CN111844135A - Robot joint parameter measuring method and device, storage and robot - Google Patents
Robot joint parameter measuring method and device, storage and robot Download PDFInfo
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Abstract
The invention relates to a robot joint parameter measuring method and device, a storage and a robot. The method comprises the steps of controlling each joint of a robot to move independently, and recording a first coordinate point set on an arc track formed when the joint moves, wherein the first coordinate point set comprises a starting point coordinate, a middle point coordinate and a terminal point coordinate of the arc track; fitting a space plane where the circular arc track is located according to the first coordinate point set; calculating included angle angles among normal vectors of the space planes to obtain axis included angle angles of joints of the robot; calculating the planeness of the space plane according to the vertical distance from the first coordinate point set to the space plane; and calculating the actual rotation angle of the joint according to the first coordinate point set. The invention comprehensively measures the quality of joint parameters by using the parameters of the included angle of the joint axis, the joint planeness and the joint rotation angle.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a robot joint parameter measuring method, a robot joint parameter measuring device, a storage and a robot.
Background
In the industrial robot field, because there is the error in parts machining and assembly, the joint performance that leads to mechanical structure and design theoretical value have the difference, and often slight difference all can have apparent influence to the motion precision of robot, however the robot is spatial mechanism, can't directly carry out accurate measurement to joint performance, and the concern in the industry is also aroused to control and diagnosis to slight joint performance parameter deviation. For example, if the flatness or the deflection angle exceeds the allowable range, the mechanical device will generate a large calibration error and a large trajectory deviation, thereby affecting the working performance and the service life of the mechanical device, and in severe cases, the mechanical device will cause too large trajectory error of the robot and early failure of parts. The applicant provides a robot joint parameter measuring method for measuring the performance of each joint of a chemical industrial robot.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method for measuring robot joint parameters, a device for measuring robot joint parameters, a memory, and a robot. The invention comprehensively measures the quality of joint parameters by using the parameters of the joint axis included angle, the joint planeness and the joint rotation angle, processes the space point data obtained by the laser tracker based on the SVD singular value analysis algorithm and the space circle fitting algorithm based on the adjustment principle, and realizes the high-precision measurement of the joint axis included angle, the joint planeness and the joint rotation angle.
A method of measuring robot joint parameters, comprising:
controlling each joint of the robot to move independently, and recording a first coordinate point set on an arc track formed when the joint moves, wherein the first coordinate point set comprises a starting point coordinate, a middle point coordinate and an end point coordinate of the arc track;
fitting a space plane where the circular arc track is located according to the first coordinate point set;
calculating included angle angles among normal vectors of the space planes to obtain axis included angle angles of joints of the robot;
calculating the planeness of the space plane according to the vertical distance from the first coordinate point set to the space plane;
and calculating the actual rotation angle of the joint according to the first coordinate point set.
Compared with the prior art, the robot joint parameter measuring method quantifies the joint performance by using the parameters of the joint axis included angle, the joint planeness and the joint actual rotating angle, and comprehensively measures the quality of the joint parameters through the joint axis included angle, the joint planeness and the joint actual rotating angle so as to achieve the purpose of more accurately measuring the joint performance parameters.
And further, judging whether the angle of the axis included angle of the joint, the planeness of the space plane and the actual rotation angle of the joint accord with a preset range or not.
Further, the arc track is a motion track of the tail end of the robot; and mounting a target ball at the tail end of the robot, and recording the position of the target ball by using a laser tracker to obtain a first coordinate point set on an arc track formed by the tail end of the robot when the joint moves.
Further, the fitting of the spatial plane comprises: calculating an average coordinate according to the first coordinate point set on the circular arc track; subtracting the coordinate value of the average coordinate from the coordinate value of the first coordinate point set to obtain a second coordinate point set; carrying out SVD singular value decomposition on the second coordinate point set to obtain a normal vector of the space plane; and substituting the coordinate values of the normal vector and the average coordinate into a plane equation, and fitting the space plane.
Further, the calculation of the included angle between the spatial planes comprises: obtaining a normal vector of each space plane; and solving the included angle between the normal vectors according to the included angle formula of the plane vector, wherein the included angle between the normal vectors is the axis included angle of each joint.
Further, the calculation of the flatness of the spatial plane includes: obtaining a vertical distance from the first set of coordinate points to the spatial plane; and calculating the planeness of the space plane by using the adjustment principle.
