CN110421562A - Mechanical arm calibration system and scaling method based on four item stereo visions - Google Patents

Mechanical arm calibration system and scaling method based on four item stereo visions Download PDF

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Publication number
CN110421562A
CN110421562A CN201910672050.7A CN201910672050A CN110421562A CN 110421562 A CN110421562 A CN 110421562A CN 201910672050 A CN201910672050 A CN 201910672050A CN 110421562 A CN110421562 A CN 110421562A
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mechanical arm
coordinate system
calibration
matrix
error
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CN110421562B (en
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徐迟
李玉清
洪鑫
关泽彪
江澜
李勇波
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China University of Geosciences
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China University of Geosciences
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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
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • 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
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses the mechanical arm calibration systems based on four item stereo visions, including mechanical arm, control cabinet, computer, two binocular cameras, scaling board, several mark points, several mark points are individually fixed in the mechanical arm tail end and its each joint, two binocular cameras are distributed in front of the mechanical arm and side, carry out captured in real-time to several mark points；The invention also discloses the mechanical arm calibration methods based on four item stereo visions, comprising the following steps: solves the transition matrix of two coordinate systems；It acquires the first batch data to be calculated, constructs objective function；Optimization is iterated to mechanical arm geometric parameter and non-geometric parameter using least-squares algorithm；Mechanical arm zero point and transition matrix are modified, complete the calibration to mechanical arm geometric parameter using revised D-H kinematics parameters；Calibration result is verified.The present invention have mechanical arm geometrical parameter calibration and the modified beneficial effect of zero point can be rapidly completed.

Description

Mechanical arm calibration system and scaling method based on four item stereo visions
Technical field
The present invention relates to mechanical arm control fields.It is more particularly related to a kind of based on four item stereo visions Mechanical arm calibration system and scaling method.
Background technique
With the intelligent development of mechanical arm technology, domestic and international mechanical arm enterprise starts to focus on answering other than industrial circle With the gesture that desktop mechanical arm industry rises after having been formed.The desktop mechanical arm of miniaturization has light-weight, small in size, operational It is good, be easy to the advantages that developing, avoid the heaviness and danger of Large industrial sized machines arm, be successfully applied at present medical treatment, education, The industry fields such as food processing, but this kind of mechanical arm is mostly by external R&D and production, price is very expensive, it is difficult to universal And popularization.The consumer level desktop mechanical arm of domestic production is although cheap, but it is not high to be frequently present of positioning accuracy, before factory Stated accuracy is low, the problems such as even without joint angle transducer, zero point limit function, these all limit its exploitation with using model It encloses, it could preferably be customer service that only solving this critical issue, which comprehensive could popularize and apply,.
The measurement index of mechanical arm positioning performance is generally divided into repetitive positioning accuracy and absolute fix precision two major classes, research It was found that influence of the kinematic parameter errors to absolute fix precision accounts for about 90% or more of overall error.Mechanical transmission test parameter Calibration is to improve the effective means of robot absolute fix precision, generally comprises modeling, DATA REASONING, parameter identification and error and mends Repay 4 steps, wherein when carrying out DATA REASONING, often obtain the true pose of mechanical arm tail end by means of extraneous advanced measuring device Data.Common measuring device such as three coordinate measuring machine, laser tracker, motion capture system etc., price general charged is expensive, operation It is complicated.
One kind that the scaling method such as Chinese invention application CN 105773609A of existing view-based access control model measurement is provided is based on The robot kinematics calibration method of vision measurement and distance error model, establishes complete error model, to trick relationship It is demarcated simultaneously with kinematics parameters, but it is measured the biggest problems are that camera is fixed on mechanical arm tail end, More calculating costs are taken, therefore data acquisition also can be more time-consuming.
As Chinese invention patent CN 102848389B provide a kind of view-based access control model it is motion-captured mechanical arm calibration and with Track network system realization: setting flag point on the robotic arm captures the space coordinate that system obtains mark point using visual movement, In conjunction with the drive command and the position data of the joint of mechanical arm captured in real time of joint of mechanical arm, the calibration in each joint is completed. This is a kind of effectively calibration and tracking, but since the method needs successively to demarcate each joint, calibration process It is time-consuming more, and measuring device is expensive, therefore is unfavorable for promoting and applying in mechanical arm calibration.
In summary, it is still desirable to a kind of low cost and perfect mechanical arm calibration facility and method, to solve consumer level The not high problem of desktop mechanical arm positioning accuracy.
