CN114888791A - Head-eye combined calibration method for osteotomy robot - Google Patents
Head-eye combined calibration method for osteotomy robot Download PDFInfo
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- CN114888791A CN114888791A CN202210426150.3A CN202210426150A CN114888791A CN 114888791 A CN114888791 A CN 114888791A CN 202210426150 A CN202210426150 A CN 202210426150A CN 114888791 A CN114888791 A CN 114888791A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000009466 transformation Effects 0.000 claims abstract description 57
- 239000011159 matrix material Substances 0.000 claims abstract description 56
- 230000001131 transforming effect Effects 0.000 claims description 6
- 238000005520 cutting process Methods 0.000 description 14
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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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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- 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
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- 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
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Abstract
A head-eye combined calibration method facing an osteotomy robot is provided, which comprises the steps of obtaining a homogeneous transformation matrix of a robot terminal coordinate system relative to a robot base coordinate system in the osteotomy robot; establishing a first coordinate system based on the spatial position of the cutter; establishing a second coordinate system based on a stereoscopic vision acquisition device, and calculating a homogeneous transformation matrix of the first coordinate system in the second coordinate system; according to the obtained homogeneous transformation matrix of the first coordinate system in the second coordinate system and the homogeneous transformation matrix of the robot tail end coordinate system relative to the robot base coordinate system, calculating a homogeneous transformation matrix of the first coordinate system relative to the robot tail end coordinate system and a homogeneous transformation matrix of the second coordinate system relative to the robot base coordinate system; the invention introduces a vision system to reduce the process and time of preoperative calibration.
Description
Technical Field
The invention relates to the technical field of calibration of osteotomy robots, in particular to a head-eye combined calibration method for an osteotomy robot.
Background
During the cutting process performed by the robot holding the cutter, the cutting position and the cutter plane of the cutter must coincide with the cutting position and the cutting plane planned before the doctor operates. The cutting motion of the cutter will create a cutting seam plane, which will enter the cutting seam as the cut progresses. Since the bone tissue has certain rigidity, the robot controls the cutting motion of the cutter, and the plane of the cutter is required to be kept coincident with the plane of the cutting seam, otherwise, the cutter is subjected to a force perpendicular to the plane of the cutter, the cutting track is deformed, or the cutter is broken. Therefore, in the robot-assisted osteotomy forming operation, the pose parameters of the osteotomy tool in the robot coordinate system need to be accurately calibrated, so that the tool can accurately reach the cutting position and complete cutting.
The existing calibration methods for robot tools can be mainly divided into two categories. The first category is mainly directed to arc welding robots that do not have special requirements on the pose of the tool, only the tcp (tool center point) of the end tool needs to be calibrated in the robot tool coordinate system. The second type is calibration facing a similar drilling robot, and besides acquiring drill bit TCP parameters, parameter information of a drill bit drill axis in a tool coordinate system at the tail end of the robot needs to be calibrated. The existing robot tool calibration method can not meet the calibration requirement of the osteotomy robot on the cutting tool, so that the invention of the calibration method which can accurately obtain parameter information of the cutting tool TCP and the tool plane in a robot end tool coordinate system is urgently needed.
Disclosure of Invention
In view of this, the invention provides a head-eye combined calibration method for an osteotomy robot, which can effectively obtain the posture of a tool plane under a robot terminal coordinate system, realize tool coordinate system calibration and head-eye combined calibration of a tool, and improve calibration efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
a head and eye combined calibration method for an osteotomy robot comprises the following steps:
acquiring a homogeneous transformation matrix of a robot terminal coordinate system relative to a robot base coordinate system in the osteotomy robot;
establishing a first coordinate system based on the spatial position of the cutter;
establishing a second coordinate system based on a stereoscopic vision acquisition device, and calculating a homogeneous transformation matrix of the first coordinate system in the second coordinate system;
and calculating a homogeneous transformation matrix of the first coordinate system relative to the robot tail end coordinate system and a homogeneous transformation matrix of the second coordinate system relative to the robot base coordinate system according to the obtained homogeneous transformation matrix of the first coordinate system in the second coordinate system and the homogeneous transformation matrix of the robot tail end coordinate system relative to the robot base coordinate system.