Further, the calculation of the actual rotation angle of the joint comprises: calculating the center coordinates of the circular arc track according to the first coordinate point set; and calculating the actual rotating angle of the joint according to the circle center coordinate, the starting point coordinate and the end point coordinate.
A device for measuring robot joint parameters, comprising:
the data acquisition module is used for controlling each joint of the robot to move independently and recording a first coordinate point set on an arc track formed when the joint moves, wherein the first coordinate point set comprises a starting point coordinate, a middle point coordinate and an end point coordinate of the arc track;
the first calculation module is used for fitting a space plane where the circular arc track is located according to the first coordinate point set;
the second calculation module is used for calculating included angle angles among normal vectors of the space planes so as to obtain axis included angle angles of joints of the robot;
a third calculation module for calculating a flatness of the spatial plane according to a perpendicular distance from the first set of coordinate points to the spatial plane;
a fourth calculation module for calculating an actual rotation angle of the joint from the first set of coordinate points;
and the fifth calculation module is used for judging whether the angle of the axis included angle of the joint, the planeness of the space plane and the actual rotation angle of the joint meet the preset range or not.
Compared with the prior art, the robot joint parameter measuring device quantifies the joint performance by using the parameters of the joint axis included angle, the joint planeness and the joint actual rotating angle, and comprehensively measures the quality of the joint parameters through the joint axis included angle, the joint planeness and the joint actual rotating angle so as to achieve the purpose of more accurately measuring the joint performance parameters.
A memory storing a computer program that, when executed by a processor, performs the steps of the above-described method of measuring robot joint parameters.
Compared with the prior art, the memory quantifies the performance of the joint by using the parameters of the joint axis included angle, the joint planeness and the joint actual rotating angle, and comprehensively measures the quality of the joint parameters by using the joint axis included angle, the joint planeness and the joint actual rotating angle so as to achieve the aim of more accurately measuring the joint performance parameters.
A robot comprising a computer readable storage medium, a processor and a computer program stored in the computer readable storage medium and executable on the processor, the processor implementing the steps of the above method for measuring robot joint parameters when executing the computer program.
Compared with the prior art, the robot quantifies the performance of the joint by using the parameters of the included angle of the joint axis, the planeness of the joint and the actual rotation angle of the joint, and comprehensively measures the quality of the parameters of the joint by using the included angle of the joint axis, the planeness of the joint and the actual rotation angle of the joint so as to achieve the aim of more accurately measuring the parameters of the performance of the joint.
For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic flowchart of a method for measuring robot joint parameters according to a first embodiment;
FIG. 2 is a schematic view of a robot joint parameter measuring device according to the first embodiment;
FIG. 3 is a schematic view of a robot according to one embodiment;
fig. 4 is a schematic flowchart of step S10 in the method for measuring robot joint parameters according to the second embodiment;
reference numerals:
1. a data acquisition module; 2. a first calculation module; 3. a second calculation module; 4. a third calculation module; 5. a fourth calculation module; 6. a fifth calculation module; 7. a memory; 8. a processor; 9. a computer program; 10. a robot.
Detailed Description
Example one
A robot joint parameter measuring method is based on an SVD singular value analysis algorithm and a space circle fitting algorithm based on a balancing principle, and is used for processing space point data obtained by a laser tracker, so that high-precision measurement of joint axis included angles, joint planeness and joint rotation angles is realized. The performance of each joint of the industrial robot 10 is comprehensively judged according to the measurement result, and the performance of each joint of the industrial robot 10 is quantified. Referring to fig. 1, the method for measuring the robot joint parameters includes:
s10, controlling each joint of the robot 10 to move independently, and recording a first coordinate point set on an arc track formed when the joint moves, wherein the first coordinate point set comprises a starting point coordinate, a middle point coordinate and an end point coordinate of the arc track;
s20, fitting a space plane where the circular arc track is located according to the first coordinate point set;
s30, calculating included angles among normal vectors of the space planes to obtain included angles of axes of joints of the robot 10;
s40, calculating the planeness of the space plane according to the vertical distance from the first coordinate point set to the space plane;
s50, calculating the actual rotation angle of the joint according to the first coordinate point set;
s60, judging whether the included angle, the planeness and the joint rotation angle of the joint axis are within preset parameter ranges, and if the included angle, the planeness and the joint rotation angle of the joint axis are within the preset parameter ranges, enabling the performance of each joint of the industrial robot 10 to meet actual requirements; if any one of the included angle of the joint axis, the planeness and the joint rotation angle is not within the preset parameter range, the performance of each joint of the industrial robot 10 does not meet the actual requirement.
