CN115609586A - Robot high-precision assembling method based on grabbing pose constraint - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
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- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
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Abstract
The invention belongs to the technical field related to robot assembly, and discloses a robot high-precision assembly method based on grabbing pose constraint, which comprises the following steps: establishing a first workpiece coordinate system according to the assembly holes in the reference workpiece, and acquiring a conversion matrix from the first workpiece coordinate system to a robot base coordinate system; setting a grabbing calibration position to obtain a reference rotation matrix and a reference translation matrix; and during formal grabbing and assembling, establishing a second workpiece coordinate system and a third workpiece coordinate system, obtaining a matching relation between a rotation matrix from the robot tail end coordinate system to the robot base coordinate system and a reference rotation matrix during grabbing and assembling, and simultaneously obtaining a matching relation between a translation matrix from the robot tail end coordinate system to the robot base coordinate system during grabbing and assembling and a translation matrix from the second workpiece coordinate system or the third workpiece coordinate system to the robot base coordinate system and the reference translation matrix, thereby realizing accurate grabbing and assembling and improving the precision of the robot in the grabbing and assembling process.
Description
Technical Field
The invention belongs to the technical field related to robot assembly, and particularly relates to a robot high-precision assembly method based on grabbing pose constraint.
Background
Industrial robots are currently widely used in the fields of 3C manufacturing, chemical industry, food, aerospace, and the like. The industrial robot has the characteristics of heavy load and high flexibility, the preset fixed track of the robot is generally realized in the form of teaching and offline programming in the traditional robot carrying and grabbing application, the teaching process is complex in the form, if a carrying object or other environments are changed, the robot needs to be reprogrammed, and the efficiency and the flexibility level of a production and manufacturing link are greatly reduced.
With the rapid development of computer vision and image processing technologies, the application of combining machine vision and robots is popularized, a vision sensor provides the perception capability of the robots to the external environment, and common applications include vision measurement, guidance and detection. Aiming at the application of robot visual grabbing, the final grabbing unit is a clamping jaw, and the clamping jaw and the tail end of a robot have deviation in installation, so that the relative relation between the clamping jaw of the robot and the tail end of a flange of the robot needs to be calibrated to finish a grabbing task, namely TCP calibration. The common method is to place a calibration needle at the tail end of the clamping jaw and establish a robot tool coordinate system by a four-point method, but the precision of the method depends on the precision of manual teaching alignment and is not suitable for the requirement of high-precision assembly. Therefore, it is necessary to design a high-precision assembling method.
Disclosure of Invention
Aiming at the defects or improvement requirements in the prior art, the invention provides a robot high-precision assembly method based on grabbing pose constraint, so that the precision of the robot in grabbing and assembling processes is improved, and accurate assembly is realized.
In order to achieve the above object, according to one aspect of the present invention, there is provided a robot high-precision assembling method based on grasp pose constraints, in which a robot grasps a workpiece from a tool platform and assembles the workpiece on the assembling platform, the method including:
s1: placing a reference workpiece on the tooling platform, setting a contact grabbing position of the robot and the reference workpiece as a grabbing calibration position, and acquiring a conversion matrix from a robot tail end coordinate system to a robot base coordinate system; s2: establishing a first workpiece coordinate system on the tool platform according to at least two assembly holes on the reference workpiece, and measuring corresponding assembly holes to obtain a conversion matrix from the first workpiece coordinate system to a robot base coordinate system; s3: obtaining a reference rotation matrix and a reference translation matrix from the first workpiece coordinate system to the robot end coordinate system according to the conversion matrix from the first workpiece coordinate system to the robot base coordinate system and the conversion matrix from the robot end coordinate system to the robot base coordinate system; s4: when formal grabbing is carried out, a second workpiece coordinate system is established according to assembly holes in workpieces to be grabbed, and a conversion matrix from the second workpiece coordinate system to a robot base coordinate system is obtained; s5: a conversion matrix from the robot tail end coordinate system to the robot base coordinate system during grabbing is expressed by a conversion matrix from a second coordinate system to the base coordinate system and a conversion matrix from a first workpiece coordinate system to the robot tail end coordinate system, so that a matching relation between a rotation matrix from the robot tail end coordinate system to the robot base coordinate system during grabbing, a rotation matrix from the second workpiece coordinate system to the robot base coordinate system during grabbing and a reference rotation matrix is obtained, and meanwhile, a matching relation between a translation matrix from the robot tail end coordinate system to the robot base coordinate system during grabbing, a translation matrix from the second workpiece coordinate system to the robot base coordinate system during grabbing and a reference translation matrix is obtained, so that accurate grabbing is realized; s6: during assembly, a third workpiece coordinate system is established according to an assembly hole in the assembly platform, and a conversion matrix from the third workpiece coordinate system to a robot base coordinate system is obtained; s7: and simultaneously, obtaining a matching relation between a translation matrix from the robot tail end coordinate system to the robot base coordinate system during assembly and a translation matrix from the third workpiece coordinate system to the robot base coordinate system and a reference translation matrix during assembly, thereby realizing accurate assembly.
