[lC1(i),lC2(i)..., lC3N(i)] represent combination of all rope lengths of N group in i-th, lCk=[lk,1,lk,2,…,lk,N]T
Represent the length combination under k (1≤k≤3N) numbers rope N group configuration.
(2) pose for calculating attained pose and nominal pose under initial situation is poor: Δ X(i)=Xreal(i)-XNom(i), calibration
Parameter initialization εl(0)=0, and setting the number of iterations is i=0；
(3) it calculates in current state LC(i)In the case of flexible robot combine Jacobian matrix J(i), wherein J(i)=
[Jq,1Jl,1 -1,Jq,2Jl,2 -1,…,Jq,NJl,N -1]TRepresent the combination of the Jacobian matrix J under N group configuration, J=JqJl -1For flexibility
Mapping Jacobian matrix of the robot cartesian space to rope spaces.
(4) according to Jacobian matrix J(i)And terminal position posture difference Δ XS,i, calculate
J(i) +ΔX(i)=Δ L(i), wherein Δ L=[Δ l1,Δl2..., Δ l3N] represent the combinations of all rope length errors.
(5) rope length error, i.e. ε are updatedl(i+1)=εl(i)+ΔL(i)。
(6) length of each group of driving rope: L is updatedC(i+1)=εCl+LC(i).WhereinRepresent N
A εlThe combination of matrix.
(7) according to rope length LC(i+1), using the calculation process (see Figure 11) of rope length to joint angles, it is corresponding to calculate N group rope length
Joint angles combination
(8) according to the joint angles of N group, the nominal pose X of N group at this time is calculatedNom(i+1), according to attained pose and name adopted position
Appearance calculates pose difference Δ X(i+1)。
(9) judge Δ X(i+1)Whether certain value ε is less than, when the judgment result is yes, iteration terminates, otherwise, number of iterations i=
i+1。
(10) (2)-(9) are repeated, until pose difference Δ X(i+1)Less than certain value ε, flexible robot's calibration can be completed,
Rope length initial error ε i.e. at this timelFor the result of calibration.
To sum up, a kind of flexible robot's Kinematic Calibration method of Decoupled, by by entire Flexible Multi-joint machine
The kinematic calibration of people, the kinematics parameters for resolving into each cooperating joint section and the kinematics parameters mark in the case of whole arm
It is fixed.Cooperating joint section is completed in conjunction with least-squares iteration method based on kinematic error model and Decoupled driving structure
And the calibration of whole arm.The method of the calibration has many advantages, such as to decouple mutually between parameter, and high-efficient and stated accuracy is high.
Therefore it is relatively specific for the calibration to flexible robot.
Embodiment 4
Invention additionally discloses a kind of flexible robot's Kinematic Calibration system, including cooperating joint segment mark order member, linkages
Joint segments demarcate unit
The nominal pose of cooperating joint section obtains module, for obtaining zero according to the nominal joint angles of cooperating joint section
The nominal pose of cooperating joint section under dynamic angular error；
The attained pose of cooperating joint section obtains module, for being arrived using Decoupled driving structure driving cooperating joint section
Up to the nominal rope length of cooperating joint section, and the attained pose of cooperating joint section is obtained, the nominal rope length of cooperating joint section is according to connection
The nominal joint angles of movable joint section are calculated, and Decoupled driving structure is that rope is driven to be fixed on the of cooperating joint section
On one sub- joint, all sub- joints of cooperating joint section pass through linkage rope connection；Further, the end of cooperating joint section
It is provided with target ball, the attained pose of cooperating joint section is obtained using laser tracker；
The linkage angular error of cooperating joint section obtains module, for being closed according to the nominal pose and linkage of cooperating joint section
The attained pose of segment obtains the linkage angular error of cooperating joint section.
As the further improvement of technical solution, flexible robot's Kinematic Calibration system further includes Robot calibration list
Member, Robot calibration unit include:
Link angular error demarcating module, for obtaining the connection of multiple cooperating joint sections using cooperating joint segment mark order member
Dynamic angular error；It is combined to obtain the linkage angular error of robot, machine according to the linkage angular error of multiple cooperating joint sections
People includes multiple cooperating joint sections.
As the further improvement of technical solution, Robot calibration unit further include:
The nominal pose of robot obtains module, for obtaining the connection in robot according to the nominal joint angles of robot
The nominal pose of robot under dynamic angular error；
The attained pose of robot obtains module, for reaching the name of robot using normal driving structure driving robot
Adopted rope length, and the attained pose of robot is obtained, the nominal rope length of robot is calculated according to the nominal joint angles of robot
It arrives, different cooperating joint sections is driven with different normal driving structures, and normal driving structure is that driving rope is fixed on linkage
On all sub- joints of joint segments, all sub- joints of cooperating joint section pass through linkage rope connection；Further, robot
End is provided with target ball, and the attained pose of robot is obtained using laser tracker；
The initial rope length error of robot obtains module, for according to the nominal pose of robot and the actual bit of robot
The initial rope length error of appearance acquisition robot.