In step S10, the circular arc trajectory is a movement trajectory of the end of the robot 10. In practice, a target ball is mounted at the end of the robot 10, and the position of the target ball is recorded by a laser tracker to obtain a first set of coordinate points on the circular arc trajectory formed by the end of the robot 10 during the joint movement. The step S10 includes:
s11, first, mounting a target ball at the end of the industrial robot 10;
s12, rotating a joint of the industrial robot 10 individually, the target ball will form a circular arc or circle motion track in space, the motion track is approximately on a plane, the plane is approximately parallel to the rotation direction of the joint;
s13, recording the position of the target ball by using a laser tracker to obtain a point on the motion track of the target ball when the joint rotates, namely obtaining a first coordinate point set on the moving track of the tail end of the industrial robot 10 when the joint rotates;
s14, finally, repeating the step S12 and the step S13, independently rotating the rest joints of the industrial robot 10, and recording points on the motion trail of the target ball when the corresponding joint rotates by the laser tracker so as to obtain a first coordinate point set on the moving trail of the tail end of the industrial robot 10 when the other joint rotates;
in step S10, the previous joint may be rotated and then the subsequent joint may be rotated after the previous joint is reset, or the previous joint may be rotated and then the subsequent joint may be rotated. In the present embodiment, in order to provide efficiency, the previous joint is rotated and then the subsequent joint is rotated directly, and the motion trajectory of the target ball is in a circular arc shape in step S10.
In step S20, a least square method is used to fit the spatial plane, but the accuracy of the method is not sufficient to meet the requirement of the present invention, so the present embodiment provides another method for fitting the spatial plane. The fitting method of the space plane comprises the following steps:
s21, calculating an average coordinate according to the first coordinate point set on the circular arc track;
specifically, when a certain joint rotates, the point set of the sampling points on the motion trail of the target ball is
The point set P is a first coordinate point set, and the average coordinate of the sampling points on the motion trail is calculated
Wherein,
s22, subtracting the coordinate value of the average coordinate from the coordinate value of the first coordinate point set to obtain a second coordinate point set;
specifically, the equation of the plane where the target ball motion trajectory is located is Ax + By + Cz ═ D, then
Subtracting the two formulas to obtain
Hypothesis matrix
Column matrix
Equivalent to NX being 0, the matrix N is the second coordinate point set;
in an ideal case, all points are on a plane, and AX is 0; in practical situations, however, some points are out of the plane, and the fitting aims to make the sum of distances from the plane to all points as small as possible, so that the target function is min | | NX |, and the constraint condition is | | X | | | | 1;
s23, carrying out SVD singular value decomposition on the second coordinate point set to obtain a normal vector of the space plane;
specifically, N is obtained by carrying out SVD decomposition on N through a computer matrix operation tooln×3＝Un×nSn×3V3×3The eigenvector corresponding to the minimum singular value is the coefficient vector of the fitting plane, and the V corresponding to the minimum eigenvalue is taken3×3The column of (1) is a normal vector of the plane
And S24, substituting the coordinate values of the normal vector and the average coordinate into a plane equation, and fitting the space plane.
Specifically, a plane normal vector obtained by SVD decomposition is used
And average coordinates
Substituting the plane equation Ax + By + Cz into D to obtain D, and obtaining the equation Ax + By + Cz of the fitting plane where the target ball motion track is located from D, wherein A is2+B2+C2＝1，
The sum of the distances from the plane Ax + By + Cz to all the points is the minimum;
and S25, repeating the steps S21 to S24, and obtaining a fitting plane where the target ball motion trail is located when the rest joints of the industrial robot 10 rotate and a normal vector of the corresponding fitting plane.
In step S30, the joint axis included angle is used to represent the included angle between the rotation axes of the joints of the robot 10, and has an important influence on the motion control accuracy of the robot 10, and the step S30 includes:
s31, obtaining normal vectors of each space plane;
specifically, the normal vector of each spatial plane is obtained in the above-described step S23;
s32, calculating the included angle between the normal vectors according to the included angle formula of the plane vector, wherein the included angle between the normal vectors is the included angle between the joint axes of the robot 10;
specifically, the included angle between any two joint axes is expressed as
In the present embodiment, step S30 may be executed after all spatial planes of all joints are acquired at once, or step S30 may be executed every time two spatial planes are acquired, which is not limited herein.