Further, the establishing of the first coordinate system includes using a vector of a left point of the tool pointing to a right point of the tool as an X-axis of the first coordinate system, and using a point on a connecting line of the left point of the tool and the right point of the tool pointing to a tip of the tool as a Z-axis of the first coordinate system; the Z axis and the X axis are kept perpendicular.
Further, the establishing a second coordinate system based on the stereoscopic vision acquisition device includes,
acquiring space position coordinates of the tool tip, the tool left side point and the tool right side point in the second coordinate system;
and calculating a drop foot coordinate of the tool tip on a connecting line of the left side point of the tool and the right side point of the tool according to the space position coordinates of the tool tip, the left side point of the tool and the right side point of the tool in the second coordinate system, and calculating a homogeneous transformation matrix of the first coordinate system in the second coordinate system according to the drop foot coordinate.
Further, calculating the foot coordinate of the tool tip on a line connecting the left point of the tool and the right point of the tool comprises,
confirming the spatial position coordinates in the second coordinate system:
wherein the tool tip coordinates
Coordinates of left side point of the cutter
And coordinates of right side point of said tool
Spatial position coordinates in the second coordinate system;
calculating the foot coordinate
Order to
Obtaining the coordinates of the foot
Further, calculating a homogeneous transformation matrix in the second coordinate system for the first coordinate system comprises,
the X axis of the first coordinate system is represented as V under the second coordinate system 34k ，
The unit vector of the X axis of the first coordinate system under the second coordinate system is as follows:
the Z axis of the first coordinate system is represented as V under the second coordinate system 12k ，
The Z-axis unit vector of the first coordinate system under the second coordinate system is as follows:
the Y-axis unit vector of the first coordinate system in the second coordinate system is as follows:
in the present embodiment, it is preferred that,
taking the tool sharp point as the origin of the first coordinate system, the first coordinate system is expressed as:
further, the calculating a homogeneous transformation matrix of the first coordinate system relative to the robot end coordinate system and a homogeneous transformation matrix of the second coordinate system relative to the robot end coordinate system includes,
transforming n different poses of the robot terminal coordinate system relative to the robot base coordinate system, and obtaining the pose by transforming the homogeneous transformation matrix coordinate system
wherein ,
a homogeneous transformation matrix representing the k-th set of robot end coordinate systems relative to the robot base coordinate system,
a homogeneous transformation matrix representing the first coordinate system relative to the robot end coordinate system,
a homogeneous transformation matrix representing the second coordinate system relative to the robot base coordinate system,
representing a transformation of the kth set of the first coordinate system with respect to the second coordinate systemAnd (4) matrix. Substituting n groups of data into the formula
And
according to the technical scheme, compared with the prior art, the invention discloses and provides the head-eye combined calibration method for the osteotomy robot, which can effectively obtain the posture of the cutter plane under the terminal coordinate system of the robot, realize the tool coordinate system calibration and the head-eye combined calibration of the cutter, and reduce the flow and time of preoperative calibration.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a head-eye combined calibration method for an osteotomy robot according to the present invention;
FIG. 2 is a schematic diagram of another embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and fig. 2, the embodiment of the invention discloses a head-eye combined calibration method for an osteotomy robot, which is characterized by comprising the following steps:
acquiring a homogeneous transformation matrix of a robot terminal coordinate system relative to a robot base coordinate system in the osteotomy robot;
establishing a first coordinate system based on the spatial position of the cutter;
establishing a second coordinate system based on a stereoscopic vision acquisition device, and calculating a homogeneous transformation matrix of the first coordinate system in the second coordinate system;
and calculating a homogeneous transformation matrix of the first coordinate system relative to the robot tail end coordinate system and a homogeneous transformation matrix of the second coordinate system relative to the robot base coordinate system according to the obtained homogeneous transformation matrix of the first coordinate system in the second coordinate system and the homogeneous transformation matrix of the robot tail end coordinate system relative to the robot base coordinate system.