Summary of the invention
It is an object of the invention to solve at least the above problems, and provide the advantages of at least will be described later.
It is a still further object of the present invention to provide a kind of mechanical arm calibration systems based on four item stereo visions, also provide one Mechanical arm calibration method of the kind based on four item stereo visions, mechanical arm geometrical parameter calibration can be rapidly completed by having repairs with zero point Positive beneficial effect.
In order to realize these purposes and other advantages according to the present invention, a kind of machine based on four item stereo visions is provided Tool arm calibration system, including mechanical arm, control cabinet, computer, the control cabinet are connect with the computer, the control cabinet control Make the movement of the mechanical arm, further includes:
Two binocular cameras, two binocular cameras are respectively distributed to the front and side of the mechanical arm, described double Lens camera is connect with the computer；
Scaling board is used to demarcate the binocular camera, constructs the world coordinate system of mechanical arm calibration system；
Several mark points, several mark points are individually fixed in the mechanical arm tail end and its each joint.
Preferably, in the computer include camera control module, data processing module, mechanical arm demarcating module, Mechanical arm control module；
The camera control module is used to control the sync pulse jamming of two binocular cameras, carries out the binocular camera Calibration and be arranged mechanical arm calibration system world coordinate system；
The data processing module is used to receive the image data of the binocular camera transmission, to image data Reason identifies and measures the mark point on the mechanical arm, finally by the conversion of world coordinate system and mechanical arm coordinate system, calculates Obtain the three-dimensional coordinate of mechanical arm tail end mark point and the angle in each joint；
The mechanical arm demarcating module is used to carry out kinematic calibration to the mechanical arm, and result is sent to institute Mechanical arm control module is stated, zero point amendment is completed；
The mechanical arm control module is used to carry out path planning and motion control to the mechanical arm.
A kind of mechanical arm calibration method based on four item stereo visions is also provided, comprising the following steps:
Step 1, solve mechanical arm calibration system world coordinate system and mechanical arm coordinate system between transition matrix；
Step 2, the first batch data of acquisition carry out processing calculating, first data includes that mechanical arm tail end is uniform in space If the reason for doing coordinate theoretical value and measured value and each joint angles of corresponding mechanical arm in mechanical arm coordinate system reached By value and measured value；
Step 3, the objective function that optimization problem is constructed according to the first batch data, using least-squares algorithm to mechanical arm The non-geometric parameter that the transition matrix of geometric parameter and world coordinate system and mechanical arm coordinate system generates is iterated optimization；
Step 4, amendment D-H kinematics parameters and transition matrix, are completed using revised D-H kinematics parameters to machinery The calibration of arm geometric parameter simultaneously carries out zero point amendment；
Step 5 verifies calibration result, is tested with revised D-H kinematics parameters and transition matrix Experiment, judges whether range error meets the requirements.
Preferably, in step 1 transition matrix preparation method are as follows: driving mechanical arm tail end reach space different positions It sets, coordinate point set of the collection machinery arm end under world coordinate system and mechanical arm coordinate systemIt is logical It crosses matrix SVD method and finds out spin matrix R and translation vector T；
Since transition matrix is there are error, the error of spin matrix R remembers Δ R=rot (X, β1)rot(Y,β2)rot(Z, β3), the error of parallel vector T is denoted as Δ T=[t1,t2,t3]T, β=[β1,β2,β3], β is indicated around the rotation drift angle of each reference axis
Transition matrix is constructed according to the error of spin matrix R, translation vector T, the error of spin matrix R, parallel vector TIt is denoted as
Preferably, the processing calculating process of the theoretical value of mechanical arm tail end mark point and actual value is as follows in step 2；
Theoretical value calculating method are as follows: the homogeneous transform matrix of mechanical arm D-H kinematics parameters is constructed according to the first batch data, Homogeneous transform matrix is as follows:
Wherein, joint freedom degrees i=1,2 ..., n, c=cos, s=sin, mechanical arm geometric parameter include joint rotation angles Spend θi, windup-degree αi, joint length diWith offset distance ai；
Homogeneous position of the mechanical arm tail end relative to mechanical arm coordinate system is obtained according to homogeneous transform matrix and forward kinematics solution Appearance matrix are as follows:
Thus, the theory three-dimensional coordinate of mechanical arm tail end is P under mechanical arm coordinate systemr=[px,py,pz]T, then machine The theoretical value of tool arm end mark point coordinate are as follows: Pe=Pr+ Δ t, mechanical arm actual end and mark point error of coordinate are Δ t= [dx,dy,dz]T；
The calculation method of actual value are as follows: mark point coordinate is converted by world coordinate system to mechanical arm coordinate system, machine is obtained The actual value of tool arm end mark point coordinate:
In addition, the theoretical value of each joint angles can be calculated by the inverse solution of mechanical arm in mechanical arm control module；By data Processing module calculates the actual value of each joint angles, and specially by each joint, linearly two fixed mark point coordinates are obtained Straight length is calculated adjacent two included angle of straight line by trigonometric function, sine and cosine theorem etc., subtracts the initial folder of zero point state Angle is practical joint angles.