The course of work of flexible robot's Kinematic Calibration system is referring in above-described embodiment 1, embodiment 2 and embodiment 3
To the specific descriptions of flexible robot's Kinematic Calibration method, repeat no more.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (9)
1. a kind of flexible robot's Kinematic Calibration method, which is characterized in that including cooperating joint section demarcating steps and robot
Demarcating steps, wherein
The cooperating joint section demarcating steps include:
The nominal pose of the cooperating joint section under zero linkage angular error is obtained according to the nominal joint angles of cooperating joint section；
The cooperating joint section is driven using Decoupled driving structure so that driving rope reaches the name of the cooperating joint section
Adopted rope length, and obtain the attained pose of the cooperating joint section, wherein according to the nominal joint angles meter of the cooperating joint section
Calculation obtains the nominal rope length of the cooperating joint section, and the Decoupled driving structure is that driving rope is fixed on the linkage pass
On first sub- joint of segment, all sub- joints of the cooperating joint section pass through the structure of linkage rope connection；
The cooperating joint section is obtained according to the nominal pose of the cooperating joint section and the attained pose of the cooperating joint section
Linkage angular error；
The Robot calibration step includes:
The linkage angular error of multiple cooperating joint sections is obtained using the cooperating joint section demarcating steps；
It is combined to obtain the linkage angular error of robot according to the linkage angular error of the multiple cooperating joint section, it is described
Robot includes multiple cooperating joint sections.
2. a kind of flexible robot's Kinematic Calibration method according to claim 1, which is characterized in that the robot mark
Determine step further include:
The nominal pose of the robot under the linkage angular error of the robot is obtained according to the nominal joint angles of robot；
The robot is driven using normal driving structure so as to drive the nominal rope length of rope arrival robot, and described in acquisition
The attained pose of robot, wherein restricted according to the name that the robot is calculated in the nominal joint angles of the robot
Long, the different cooperating joint sections are driven with different normal driving structures, and the normal driving structure is that driving rope is solid
It is scheduled on all sub- joints of the cooperating joint section, all sub- joints of the cooperating joint section pass through linkage rope connection
Structure；
It is missed according to the initial rope length that the attained pose of the nominal pose of the robot and the robot obtains the robot
Difference.
3. a kind of flexible robot's Kinematic Calibration method according to claim 2, which is characterized in that utilize least square
The nominal pose of robot described in iterative method processing multiple groups and the attained pose of the robot are to obtain the first of the robot
Beginning rope length error.
4. a kind of flexible robot's Kinematic Calibration method according to any one of claims 1 to 3, which is characterized in that root
It is obtained according to the nominal pose of cooperating joint section described in multiple groups and the attained pose of the cooperating joint section using least-squares iteration method
Take the linkage angular error of the cooperating joint section.
5. a kind of flexible robot's Kinematic Calibration method according to any one of claims 1 to 3, which is characterized in that benefit
The attained pose of the cooperating joint section is obtained with laser traces method.
6. a kind of flexible robot's Kinematic Calibration system, which is characterized in that flexible robot's Kinematic Calibration system packet
Include cooperating joint segment mark order member and Robot calibration unit, wherein
The cooperating joint segment mark order member includes:
The nominal pose of cooperating joint section obtains module, for obtaining zero linkage angle according to the nominal joint angles of cooperating joint section
Spend the nominal pose of the cooperating joint section under error；
The attained pose of cooperating joint section obtains module, for using Decoupled driving structure drive the cooperating joint section with
Make that rope is driven to reach the nominal rope length of the cooperating joint section, and obtain the attained pose of the cooperating joint section, wherein root
The nominal rope length of the cooperating joint section is calculated according to the nominal joint angles of the cooperating joint section, the Decoupled drives
Dynamic structure is that driving rope is fixed on first sub- joint of the cooperating joint section, all sub- passes of the cooperating joint section
The structure that section passes through linkage rope connection；
The linkage angular error of cooperating joint section obtains module, for according to the nominal pose of the cooperating joint section and described
The attained pose of movable joint section obtains the linkage angular error of the cooperating joint section；
The Robot calibration unit includes:
Link angular error demarcating module, for obtaining the connection of multiple cooperating joint sections using the cooperating joint segment mark order member
Dynamic angular error；It is missed according to the linkage angle that the linkage angular error of the multiple cooperating joint section is combined to obtain robot
Difference, the robot include multiple cooperating joint sections.
7. a kind of flexible robot's Kinematic Calibration system according to claim 6, which is characterized in that the robot mark
Order member further include:
The nominal pose of robot obtains module, for obtaining the connection in the robot according to the nominal joint angles of robot
The nominal pose of robot under dynamic angular error；
The attained pose of robot obtains module, for driving the robot using normal driving structure so that driving rope arrives
Up to the nominal rope length of robot, and obtain the attained pose of the robot, wherein according to the nominal joint angle of the robot
The nominal rope length of the robot is calculated in degree, and the different cooperating joint sections is driven with different normal driving structures,
The normal driving structure is that driving rope is fixed on all sub- joints of the cooperating joint section, the cooperating joint section
The structure that all sub- joints pass through linkage rope connection；
The initial rope length error of robot obtains module, for according to the nominal pose of the robot and the reality of the robot
Border pose obtains the initial rope length error of the robot.
8. a kind of flexible robot's Kinematic Calibration system according to claim 7, which is characterized in that the robot
End is provided with target ball, and the attained pose of the robot is obtained using laser tracker.
9. according to a kind of described in any item flexible robot's Kinematic Calibration systems of claim 6 to 8, which is characterized in that institute
The end for stating cooperating joint section is provided with target ball, and the attained pose of the cooperating joint section is obtained using laser tracker.
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| CN113043332A (en) * | 2021-04-01 | 2021-06-29 | 哈尔滨工业大学（深圳） | Arm shape measuring system and method of rope-driven flexible robot |
| CN113752253A (en) * | 2021-08-16 | 2021-12-07 | 常州大学 | Parameter optimization method for continuum robot |
| CN113752253B (en) * | 2021-08-16 | 2022-11-11 | 常州大学 | Parameter optimization method for continuum robot |
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