CN109176531A - A kind of tandem type robot kinematics calibration method and system - Google Patents
A kind of tandem type robot kinematics calibration method and system Download PDFInfo
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- CN109176531A CN109176531A CN201811257834.5A CN201811257834A CN109176531A CN 109176531 A CN109176531 A CN 109176531A CN 201811257834 A CN201811257834 A CN 201811257834A CN 109176531 A CN109176531 A CN 109176531A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- 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
- B25J19/0095—Means or methods for testing manipulators
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Abstract
The step of the embodiment of the present application provides a kind of tandem type robot kinematics calibration method and system, this method includes: S1, based on the relationship between adjacent two connecting rod of tandem type robot, constructs geometric parameter error model；S2, the nominal value of relative displacement and the deviation of actual value between the terminal position measurement point under two different postures of robot, building identification model are utilized；Relative displacement between S3, measurement several groups measurement point, recognizes robot geometric parameter error, and obtain modified geometric parameter；S4, using modified geometric parameter, and based on absolute increment control method, robot end's location error is compensated, improve absolute fix precision.Herein described technical solution can save the nominal time, keep calibration process more flexible.Herein described technical solution accurately recognizes kinematics parameters, mismatch error backoff algorithm by building identification model, improves the precision to trajectory planning.
Description
Technical field
This application involves robot kinematics calibration field, in particular to a kind of six degree of freedom tandem type industrial robot fortune
It is dynamic to learn scaling method and system.
Background technique
Six degree of freedom tandem type industrial robot is because having the advantages that flexible operation and mobility is stronger, in recent years in work
The application at industry scene is gradually increased and is taken seriously.Common industrial robot can satisfy very high repetitive positioning accuracy and want
It asks, but due to its special inevitable error of structure type bring, absolute fix precision is generally poor, and becomes
Change quite big.And for the product of most of industrial robot manufacturers, also all there was only the technical indicator of repeatable accuracy.Therefore, exist
In practical application, online programming can only be carried out to robot in the way of teaching, complete simple work, such as stacking is carried
Deng.With further increasing for mission requirements and difficulty, it is very high that more and more application scenarios require robot itself to have
Absolute fix precision, such as welding, assembly, measurement.Therefore, robot parameter error is recognized and is compensated, improve machine
The absolute fix precision of people becomes one important research direction of industrial robot field.
The Kinematic Calibration of current six degree of freedom tandem type industrial robot on the market is generally as the customization individually bought
Change project is completed in robot production process by industrial robot manufacturer, and not to user's open interface.Different vendor
The scaling method of industrial robot, used calibration tooling may be not general, and calibration result may also be by machine
The influence of the deployed environment of people's pedestal.Based on above-mentioned factor, if user needs to carry out secondary development, it is of a high price, difficult to face
Degree is big, the problems such as being inconvenient.
Summary of the invention
One of in order to solve the above problem, this application provides a kind of calibration of six degree of freedom tandem type industrial robot kinematics
Method and system.
According to the first aspect of the embodiment of the present application, a kind of tandem type robot kinematics calibration method is provided, it should
The step of method includes:
S1, based on the relationship between adjacent two connecting rod of tandem type robot, construct geometric parameter error model；
S2, the nominal value and reality of relative displacement between the terminal position measurement point under two different postures of robot are utilized
The deviation of actual value constructs identification model；
Relative displacement between S3, measurement several groups measurement point, recognizes robot geometric parameter error, and obtain
Modified robot links geometric parameter；
S4, using modified geometric parameter, and based on absolute increment control method, to robot end's location error
It compensates, improves absolute fix precision.
According to the second aspect of the embodiment of the present application, a kind of tandem type robot kinematics calibration system is provided, it should
System includes:
Geometric parameter error model constructs module, based on the relationship between adjacent two connecting rod of tandem type robot, constructs geometry
Parameter error model；
Model construction module is recognized, position opposite between the terminal position measurement point under two different postures of robot is utilized
The nominal value of shifting and the deviation of actual value construct identification model；
Geometric parameter error solves module, the relative displacement between several groups measurement point is measured, to robot geometric parameter
Error is recognized, and obtains modified robot links geometric parameter；
Error compensation module, using modified geometric parameter, and the method based on absolute increment control, to robot end
End position error compensates, and improves absolute fix precision.
Herein described technical solution only needs the relative displacement to robot end's measurement point to measure, with robot
The position of basis coordinates is unrelated, and therefore, when actual measurement does not need to demarcate basis coordinates system in advance using additional method, from
And the nominal time is saved, keep calibration process more flexible.