In step S40, the flatness is used to characterize the axial fluctuation of each joint of the robot 10, and is used to check the accuracy of measurement, the rigidity of the joint, and the mechanical performance of the reducer, and the calculation of the flatness of the spatial plane includes:
s41, obtaining the vertical distance from the first coordinate point set to the space plane;
specifically, the space plane fitted in step S20 is obtained, and the distance from each point in the first coordinate point set to the space plane is calculated, where the formula of the distance from the point to the plane is
S42, calculating the planeness of the space plane by using the adjustment principle;
specifically, the formula for flatness is LE 3 × ME, where ME is the average error,
and S43, repeating the step S41 and the step S42, and obtaining the flatness of the fitting plane corresponding to the rest joints.
In the present embodiment, step S40 may be executed after all spatial planes of all joints are acquired at once, or step S40 may be executed every time two spatial planes are acquired, which is not limited herein.
In step S50, step S50 includes:
s51, calculating the center coordinates of the circular arc track according to the first coordinate point set;
specifically, the center of a space circle where the motion track of the target ball is located is P0(x0,y0,z0) The vector formed by any two points on the circular arc is
Any two points P on the arciPjMidpoint P ofijThe vector connected with the center of the circle is
Based on the principle of sag
Is simple and easy to obtain
N-1 linearly independent error equations can be obtained by indirect adjustment principle at n sampling points on the motion trail of the target ball
Abbreviated as V ═ M · X-L;
because the measurement conditions and the measurement precision of each point on the motion trail of the target ball are the same, the weight matrix P is a unit matrix of (N-1), and the center of the circular arc is on the fitting plane, so that K.X-N existsx＝0、K＝(A/D,B/D,C/D),D≠0,Nx＝1，
The joint error equation can be obtained
Least square solution to
Center of circle P0The coordinate is (x)0,y0,z0)＝XT；
S52, calculating the actual rotating angle of the joint according to the circle center coordinate, the start point coordinate and the end point coordinate;
specifically, the starting point P of the motion trail of the target ball is obtained1＝(x1，y1，z1) End point Pn＝(xn，yn，zn) Then, then
Further, the joint rotation angle of the joint can be obtained as
In step S60, it may be determined whether all the angle of the axis, the flatness of the spatial plane, and the actual rotation angle of the joint meet the preset range; or judging whether the angle of the axis included angle of the corresponding joint, the planeness of the space plane and the actual rotation angle of the joint meet the preset range after obtaining the angle of the axis included angle, the planeness of the space plane and the actual rotation angle of the joint; or judging whether the obtained parameters conform to the preset range after obtaining an axis included angle or the planeness of a space plane or the actual rotation angle of the joint. In this embodiment, in step S60, after obtaining an angle of an axis line or a planeness of a space plane or an actual rotation angle of a joint, it is determined whether the obtained parameters conform to a preset range.
A device for measuring robot joint parameters, see fig. 2, comprising:
the data acquisition module 1 is configured to control each joint of the robot 10 to move independently, and record a first coordinate point set on an arc track formed when the joint moves, where the first coordinate point set includes a start point coordinate, a middle point coordinate, and an end point coordinate of the arc track, the arc track is a motion track of a tail end of the robot 10, the data acquisition module 1 includes a target ball and a laser tracker, the target ball is installed at the tail end of the robot 10, and a position of the target ball is recorded by the laser tracker, so as to obtain a first coordinate point set on the arc track formed by the tail end of the robot 10 when the joint moves;
the first calculation module 2 is configured to fit a spatial plane where the circular arc track is located according to the first set of coordinate points, specifically, calculate an average coordinate according to the first set of coordinate points on the circular arc track, subtract a coordinate value of the average coordinate from a coordinate value of the first set of coordinate points to obtain a second set of coordinate points, perform SVD singular value decomposition on the second set of coordinate points to obtain a normal vector of the spatial plane, and bring the normal vector and the coordinate value of the average coordinate into a plane equation to fit the spatial plane;
the second calculation module 3 is configured to calculate an included angle between normal vectors of each space plane to obtain an axis included angle of each joint of the robot 10, the second calculation module 3 obtains the normal vector of each space plane from the first calculation module 2, and obtains an included angle between the normal vectors according to an included angle formula of a plane vector, where the included angle between the normal vectors is the axis included angle of each joint;
a third calculating module 4, where the third calculating module 4 is configured to calculate a flatness of the spatial plane according to a vertical distance from the first coordinate point set to the spatial plane, specifically, calculate a vertical distance from the first coordinate point set to the spatial plane, and then calculate the flatness of the spatial plane by using a principle of adjustment;
a fourth calculating module 5, where the fourth calculating module 5 is configured to calculate an actual rotation angle of the joint according to the first coordinate point set, specifically, calculate a circle center coordinate of the circular arc track according to the first coordinate point set, and calculate an actual rotation angle of the joint according to the circle center coordinate, the start point coordinate, and the end point coordinate.