Preferably, a monocular camera is used to obtain coordinates of the assembly hole in a robot-based coordinate system so as to obtain a transformation matrix from a first coordinate system, a second coordinate system or a third coordinate system to the robot-based coordinate system, and the method comprises the following steps: calibrating a robot base coordinate system by adopting a binocular camera to obtain a conversion relation between the robot base coordinate system and the binocular camera coordinate system; measuring the pixel coordinate of a target by adopting a monocular camera; measuring the position coordinates of the target by adopting a binocular camera, and converting the position coordinates to a robot base coordinate system based on the conversion relation; obtaining a conversion matrix of the pixel coordinate of the target and the position coordinate of the robot under the base coordinate system; and obtaining the coordinates of the assembly holes under the monocular camera under the robot base coordinate system based on the conversion matrix.
Preferably, the transformation matrix is obtained by a least squares method.
Preferably, the coordinate representation of the assembly hole under the monocular camera in the robot-based coordinate system based on the transformation matrix is obtained as follows:
[X circle ，Y circle ]＝ c pM+[X obs ，Y obs ]-[X cali ，Y cali ]
wherein, [ X ] circle ，Y circle ]The position coordinates of the assembly hole under the monocular camera under the robot base coordinate system, c p is the pixel coordinate of the center of the assembling hole measured by the monocular camera, M is the transformation matrix, [ X ] obs ，T obs ]Position coordinates of the robot when measuring the assembly hole for the monocular camera, [ X [ ] cali ，Y cali ]The position coordinates of the robot when the target is photographed for the monocular camera.
Preferably, the calibrating the base coordinate of the robot by using the binocular camera to obtain the conversion relationship between the base coordinate system of the robot and the coordinate system of the binocular camera specifically includes: step 1: self-calibration is carried out on the binocular camera; step 2: sticking a target at the tail end of the robot, changing the pose of the robot, measuring 2n groups of target point coordinates and recording the corresponding pose of the robot, wherein n is more than or equal to 12; and step 3: and importing the robot pose data into a hand-eye calibration program package to obtain the conversion relation.
Preferably, in step S3, the reference rotation matrix of the first object coordinate system to the robot end coordinate system
Comprises the following steps:
wherein the content of the first and second substances,
a rotation matrix from a robot terminal coordinate system to a robot base coordinate system is given by a teaching machine or a program built in the robot;
wherein, the first and the second end of the pipe are connected with each other,
p1 and P2 are mounting hole coordinates.
Preferably, in step S3, the first object coordinate system to robot end coordinate system reference translation matrix
Comprises the following steps:
wherein the content of the first and second substances,
and
for rotation matrix and translation matrix from robot end coordinate system to robot base coordinate system, built-in by robotA demonstrator or a program is given;
is a translation matrix from the first object coordinate system to the robot base coordinate system, which is the coordinates of the origin of the first object coordinate system under the robot base coordinate system.
Preferably, the first workpiece coordinate system, the second workpiece coordinate system and the third workpiece coordinate system are established by using the assembly holes, and the reference assembly holes used in the establishing process are in accordance with the reference direction rule determined by the reference assembly holes.
Preferably, the robot base mounting surface is parallel to the tooling platform and the assembling platform.
Generally, compared with the prior art, the robot high-precision assembling method based on grabbing pose constraint provided by the invention has the following beneficial effects:
1. according to the method, the reference rotation matrix and the reference translation matrix are established according to the principle that the conversion relation between the position of the assembly hole in the workpiece and the tail end of the robot is unchanged, the rotation matrix and the translation matrix of the robot during grabbing and assembling are established as the intermediate conversion relation, accurate grabbing and assembling are achieved, the calibration cost is low, the operation is simple, and the method is suitable for various high-precision assembly scenes.
2. The binocular camera and the monocular camera are matched to achieve the purpose that accurate positioning can be achieved only through the monocular camera, and follow-up calculation is simpler and more convenient.
3. The reference rotation matrix and the reference translation matrix can be obtained from the terminal coordinate system to the rotation matrix and the translation matrix under the robot base coordinate, and are simple and convenient.