Herein described technical solution accurately recognizes kinematics parameters by building identification model, cooperates
Error Compensation Algorithm improves robot absolute fix precision.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 shows the emulation schematic diagram that tooling is demarcated described in this programme；
Fig. 2 shows robot kinematics calibration method schematic diagrams described in this programme；
Fig. 3 shows the definition of robot links coordinate system described in this programme and link parameters define schematic diagram；
Fig. 4 shows the schematic diagram of error compensating method described in this programme；
Specific embodiment
In order to which technical solution in the embodiment of the present application and advantage is more clearly understood, below in conjunction with attached drawing to the application
Exemplary embodiment be described in more detail, it is clear that described embodiment be only the application a part implement
Example, rather than the exhaustion of all embodiments.It should be noted that in the absence of conflict, embodiment and reality in the application
The feature applied in example can be combined with each other.
The core ideas of this programme is to utilize general calibration tooling and laser tracker precise measurement robot end position
It sets, completes the identification of six degree of freedom tandem type industrial robot kinematics accurate parameters, and realize in industrial robot control
Movement compensating algorithm, effectively improve industrial robot absolutely determines precision, realizes high-precision industrial robot system for all types of user
System is integrated to provide solution.
This programme discloses a kind of tandem type robot kinematics calibration method, and this method is using industrial personal computer as industrial machine
Device people system controller and data processing equipment measure industrial robot end using test fixture and laser tracker
Relative displacement.Drive cabinet and laser tracker logical with industrial robot respectively using EtherCat bus and serial ports in controller
Letter, realizes the motion control of robot and the acquisition of terminal position.Using the geometric parameter error model of building and based on opposite
The identification model of offset deviation is realized robot geometric parameter error identification, and utilizes the mistake controlled based on absolute increment
Poor compensation method compensates robot end's location error, improves absolute fix precision
Specifically, as shown in Figure 1, cooperating calibration tooling using laser tracker to demarcate tooling used in this programme
Measure industrial robot terminal position.The tooling may be mounted on the 6th joint Joint6 of robot, can place laser tracking
Instrument target ball, and there are known offsets with end joints axes, it is ensured that 4 parameters of joint Joint5 can recognize.It utilizes
Laser tracker measurement obtains the phase between the end measurement point of the available robot in different positions of coordinate of the target ball centre of sphere
To displacement actual value.
As shown in Fig. 2, for scaling method described in this programme, the step of this method, includes:
S1, based on the relationship between adjacent two connecting rod of tandem type robot, construct geometric parameter error model；
S2, the nominal value and reality of relative displacement between the terminal position measurement point under two different postures of robot are utilized
The deviation of actual value constructs identification model；
Relative displacement between S3, measurement several groups measurement point, recognizes robot geometric parameter error, and obtain
Modified robot links geometric parameter；
S4, using modified geometric parameter, and based on absolute increment control method, to robot end's location error
It compensates, improves absolute fix precision.
Based on above-mentioned steps, we are further elaborated below with reference to specific modeling and solution procedure.
Firstly, the foundation of relative displacement of this programme based on the terminal position measured twice recognizes model.Due to this
Method is unrelated with the position of robot basis coordinates it is desirable that the relative displacement between different measurement positions twice, therefore, practical
It does not need to demarcate basis coordinates system in advance using additional method when measurement, saves the time, and more flexible.It utilizes
Least square method seeks geometric parameter to be identified.With the actual value and nominal value of terminal position relative displacement in different positions twice
Deviation as identification input, the geometric errors of each link parameters of robot is as parameter to be identified, i.e. identification output, benefit
The linear relationship between identification input and output is calculated with the total differential of robot kinematics' model.Repeatedly line is established in measurement
Property over-determined systems, estimates of parameters to be identified is solved using least square method.
Then, it is based on increment control algorithm Error Compensation Algorithm.By the identification knot of the geometric error of each link parameters of robot
The direct applied robot's controller of fruit.This method is not needed using the computation of inverse- kinematics, but utilizes geometric parameter identification result
Positive kinematics model is modified, estimates the actual pose of robot end.Simultaneously by pose deviation and end orbit speed
It is mapped to joint control increment and angular speed feedforward amount, so that motion process to be become to a kind of form of closed loop.Improve positioning accurate
It can also guarantee the tracking accuracy of path locus, engineering application value with higher while spending.