The fifth calculation module 6 is used for judging whether the included angle of the joint axis, the planeness and the joint rotation angle are within the preset parameter range, and if the included angle of the joint axis, the planeness and the joint rotation angle are within the preset parameter range, the performance of each joint of the industrial robot 10 meets the actual requirement; if any one of the included angle of the joint axis, the planeness and the joint rotation angle is not within the preset parameter range, the performance of each joint of the industrial robot 10 does not meet the actual requirement.
More specifically, after the data acquisition module 1 acquires the first coordinate point sets of each joint of the robot 10, the data acquisition module 1 sends all the first coordinate point sets to the first calculation module 2 and/or the fourth calculation module 5 in a unified manner. Of course, after the data acquisition module 1 acquires the first coordinate point set of one joint of the robot 10, the data acquisition module 1 sends the first coordinate point set to the first calculation module 2 and/or the fourth calculation module 5, and then the data acquisition module 1 acquires the first coordinate point sets of other joints of the robot 10; or, after the data obtaining module 1 obtains one point coordinate in the first coordinate point set of one joint of the robot 10, the data obtaining module 1 sends the coordinate value of the point coordinate to the first calculating module 2 and/or the fourth calculating module 5, and then the data obtaining module 1 obtains the coordinates of other points in the first coordinate point set of the joint; or other data transmission modes capable of realizing the functions of the measuring device.
More specifically, after the first computing module 2 fits the spatial planes of the joints, the first computing module 2 sends all the data to the second computing module 3 and/or the third computing module 4. Of course, after the first computing module 2 fits the spatial plane of one joint of the robot 10, the first computing module 2 sends the parameters of the spatial plane to the second computing module 3 and/or the third computing module 4, and then the first computing module 2 fits the spatial planes of the other joints of the robot 10; or other data transmission modes capable of realizing the functions of the measuring device.
More specifically, the fifth calculating module 6 may determine whether the data meets the preset parameter range after receiving data from the second calculating module 3, the third calculating module 4, or the fourth calculating module 5, or may determine whether the data meets the preset parameter range after receiving all the data of the second calculating module 3, the third calculating module 4, or the fourth calculating module 5, or may implement the function of the measuring apparatus in other data transmission manners.
A memory 7, see fig. 3, the memory 7 storing a computer program 9, the computer program 9, when being executed by a processor 8, implementing the steps of the method for measuring robot joint parameters as described above. Alternatively, the processor 8 realizes the functions of the modules/units in the robot joint parameter measuring apparatus described above when executing the computer program 9.