Preferably, the objective function in step 3 isFormula Middle j=1,2 ..., m indicates the serial number of first data acquisition sequence.
Preferably, the concrete operation method of step 3 are as follows: solve the error delta θ of mechanical arm geometric parameteri、Δαi、Δai、 Δdi, optimization is iterated to it using least square method, solves the transition matrix of system, world coordinate system to mechanical arm coordinate system During the non-geometric parameter error Δ t, the Δ R, Δ T that generate, optimization is iterated to it using least square method.
Preferably, the calibration result verification mode of step 5 is as follows: using the homogeneous of revised D-H kinematics parameters Transformation matrix and transition matrix are calculated, and the second batch data of acquisition carries out test experiments, by end corresponding after manipulator motion It holds the practical three-dimensional coordinate of mark point and theoretical value to make poor, obtains error vectorWith sky Between point-to-point transmission Euclidean distance indicate mechanical arm absolute positioning errorJudge range error Whether meet the requirements, wherein if second batch data include that doing of uniformly reaching in space of mechanical arm tail end is sat in mechanical arm Mark the coordinate theoretical value of system and the theoretical value and measured value of measured value and each joint angles of corresponding mechanical arm.
The present invention is include at least the following beneficial effects: mechanical arm calibration system is low with the cost of scaling method, easy to operate, Mechanical arm geometrical parameter calibration can be rapidly completed and zero point is corrected, be easy to the mark in desktop mechanical arm and tandem type mechanical arm It is promoted and applied in fixed.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the mechanical arm calibration system of the one of technical solution of the present invention；
Fig. 2 is the computer module schematic diagram of the one of technical solution of the present invention；
Fig. 3 is the flow diagram of the mechanical arm calibration method of the one of technical solution of the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples, to enable those skilled in the art's reference Specification word can be implemented accordingly.
As shown in Fig. 1~2, the present invention provides a kind of mechanical arm calibration system based on four item stereo visions, including machinery Arm 1, control cabinet 2, computer 3, the control cabinet 2 are connect with the computer 3, and the control cabinet 2 controls the mechanical arm 1 Movement, further includes:
Two binocular cameras 4, two binocular cameras 4 are respectively distributed to the front and side of the mechanical arm 1, described Binocular camera 4 is connect with the computer 3, and the binocular camera 4 is shot to being fixed on mechanical arm 1 in real time, and will Image data is transmitted to computer 3, and the software in computer 3 identifies the mark point 5 on the mechanical arm 1 of shooting；
Scaling board is used to demarcate the binocular camera 4, constructs the world coordinate system of mechanical arm calibration system, this reality Applying the scaling board that example uses is black and white gridiron pattern, and outer dimension 297*210mm, grid is having a size of 20*20mm, array 12* 9；
Several mark points 5, several mark points 5 are individually fixed in 1 end of mechanical arm and its each joint, several labels Point 5 is several beads of silvery reflection, and the diameter of several beads is about 20mm, fixes a label in 1 end of mechanical arm Point 5, the present embodiment is fixed with mark point 5 along central axes 5 joint link lever side surfaces respectively, by the binocular camera 4 Captured in real-time is carried out to it, after the shooting mechanical arm 1 of binocular camera 4 is uploaded to computer 3, convenient for the software in computer 3 The mark point 5 of 1 end of mechanical arm and joint is identified, convenient for obtaining 1 end of angle and mechanical arm of 1 joint of mechanical arm The coordinate position at end.