In another embodiment, establishing the first coordinate system includes using a vector of a left point of the tool pointing to a right point of the tool as an X-axis of the first coordinate system, and using a point on a connection line of the left point of the tool and the right point of the tool pointing to a tip of the tool as a Z-axis of the first coordinate system; the Z axis and the X axis are kept perpendicular.
In another embodiment, the establishing a second coordinate system based on the stereo vision acquisition device comprises,
acquiring space position coordinates of the tool tip, the tool left side point and the tool right side point in the second coordinate system;
and calculating a drop foot coordinate of the tool tip on a connecting line of the left side point of the tool and the right side point of the tool according to the space position coordinates of the tool tip, the left side point of the tool and the right side point of the tool in the second coordinate system, and calculating a homogeneous transformation matrix of the first coordinate system in the second coordinate system according to the drop foot coordinate.
In another embodiment, calculating the foot coordinate of the tool tip on a line connecting the tool left side point and the tool right side point comprises,
confirming the spatial position coordinates in the second coordinate system:
wherein the tool tip coordinates
Coordinates of left side point of the cutter
And coordinates of right side point of said tool
Spatial position coordinates in the second coordinate system;
calculating the foot coordinate
Order to
Obtaining the coordinates of the foot
In another embodiment, calculating a homogeneous transformation matrix of the first coordinate system in the second coordinate system comprises,
the X axis of the first coordinate system is represented as V under the second coordinate system 34k ，
The unit vector of the X axis of the first coordinate system under the second coordinate system is as follows:
the Z axis of the first coordinate system is represented as V under the second coordinate system 12k ，
The Z-axis unit vector of the first coordinate system under the second coordinate system is as follows:
the unit vector of the Y axis of the first coordinate system under the second coordinate system is as follows:
[a yk o yk n yk ]＝[a zk o zk n zk ]×[a xk o xk n xk ]。
in another embodiment, said calculating a homogeneous transformation matrix of the first coordinate system relative to the robot end coordinate system and a homogeneous transformation matrix of the second coordinate system relative to the robot end coordinate system comprises,
transforming n different poses of the robot terminal coordinate system relative to the robot base coordinate system, and obtaining the pose by transforming the homogeneous transformation matrix coordinate system
wherein ,
a homogeneous transformation matrix representing the k-th set of robot end coordinate systems relative to the robot base coordinate system,
a homogeneous transformation matrix representing the first coordinate system relative to the robot end coordinate system,
a homogeneous transformation matrix representing the second coordinate system relative to the robot base coordinate system,
a transformation matrix representing the kth set of the first coordinate system relative to the second coordinate system,substituting n groups of data into the formula
And
in order to obtain the posture of a cutter plane under a robot tail end coordinate system, the invention provides a first coordinate system calibration and head-eye combined calibration method in an osteotomy robot system based on stereoscopic vision. Obtaining the positions of a tool tip point, a tool left side point and a tool right side point by utilizing stereoscopic vision, constructing a first coordinate system, obtaining a transformation matrix of the first coordinate system in a second coordinate system, transforming n groups of different poses of a robot tail end coordinate system relative to a robot base coordinate system, recording a homogeneous transformation matrix of the first coordinate system in the second coordinate system and a homogeneous transformation matrix of the robot tail end coordinate system relative to the robot base coordinate system, and obtaining the homogeneous transformation matrix of the first coordinate system in the robot tail end coordinate system according to the homogeneous coordinate transformation
And a homogeneous transformation matrix of the second coordinate system relative to the robot base coordinate system
The method is applied to the robot for clamping the cutter, and has the advantages of accurate attitude control, universality in application and the like.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A head and eye combined calibration method for an osteotomy robot is characterized by comprising the following steps:
acquiring a homogeneous transformation matrix of a robot terminal coordinate system relative to a robot base coordinate system in the osteotomy robot;
establishing a first coordinate system based on the spatial position of the cutter;
establishing a second coordinate system based on a stereoscopic vision acquisition device, and calculating a homogeneous transformation matrix of the first coordinate system in the second coordinate system;
and calculating a homogeneous transformation matrix of the first coordinate system relative to the robot tail end coordinate system and a homogeneous transformation matrix of the second coordinate system relative to the robot base coordinate system according to the obtained homogeneous transformation matrix of the first coordinate system in the second coordinate system and the homogeneous transformation matrix of the robot tail end coordinate system relative to the robot base coordinate system.