Illustratively, the computer program 9 may be partitioned into one or more modules/units, which are stored in the memory 7 and executed by the processor 8 to implement the present invention. One or more modules/units may be a series of computer program 9 instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 9 in the terminal device. For example, referring to fig. 2, the computer program 9 may be divided into a data acquisition module 1, a first calculation module 2, a second calculation module 3, a third calculation module 4, a fourth calculation module 5, and a fifth calculation module 6, and the specific functions of each module are as follows:
the data acquisition module 1 is configured to control each joint of the robot 10 to move independently, and record a first coordinate point set on an arc track formed when the joint moves, where the first coordinate point set includes a start point coordinate, a middle point coordinate, and an end point coordinate of the arc track, the arc track is a motion track of a tail end of the robot 10, the data acquisition module 1 includes a target ball and a laser tracker, the target ball is installed at the tail end of the robot 10, and a position of the target ball is recorded by the laser tracker, so as to obtain a first coordinate point set on the arc track formed by the tail end of the robot 10 when the joint moves;
the first calculation module 2 is configured to fit a spatial plane where the circular arc track is located according to the first set of coordinate points, specifically, calculate an average coordinate according to the first set of coordinate points on the circular arc track, subtract a coordinate value of the average coordinate from a coordinate value of the first set of coordinate points to obtain a second set of coordinate points, perform SVD singular value decomposition on the second set of coordinate points to obtain a normal vector of the spatial plane, and bring the normal vector and the coordinate value of the average coordinate into a plane equation to fit the spatial plane;
the second calculation module 3 is configured to calculate an included angle between normal vectors of each space plane to obtain an axis included angle of each joint of the robot 10, the second calculation module 3 obtains the normal vector of each space plane from the first calculation module 2, and obtains an included angle between the normal vectors according to an included angle formula of a plane vector, where the included angle between the normal vectors is the axis included angle of each joint;
a third calculating module 4, where the third calculating module 4 is configured to calculate a flatness of the spatial plane according to a vertical distance from the first coordinate point set to the spatial plane, specifically, calculate a vertical distance from the first coordinate point set to the spatial plane, and then calculate the flatness of the spatial plane by using a principle of adjustment;
a fourth calculating module 5, where the fourth calculating module 5 is configured to calculate an actual rotation angle of the joint according to the first coordinate point set, specifically, calculate a circle center coordinate of the circular arc track according to the first coordinate point set, and calculate an actual rotation angle of the joint according to the circle center coordinate, the start point coordinate, and the end point coordinate.
The fifth calculation module 6 is used for judging whether the included angle of the joint axis, the planeness and the joint rotation angle are within the preset parameter range, and if the included angle of the joint axis, the planeness and the joint rotation angle are within the preset parameter range, the performance of each joint of the industrial robot 10 meets the actual requirement; if any one of the included angle of the joint axis, the planeness and the joint rotation angle is not within the preset parameter range, the performance of each joint of the industrial robot 10 does not meet the actual requirement.
The processor 8 may be a central processing unit, but may also be other general purpose processors 8, digital signal processors 8, application specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general purpose processor 8 may be a microprocessor 8 or the processor 8 may be any conventional processor 8 or the like.
The memory 7 may be an internal storage unit of the terminal device, such as a hard disk or a memory of the terminal device. The memory 7 may also be an external storage device of the terminal device, such as a plug-in hard disk, a smart card, a secure digital card, a flash memory card, etc. provided on the terminal device. Further, the memory 7 may also include both an internal storage unit of the terminal device and an external storage device. The memory 7 is used for storing the computer program 9 and other programs and data required by the terminal device. The memory 7 may also be used for temporarily storing data that has been output or is to be output.
A robot 10, see fig. 3, comprising a computer readable storage medium, a processor 8 and a computer program 9 stored in the computer readable storage medium and running on the processor 8, the computer program 9, when executed by the processor 8, implementing the steps of the method for measuring robot joint parameters described above. Alternatively, the processor 8 realizes the functions of the modules/units in the robot joint parameter measuring apparatus described above when executing the computer program 9. The computer-readable storage medium adopts the above memory 7, and the relationship among the memory 7, the processor 8, and the computer program 9 is referred to the content of the above memory 7.
Example two
A method for measuring robot joint parameters, referring to fig. 4, which is different from the method for measuring robot joint parameters according to the first embodiment in that step S10 includes:
s11, first, mounting a target ball at the end of the industrial robot 10;
s12, rotating a joint of the industrial robot 10 individually, the target ball will form a circular arc or circle motion track in space, the motion track is approximately on a plane, the plane is approximately parallel to the rotation direction of the joint;
s13, recording the position of the target ball by using a laser tracker to obtain a point on the motion track of the target ball when the joint rotates, namely obtaining a point on the moving track of the tail end of the industrial robot 10 when the joint rotates;
s14, performing step S20 and/or step S50;
s15, and finally, repeating the steps S12, S13, and S14 in sequence to obtain the first coordinate point sets of the remaining joints of the industrial robot 10.
EXAMPLE III
A method for measuring robot joint parameters, which is different from the method for measuring robot joint parameters according to the first or second embodiment in that: the actual rotation angle of the joint is calculated according to the first coordinate point set, the spatial plane where the circular arc track is located is fitted according to the first coordinate point set, and finally the axis included angle of each joint of the robot 10 and the planeness of the spatial plane are calculated.