The computer 3 includes main frame, display and the control software for running on main frame, the meter Control software in calculation machine 3 includes camera control module, data processing module, mechanical arm demarcating module, mechanical arm control mould Block；
The camera control module is used to control the sync pulse jamming of more binocular cameras 4, carries out the binocular camera shooting The calibration of machine 4 and the world coordinate system that mechanical arm calibration system is set；
The data processing module is used to receive the image data that the binocular camera 4 transmits, by image data Processing identifies and measures the mark point 5 on the mechanical arm, finally by the conversion of world coordinate system and mechanical arm coordinate system, meter Calculate the angle of the three-dimensional coordinate and each joint that obtain the 1 end mark point of mechanical arm；
The mechanical arm demarcating module is used to carry out kinematic calibration to the mechanical arm 1, and result is sent to The mechanical arm control module completes zero point amendment；
The mechanical arm control module is used to carry out path planning and motion control to the mechanical arm 1.
The embodiment of the present invention also provides a kind of mechanical arm calibration method based on four item stereo visions, including following step It is rapid:
The transition matrix of step 1, the world coordinate system for solving mechanical arm calibration system and mechanical arm coordinate system；
The preparation method of transition matrix are as follows: driving mechanical arm tail end reach space different location, at least ten point with On, coordinate point set of the collection machinery arm end under world coordinate system and mechanical arm coordinate systemBy Binocular camera 4 carries out captured in real-time to the end mark point image in motion process and is uploaded to the data processing of computer 3 Module obtains three-dimensional coordinate of the mechanical arm tail end under world coordinate system；Mechanical arm tail end mark point is under mechanical arm coordinate system Three-dimensional coordinate data processing module is sent to by mechanical arm control module, spin matrix R is then found out by matrix SVD method With translation vector T；
Since transition matrix is there are error, the error of spin matrix R remembers Δ R=rot (X, β1)rot(Y,β2)rot(Z, β3), the error of parallel vector T is denoted as Δ T=[t1,t2,t3]T, β=[β1,β2,β3], β is indicated around the rotation drift angle of each reference axis；
Transition matrix is constructed according to the error of spin matrix R, translation vector T, the error of spin matrix R, parallel vector TIt is denoted as
Step 2, the first batch data of acquisition carry out processing calculating, first data includes that mechanical arm tail end is uniform in space If the coordinate theoretical value and measured value done in mechanical arm coordinate system reached, the uniform point of arrival is extremely in space for mechanical arm tail end Lack the theoretical value and measured value of 70 points or more and each joint angles of corresponding mechanical arm；
In data processing module, the theoretical value of mechanical arm tail end mark point and the treatment process of actual value are as follows；
Theoretical value calculating method are as follows: the homogeneous transform matrix of mechanical arm D-H kinematics parameters is constructed according to the first batch data, Homogeneous transform matrix is as follows:
Wherein, joint freedom degrees i=1,2 ..., n, c=cos, s=sin, mechanical arm geometric parameter include joint rotation angles Spend θi, windup-degree αi, joint length diWith offset distance ai；
Mechanical arm tail end is obtained relative to the homogeneous of mechanical arm coordinate system by forward kinematics solution according to homogeneous transform matrix Position auto―control are as follows:
Thus, the theory three-dimensional coordinate of mechanical arm tail end is P under mechanical arm coordinate systemr=[px,py,pz]T, then machine The theoretical value of tool arm end mark point coordinate are as follows: Pe=Pr+ Δ t, mechanical arm actual end and mark point error of coordinate are Δ t= [dx,dy,dz]T；
The calculation method of actual value are as follows: mark point coordinate is converted by world coordinate system to mechanical arm coordinate system, machine is obtained The actual value of tool arm end mark point coordinate:
In addition, the theoretical value of each joint angles can be calculated by the inverse solution of mechanical arm in mechanical arm control module；By data Processing module calculates the actual value of each joint angles, and specially by each joint, linearly two fixed mark point coordinates are obtained Straight length is calculated adjacent two included angle of straight line by trigonometric function, sine and cosine theorem etc., subtracts the initial folder of zero point state Angle is practical joint angles.