For the identification model based on relative displacement deviation, specific foundation and solution procedure are as follows:
As shown in figure 3, using the link rod coordinate system definition of typical six degree of freedom tandem type industrial robot and connecting rod
Parameter definition, the homogeneous transform matrix between adjacent two connecting rod are
There is fixed nominal transformation relation between basis coordinates system { Base } and link rod coordinate system { 0 }But exist
Inevitable error, transformation matrix are
There is fixed nominal transformation relation between coordinate system { Tool } and coordinate system { 6 }But it equally exists
Error.If only measuring O in experimenttoolPosition, thenCan simplify for
In the position shape that some is fixed, the line for being slightly variable dT and being expressed as each geometric parameter deviation of robot end's pose
Property combination, thus establish geometric parameter error model
Wherein, δ αbase、δabase、δβbase、δbbase、δθbase、δdbaseFor the geometric parameter error of robot base；δ
αi-1、δai-1、δβi-1、δθi、δdi(i=1, δ β when 2, L, 6, i ≠ 3i-1It=0) is robot links geometric parameter error；δXtool、
δYtool、δZtoolFor robot end's geometric parameter error；DT is robot end's pose square due to caused by geometric parameter error
The deviation of battle array.
According to above-mentioned analysis, robot base, connecting rod and tool have 6+25+3=34 geometric error parameter altogether.It is based on
The peg model of relative displacement has additional redundancy relationship formula, needs to delete 34 parameters.
6 geometric parameter errors of robot base and 3 geometric parameter errors of tool are related to robot deployment,
It is unrelated with robot body, therefore do not need to demarcate this in Kinematic Calibration experiment；Consider further that error parameter { △ d2,
△d3, it is not difficult to analyze, influence of former and later two error parameters in every group to entire robot end's position deviation is identical
, in mathematical meaning, i.e., the local derviation coefficient in formula (4) before corresponding error parameter is equal.Select the former as ginseng to be identified
Number then obtains error vector △ φ=[△ φ of M=24 geometric parameter error composition1,△φ2,...,△φM]T。24
A error parameter meets completeness, continuity, minimizes requirement.The differential relationship of formula (4) may further be expressed as
For measurement point 1 and measurement point 2, the nominal value of terminal positionWithMeasurement obtains actual value and isWithRoot
According to (5), have
WhereinWithFor the Jacobian matrix of geometric parameter error, the value respectively arranged is differential matrix in (5)The column vector that the element of middle corresponding position component is constituted.(6) two formulas are subtracted each other in, available
Thus establish the robot geometric error identification model based on relative displacement deviation.Repeatedly measurement is established
Linear over-determined systems solve estimates of parameters to be identified using least square method.
As shown in figure 4, the Error Compensation Algorithm based on absolute increment control:
The method that this programme uses closed loop estimates robot using modified geometric parameter and practical joint angles
Joint angles control amount and angle is calculated in the Preference-Deviation Mapping of the location of instruction and physical location to joint space by physical location
Velocity feed forward, to improve end orbit precision.
Step1: the pose that robot is generated in control period k in control period k+1 instructs Tcmd(k+1) and end is fast
Degree instruction vcmd(k+1)；
Step2: revised kinematics parameters and currently practical joint angles q are utilizedreal(k) attained pose estimation is calculated
Value
Step3: position and attitude error six-vector is calculatedWherein, △ () function calculates such as
Under, for T0=(R0,t0), T1=(R1,t1), have
Step4: the direct form J (q of current location Jacobian matrix is calculated using Modified geometrical parameterreal(k))；
Step5: angle control instruction and angular speed feedforward instruction are calculated
Step6: repeating Step1~Step5 in control period k+1, until robot end reaches object pose.
This programme further discloses a kind of tandem type robot kinematics calibration system, which includes:
Geometric parameter error model constructs module, based on the relationship between adjacent two connecting rod of tandem type robot, constructs geometry
Parameter error model；
Model construction module is recognized, position opposite between the terminal position measurement point under two different postures of robot is utilized
The nominal value of shifting and the deviation of actual value construct identification model；
Geometric parameter error solves module, the relative displacement between several groups measurement point is measured, to robot geometric parameter
Error is recognized, and obtains modified robot links geometric parameter；
Error compensation module, using modified geometric parameter, and the method based on absolute increment control, to robot end
End position error compensates, and improves absolute fix precision.
In the present solution, the tandem type robot kinematics calibration method can also be for example, by joint position controller etc.