2. The head-eye combined calibration method facing the osteotomy robot as recited in claim 1, wherein said establishing a first coordinate system comprises marking a tool tip, a tool left point and a tool right point; taking a vector of the left side point of the cutter pointing to the right side point of the cutter as an X axis of a first coordinate system, and taking a point on a connecting line of the left side point of the cutter and the right side point of the cutter pointing to a tip of the cutter as a Z axis of the first coordinate system; the Z axis and the X axis are kept perpendicular.
3. The head-eye combined calibration method for the osteotomy robot as claimed in claim 1, wherein said establishing the second coordinate system based on the stereoscopic vision collecting device comprises,
acquiring space position coordinates of the tool tip, the tool left side point and the tool right side point in the second coordinate system;
and calculating a drop foot coordinate of the tool tip on a connecting line of the left side point of the tool and the right side point of the tool according to the space position coordinates of the tool tip, the left side point of the tool and the right side point of the tool in the second coordinate system, and calculating a homogeneous transformation matrix of the first coordinate system in the second coordinate system according to the drop foot coordinate.
4. The head-eye joint calibration method for the osteotomy robot as recited in claim 3, wherein calculating the foot coordinate of the tool tip on the line connecting the left side point of the tool and the right side point of the tool comprises,
confirming the spatial position coordinates in the second coordinate system:
wherein the tool tip coordinates
Coordinates of left side point of the cutter
And coordinates of right side point of said tool
Spatial position coordinates in the second coordinate system;
calculating the foot coordinate
Order to
Obtaining the coordinates of the foot
5. The head-eye joint calibration method for the osteotomy robot as claimed in claim 4, wherein calculating the homogeneous transformation matrix of the first coordinate system in the second coordinate system comprises,
the X axis of the first coordinate system is represented as V under the second coordinate system 34k ，
The unit vector of the X axis of the first coordinate system under the second coordinate system is as follows:
the Z axis of the first coordinate system is represented as V under the second coordinate system 12k ，
The Z-axis unit vector of the first coordinate system under the second coordinate system is as follows:
the unit vector of the Y axis of the first coordinate system under the second coordinate system is as follows:
6. the head-eye combined calibration method for the osteotomy robot as claimed in claim 1, wherein said calculating a homogeneous transformation matrix of the first coordinate system relative to the robot end coordinate system and a homogeneous transformation matrix of the second coordinate system relative to the robot end coordinate system comprises,
transforming n different poses of the robot terminal coordinate system relative to the robot base coordinate system,
from the transformation of the coordinate system of the homogeneous transformation matrix
wherein 
A homogeneous transformation matrix representing the k-th set of robot end coordinate systems relative to the robot base coordinate system,
a homogeneous transformation matrix representing the first coordinate system relative to the robot end coordinate system,
a homogeneous transformation matrix representing the second coordinate system relative to the robot base coordinate system,
a transformation matrix representing the k-th group of the first coordinate system relative to the second coordinate system, and the n groups of data are substituted into the above formula
And
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