Step 3, the objective function that optimization problem is constructed according to the first batch data, using least-squares algorithm to mechanical arm The non-geometric parameter that the transition matrix of geometric parameter and world coordinate system and mechanical arm coordinate system generates is iterated optimization；
First batch data is input to mechanical arm demarcating module and carries out parameter optimization, according to the building of the first batch data Objective function isJ=1,2 in formula ..., m indicates the first batch data The serial number of acquisition order；
Solve the error delta θ of mechanical arm geometric parameteri、Δαi、Δai、Δdi, it is iterated using least square method Optimize, the mistake of the non-geometric parameter generated during the transition matrix of acquisition solution system, world coordinate system to mechanical arm coordinate system Poor Δ t, Δ R, Δ T are iterated optimization to it using least square method；
Step 4, amendment D-H kinematics parameters and transition matrix, are completed using revised D-H kinematics parameters to machinery The calibration of arm geometric parameter simultaneously carries out zero point amendment, by mechanical arm control module according to the Δ θ after optimizationi(i=1,2 ..., 6) Each joint zero point of mechanical arm is modified, and new initial zero position is set, calculates end LED's with the Δ t after optimization Theoretical pose is modified R '=R Δ R, T '=R Δ T+T to Conversion Matrix of Coordinate；
Step 5 verifies calibration result, is tested with revised D-H kinematics parameters and transition matrix Experiment, whether error in judgement meets the requirements, if meeting, calibration terminates, if not meeting, return step 2 acquires new experiment number Strong point re-starts calibration verifying；
Calibration result verification mode is as follows: using the homogeneous transform matrix and conversion square of revised D-H kinematics parameters Battle array is calculated, and the second batch data of acquisition carries out test experiments, and the second batch data is that mechanical arm tail end uniformly reaches in space If do mechanical arm coordinate system each joint angles of coordinate theoretical value and measured value and mechanical arm theoretical value and measurement Value, mechanical arm tail end mark point at least choose any 30 points that mechanical arm tail end reaches space, will be corresponding after manipulator motion The practical three-dimensional coordinate of end mark point and theoretical value make it is poor, obtain error vector Mechanical arm absolute positioning error is indicated with the Euclidean distance of space point-to-point transmissionError in judgement Whether meet the requirements.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited In specific details and legend shown and described herein and embodiment.

Claims (8)

1. the mechanical arm calibration system based on four item stereo visions, which is characterized in that including mechanical arm (1), control cabinet (2), meter Calculation machine (3), the control cabinet (2) connect with the computer (3), and the control cabinet (2) controls the fortune of the mechanical arm (1) It is dynamic, further includes:
Two binocular cameras (4), two binocular cameras (4) are respectively distributed to the front and side of the mechanical arm (1), institute Binocular camera (4) is stated to connect with the computer (3)；
Scaling board is used to demarcate the binocular camera (4), constructs the world coordinate system of mechanical arm calibration system；
Several mark points (5), several mark points (5) are individually fixed in the mechanical arm (1) end and its each joint.
2. as described in claim 1 based on the mechanical arm calibration system of four item stereo visions, which is characterized in that the computer It (3) include camera control module, data processing module, mechanical arm demarcating module, mechanical arm control module in；
The camera control module is used to control the sync pulse jamming of two binocular cameras, carries out the mark of the binocular camera Fixed and setting mechanical arm calibration system world coordinate system；
The data processing module is used to receive the image data of the binocular camera transmission, by knowing to image real time transfer It is not calculated with the mark point on the measurement mechanical arm finally by the conversion of world coordinate system and mechanical arm coordinate system The angle in the three-dimensional coordinate of mechanical arm tail end mark point and each joint；
The mechanical arm demarcating module is used to carry out kinematic calibration to the mechanical arm, and result is sent to the machine Tool arm control module completes zero point amendment；
The mechanical arm control module is used to carry out path planning and motion control to the mechanical arm.
3. the mechanical arm calibration method based on four item stereo visions, which comprises the following steps:
Step 1, solve mechanical arm calibration system world coordinate system and mechanical arm coordinate system between transition matrix；
Step 2, the first batch data of acquisition carry out processing calculating, first data includes that mechanical arm tail end uniformly reaches in space If the theoretical value for doing coordinate theoretical value and measured value and each joint angles of corresponding mechanical arm in mechanical arm coordinate system And measured value；
Step 3, the objective function that optimization problem is constructed according to the first batch data, using least-squares algorithm to mechanical arm geometry The non-geometric parameter that the transition matrix of parameter and world coordinate system and mechanical arm coordinate system generates is iterated optimization；
Step 4, amendment D-H kinematics parameters and transition matrix are completed several to mechanical arm using revised D-H kinematics parameters The calibration of what parameter simultaneously carries out zero point amendment；
Step 5 verifies calibration result, carries out test experiments with revised D-H kinematics parameters and transition matrix, Judge whether range error meets the requirements.