Electronic equipment realizes that its calibrating function, the electronic equipment include: memory, one or more processors；Memory and processing
Device is connected by communication bus；Processor is configured as executing the instruction in memory；It is stored with and is used in the storage medium
Execute the instruction of each step in method as described above.
In the present solution, the tandem type robot kinematics calibration method can also be recorded in computer readable storage medium
In, calibrating function is realized by being stored with computer program on computer readable storage medium, when which is executed by processor
The step of realizing method as described above.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The above is only the embodiment of the present invention, are not intended to restrict the invention, all in the spirit and principles in the present invention
Within, any modification, equivalent substitution, improvement and etc. done, be all contained in apply pending scope of the presently claimed invention it
It is interior.
Claims (10)
1. a kind of tandem type robot kinematics calibration method, which is characterized in that the step of this method includes:
S1, based on the relationship between adjacent two connecting rod of tandem type robot, construct geometric parameter error model；
S2, the nominal value and actual value of relative displacement between the terminal position measurement point under two different postures of robot are utilized
Deviation, construct identification model；
Relative displacement between S3, measurement several groups measurement point, recognizes robot geometric parameter error, and corrected
Robot links geometric parameter；
S4, using modified geometric parameter, and based on absolute increment control method, to robot end's location error carry out
Compensation improves absolute fix precision.
2. tandem type robot kinematics calibration method according to claim 1, which is characterized in that described in the step S1
Middle geometric parameter error model are as follows:
Wherein, δ αbase、δabase、δβbase、δbbase、δθbase、δdbaseFor the geometric parameter error of robot base；δαi-1、δ
ai-1、δβi-1、δθi、δdi(i=1, δ β when 2, L, 6, i ≠ 3i-1It=0) is robot links geometric parameter error；δXtool、δ
Ytool、δZtoolFor robot end's geometric parameter error；DT is robot end's pose square due to caused by geometric parameter error
The deviation of battle array.
3. tandem type robot kinematics calibration method according to claim 1, which is characterized in that institute in the step S2
State identification model are as follows:
Wherein,For 1 lower end location measurement point (measurement point 1) of posture and 2 lower end location measurement point (measurement point 2) of posture
Between relative displacement actual value, obtained by laser tracker measurement；For 1 lower end location measurement point (measurement point of posture
1) between 2 lower end location measurement point (measurement point 2) of posture relative displacement nominal value；For geometric parameters at measurement point 1
The Jacobian matrix of number error；For the Jacobian matrix of geometric parameter error at measurement point 2；It is opposite
Displacement error Jacobian matrix；△ φ is the column vector that robot geometric error parameter is constituted.
4. tandem type robot kinematics calibration method according to claim 1, which is characterized in that in the step S3,
The relative displacement between several groups measurement point is measured, and robot geometric parameter error is recognized using least square method,
Obtain the estimated value of geometric parameter error
Wherein, △p rIt is the column vector for repeatedly measuring obtained relative displacement actual value and constituting；△p nIt is repeatedly to measure obtained phase
The column vector that displacement nominal value is constituted；JErrIt is the matrix of corresponding relative displacement error Jacobian matrix composition.Then, it repairs
Robot geometric parameter after just is
Wherein, ΦnFor uncorrected geometric parameter,For modified geometric parameter.
5. tandem type robot kinematics calibration method according to claim 1, which is characterized in that the step S4 packet
It includes:
S41: the pose that robot is generated in control period k in control period k+1 instructs Tcmd(k+1) it is instructed with tip speed
vcmd(k+1)；
S42: revised kinematics parameters and currently practical joint angles q are utilizedreal(k) attained pose estimated value is calculated
S43: position and attitude error six-vector is calculatedWherein △ () function calculates as follows, for T0
=(R0,t0), T1=(R1,t1), have
S44: the direct form J (q of current location Jacobian matrix is calculated using modified geometric parameterreal(k))；
S45: angle control instruction and angular speed feedforward instruction are calculated
qcmd(k+1)=qreal(k)+J < qreal(k)>-1·△(k)
S46: repeating S41~S45 in control period k+1, until robot end reaches object pose.