Example four
A method for measuring a robot joint parameter, which is different from the method for measuring a robot joint parameter according to the first, second or third embodiment in that: the planeness of the space plane is calculated according to the vertical distance from the first coordinate point set to the space plane, and then the included angle between the space planes is calculated to obtain the included angle of the axis of each joint of the robot 10.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (10)
1. A method for measuring robot joint parameters, comprising:
controlling each joint of a robot (10) to move independently, and recording a first coordinate point set on an arc track formed when the joint moves, wherein the first coordinate point set comprises a starting point coordinate, a middle point coordinate and an end point coordinate of the arc track;
fitting a space plane where the circular arc track is located according to the first coordinate point set;
calculating included angle angles among normal vectors of the space planes to obtain axis included angle angles of joints of the robot (10);
calculating the planeness of the space plane according to the vertical distance from the first coordinate point set to the space plane;
and calculating the actual rotation angle of the joint according to the first coordinate point set.
2. The method of measuring robot joint parameters according to claim 1, characterized in that: and judging whether the angle of the included angle of the axis of the joint, the planeness of the space plane and the actual rotation angle of the joint accord with the preset range or not.
3. The method of measuring robot joint parameters according to claim 1, characterized in that:
the arc track is a motion track of the tail end of the robot (10);
and mounting a target ball at the tail end of the robot (10), and recording the position of the target ball by using a laser tracker to obtain a first coordinate point set on a circular arc track formed by the tail end of the robot (10) when the joint moves.
4. The method of measuring robot joint parameters according to claim 1, wherein the fitting of the spatial plane comprises:
calculating an average coordinate according to the first coordinate point set on the circular arc track;
subtracting the coordinate value of the average coordinate from the coordinate value of the first coordinate point set to obtain a second coordinate point set;
carrying out SVD singular value decomposition on the second coordinate point set to obtain a normal vector of the space plane;
and substituting the coordinate values of the normal vector and the average coordinate into a plane equation, and fitting the space plane.
5. The method for measuring robot joint parameters according to claim 1, wherein the calculation of the included angle between the spatial planes comprises:
obtaining a normal vector of each space plane;
and solving the included angle between the normal vectors according to the included angle formula of the plane vector, wherein the included angle between the normal vectors is the axis included angle of each joint.
6. The method of measuring robot joint parameters according to claim 1, wherein the calculation of the flatness of the spatial plane comprises:
obtaining a vertical distance from the first set of coordinate points to the spatial plane;
and calculating the planeness of the space plane by using the adjustment principle.
7. The method of measuring robot joint parameters according to claim 1, characterized in that: the calculation of the actual rotation angle of the joint comprises:
calculating the center coordinates of the circular arc track according to the first coordinate point set;
and calculating the actual rotating angle of the joint according to the circle center coordinate, the starting point coordinate and the end point coordinate.
8. A robot joint parameter measuring apparatus, comprising:
the system comprises a data acquisition module (1), a data acquisition module and a data processing module, wherein the data acquisition module (1) is used for controlling each joint of a robot (10) to move independently and recording a first coordinate point set on an arc track formed when the joint moves, and the first coordinate point set comprises a starting point coordinate, a middle point coordinate and an end point coordinate of the arc track;
the first calculation module (2), the first calculation module (2) is used for fitting out a space plane where the circular arc track is located according to the first coordinate point set;
the second calculation module (3) is used for calculating included angle angles among normal vectors of the space planes so as to obtain axis included angle angles of joints of the robot (10);
a third calculation module (4), said third calculation module (4) being configured to calculate a flatness of said spatial plane based on perpendicular distances of said first set of coordinate points to said spatial plane;
a fourth calculation module (5), said fourth calculation module (5) being configured to calculate an actual rotation angle of said joint from said first set of coordinate points;
and the fifth calculation module (6) is used for judging whether the angle of the axis included angle of the joint, the planeness of the space plane and the actual rotation angle of the joint accord with the preset range or not.
9. A memory (7), the memory (7) storing a computer program (9), characterized in that the computer program (9), when being executed by a processor (8), carries out the steps of the method for measuring robot joint parameters according to any one of claims 1 to 7.
10. A robot (10) comprising a computer readable storage medium, a processor (8) and a computer program (9) stored in the computer readable storage medium and executable on the processor (8), characterized in that the processor (8) when executing the computer program (9) implements the steps of the method for measuring robot joint parameters according to any of claims 1 to 7.
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