4. as claimed in claim 3 based on the mechanical arm calibration method of four item stereo visions, which is characterized in that step 1 transfer Change the preparation method of matrix are as follows: driving mechanical arm tail end reaches the different location in space, and collection machinery arm end is in world coordinates Coordinate point set under system and mechanical arm coordinate systemBy matrix SVD method find out spin matrix R and Translation vector T；
Since transition matrix is there are error, the error of spin matrix R remembers Δ R=rot (X, β1)rot(Y,β2)rot(Z,β3), it puts down The error of row vector T is denoted as Δ T=[t1,t2,t3]T, β=[β1,β2,β3], β is indicated around the rotation drift angle of each reference axis；
Transition matrix is constructed according to the error of spin matrix R, translation vector T, the error of spin matrix R, parallel vector TNote For
5. as claimed in claim 4 based on the mechanical arm calibration method of four item stereo visions, which is characterized in that machine in step 2 The theoretical value of tool arm end mark point and the processing calculating process of actual value are as follows；
Theoretical value calculating method are as follows: the homogeneous transform matrix of mechanical arm D-H kinematics parameters is constructed according to the first batch data, it is homogeneous Transformation matrix is as follows:
Wherein, joint freedom degrees i=1,2 ..., n, c=cos, s=sin, mechanical arm geometric parameter include joint rotation angle θi、 Windup-degree αi, joint length diWith offset distance ai；
Homogeneous pose square of the mechanical arm tail end relative to mechanical arm coordinate system is obtained according to homogeneous transform matrix and forward kinematics solution Battle array are as follows:
Thus, the theory three-dimensional coordinate of mechanical arm tail end is P under mechanical arm coordinate systemr=[px,py,pz]T, then mechanical arm The theoretical value of end mark point coordinate are as follows: Pe=Pr+ Δ t, mechanical arm actual end and mark point error of coordinate be Δ t=[dx, dy,dz]T；
The calculation method of actual value are as follows: mark point coordinate is converted by world coordinate system to mechanical arm coordinate system, mechanical arm is obtained The actual value of end mark point coordinate:
In addition, the theoretical value of each joint angles can be calculated by the inverse solution of mechanical arm in mechanical arm control module；By data processing Module calculates the actual value of each joint angles, and specially by each joint, linearly two fixed mark point coordinates obtain straight line Length is calculated adjacent two included angle of straight line by trigonometric function, sine and cosine theorem etc., subtracts the initial angle of zero point state i.e. For practical joint angles.
6. as claimed in claim 5 based on the mechanical arm calibration method of four item stereo visions, which is characterized in that in step 3 Objective function isJ=1,2 in formula ..., m indicates the first lot number According to the serial number of acquisition order.
7. as claimed in claim 5 based on the mechanical arm calibration method of four item stereo visions, which is characterized in that the tool of step 3 Body operating method are as follows: solve the error delta θ of mechanical arm geometric parameteri、Δαi、Δai、Δdi, using least square method to its into Row iteration optimizes, and the non-geometric parameter generated during the transition matrix of solution system, world coordinate system to mechanical arm coordinate system is missed Poor Δ t, Δ R, Δ T are iterated optimization to it using least square method.
8. as claimed in claim 4 based on the mechanical arm calibration method of four item stereo visions, which is characterized in that the mark of step 5 It is as follows to determine result verification mode: being calculated using the homogeneous transform matrix and transition matrix of revised D-H kinematics parameters, It acquires the second batch data and carries out test experiments, by the practical three-dimensional coordinate of end mark point corresponding after manipulator motion and theoretical value It is poor to make, and obtains error vectorMechanical arm is indicated with the Euclidean distance of space point-to-point transmission Absolute positioning errorJudge whether range error meets the requirements, wherein the second batch data If including the coordinate theoretical value and measured value done in mechanical arm coordinate system that mechanical arm tail end uniformly reaches in space, and The theoretical value and measured value of corresponding each joint angles of mechanical arm.
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CN111002311A (en) * 2019-12-17 2020-04-14 上海嘉奥信息科技发展有限公司 Multi-section displacement correction mechanical arm positioning method and system based on optical position indicator
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CN110802597A (en) * 2019-11-22 2020-02-18 中船重工鹏力（南京）智能装备***有限公司 Calibration method of horizontal joint robot based on singular value decomposition
CN111002311A (en) * 2019-12-17 2020-04-14 上海嘉奥信息科技发展有限公司 Multi-section displacement correction mechanical arm positioning method and system based on optical position indicator
CN111300484A (en) * 2020-03-13 2020-06-19 达闼科技成都有限公司 Method for determining joint positioning error of robot, robot and storage medium
CN111360797A (en) * 2020-03-16 2020-07-03 杭州腾聚科技有限公司 Robot TCP calibration method based on vision
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