6. a kind of tandem type robot kinematics calibration system, which is characterized in that the system includes:
Geometric parameter error model constructs module, based on the relationship between adjacent two connecting rod of tandem type robot, constructs geometric parameter
Error model；
Model construction module is recognized, relative displacement between the terminal position measurement point under two different postures of robot is utilized
The deviation of nominal value and actual value constructs identification model；
Geometric parameter error solves module, the relative displacement between several groups measurement point is measured, to robot geometric parameter error
It is recognized, and obtains modified robot links geometric parameter；
Error compensation module, using modified geometric parameter, and the method based on absolute increment control, to robot end position
It sets error to compensate, improves absolute fix precision.
7. tandem type robot kinematics calibration system according to claim 6, which is characterized in that the geometric parameter misses
Geometric parameter error model in poor model construction module are as follows:
Wherein, δ αbase、δabase、δβbase、δbbase、δθbase、δdbaseFor the geometric parameter error of robot base；δαi-1、δ
ai-1、δβi-1、δθi、δdi(i=1, δ β when 2, L, 6, i ≠ 3i-1It=0) is robot links geometric parameter error；δXtool、δ
Ytool、δZtoolFor robot end's geometric parameter error；DT is robot end's pose square due to caused by geometric parameter error
The deviation of battle array.
8. tandem type robot kinematics calibration system according to claim 6, which is characterized in that the identification model structure
Model identification model in block are as follows:
Wherein,For 1 lower end location measurement point (measurement point 1) of posture and 2 lower end location measurement point (measurement point 2) of posture
Between relative displacement actual value, obtained by laser tracker measurement；For 1 lower end location measurement point (measurement point of posture
1) between 2 lower end location measurement point (measurement point 2) of posture relative displacement nominal value；For geometric parameters at measurement point 1
The Jacobian matrix of number error；For the Jacobian matrix of geometric parameter error at measurement point 2；For opposite position
Shift error Jacobian matrix；△ φ is the column vector that robot geometric error parameter is constituted.
9. tandem type robot kinematics calibration system according to claim 8, which is characterized in that the geometric parameter misses
Difference solves in module, measures the relative displacement between several groups measurement point, and using least square method to robot geometric parameter
Error is recognized, and the estimated value of geometric error parameter is obtained
Wherein, △p rIt is the column vector for repeatedly measuring obtained relative displacement actual value and constituting；△p nIt is repeatedly to measure obtained phase
The column vector that displacement nominal value is constituted；JErrIt is the matrix of corresponding relative displacement error Jacobian matrix composition, it is revised
Robot geometric parameter is
Wherein, ΦnFor uncorrected geometric parameter,For modified geometric parameter.
10. tandem type robot kinematics calibration system according to claim 6, which is characterized in that the error compensation
Module includes:
S41: the pose that robot is generated in control period k in control period k+1 instructs Tcmd(k+1) it is instructed with tip speed
vcmd(k+1)；
S42: revised kinematics parameters and currently practical joint angles are utilizedq real(k) attained pose estimated value is calculated
S43: position and attitude error six-vector is calculatedWherein, △ () function calculates as follows, for
T0=(R0,t0), T1=(R1,t1), have
S44: using modified geometric parameter calculate current location Jacobian matrix direct form J (q real(k))；
S45: angle control instruction and angular speed feedforward instruction are calculated
qcmd(k+1)=qreal(k)+J < qreal(k) >-1·△(k)
S46: repeating S41~S45 in control period k+1, until robot end reaches object pose.
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| CN109746915A (en) * | 2019-01-18 | 2019-05-14 | 埃夫特智能装备股份有限公司 | A kind of kinematic method promoting industrial robot absolute fix precision |
| CN109986558A (en) * | 2019-02-26 | 2019-07-09 | 浙江树人学院（浙江树人大学） | Industrial robot motion control method based on error compensation |
| CN110053051A (en) * | 2019-04-30 | 2019-07-26 | 杭州亿恒科技有限公司 | Industrial serial manipulator joint stiffness parameter identification method |
| CN110757504A (en) * | 2019-09-30 | 2020-02-07 | 宜宾职业技术学院 | Positioning error compensation method of high-precision movable robot |
| CN110842917A (en) * | 2019-10-22 | 2020-02-28 | 广州翔天智能科技有限公司 | Method for calibrating mechanical parameters of series-parallel connection machinery, electronic device and storage medium |
| CN111168719A (en) * | 2020-02-20 | 2020-05-19 | 上海节卡机器人科技有限公司 | Robot calibration method and system based on positioning tool |
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| CN116061196A (en) * | 2023-04-06 | 2023-05-05 | 广东工业大学 | Method and system for calibrating kinematic parameters of multi-axis motion platform |
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