Drawings
FIG. 1 is a schematic view of the robot assembly process calibration position of the present application;
FIG. 2 is a schematic view of the robot assembly process grabbing process of the present application;
FIG. 3 is a schematic view of the robot assembly process of the present application.
Fig. 4 is a schematic diagram of the process of establishing the first object coordinate system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention provides a robot high-precision assembling method based on grabbing pose constraint, which mainly comprises a robot 1, a workpiece 2 to be grabbed, a tooling platform 5 and an assembling platform 6, wherein the tail end of the robot is provided with a clamping jaw 3 and a monocular camera 4, the robot adopts the clamping jaw 3 to grab the workpiece to be grabbed on the tooling platform 5 and then installs the workpiece on the assembling platform 6, and the method mainly comprises the following steps of S1-S7.
S1: and placing a reference workpiece on the tooling platform, setting the contact grabbing position of the robot and the reference workpiece as a grabbing calibration position, and acquiring a conversion matrix from the robot tail end coordinate system to the robot base coordinate system.
When the robot grabs the workpiece, the direction of the contact end face of the clamping jaw and the reference workpiece is made to conform to the reference workpiece, and the transformation matrix from the robot end coordinate system { E } to the robot base coordinate system is recorded at the moment
This position is set as a gripping calibration position,
s2: and establishing a first workpiece coordinate system on the tool platform according to at least two assembling holes on the reference workpiece, and measuring the corresponding assembling holes to obtain a conversion matrix from the first workpiece coordinate system to the robot base coordinate system.
As shown in fig. 1, four assembly holes are distributed in a rectangular shape on a reference workpiece, a local hand hole coordinate system is firstly calibrated, the reference workpiece is placed at any position on a tooling platform, and the tooling platform is parallel to the plane of a robot base.
One assembling hole is used as a coordinate origin, a connecting line of the assembling hole and the other assembling hole is set as a coordinate axis X, a Z axis is vertical upwards, a Y axis is vertical to the X axis and the Z axis, a first workpiece coordinate system { W } is further established, and a conversion matrix from the first coordinate system { W } to a robot-based coordinate system { B } is further established
S3: and obtaining a reference rotation matrix and a reference translation matrix from the first workpiece coordinate system to the robot end coordinate system according to the conversion matrix from the first workpiece coordinate system to the robot base coordinate system and the conversion matrix from the robot end coordinate system to the robot base coordinate system.
Because:
further, the corresponding terms are equal to obtain a reference rotation matrix
And a reference translation matrix
Wherein the content of the first and second substances,
a rotation matrix from a robot terminal coordinate system to a robot base coordinate system is given by a built-in demonstrator or a built-in program of the robot;
in which, as shown in figure 4,
p1 and P2 are the fitting hole coordinates,
and
a rotation matrix and a translation matrix from a robot terminal coordinate system to a robot base coordinate system are given by a built-in demonstrator or a built-in program of the robot;
is a translation matrix of the first object coordinate system to the robot base coordinate system, which is the coordinates of the origin of the first object coordinate system under the robot base coordinate system.
In a further preferred scheme, a monocular camera is adopted to obtain coordinates of the assembly hole under a robot base coordinate system, and the method specifically comprises the following steps:
step one, calibrating a robot base coordinate by adopting a binocular camera to obtain a conversion relation between a robot base coordinate system and a binocular camera coordinate system
Specifically, the method comprises the following steps 1 to 3.
Step 1: self-calibration is carried out on the binocular camera;
step 2: sticking a target at the tail end of the robot, changing the pose of the robot, measuring 2n groups of target point coordinates and recording the corresponding pose of the robot, wherein n is more than or equal to 12;
and 3, step 3: and importing the robot pose data into a hand-eye calibration program package to obtain the conversion relation. The hand-eye calibration program package can adopt the existing research technologies, such as Shiu calibration method, tsai two-step calibration method and Frank C.
Step two, adopting a monocular camera to measure the pixel coordinate of a target, and adopting a point set c p 1 c p 2 … c p n Expressing;
step three, measuring the position coordinates of the target by adopting a binocular camera and based on a conversion relation
Converting the position coordinates to the basic coordinate system of the robot, and using a point set B p 1 B p 2 … B p n Represents it.
And step four, obtaining a conversion matrix of the pixel coordinate of the target and the position coordinate of the robot under the base coordinate system.
The relationship between the target-based pixel coordinates and the position coordinates under the robot base coordinate system can be expressed as follows:
c p 1 c p 2 … c p n )M＝{ B p 1 B p 2 … B p n }
and further adopting a least square method to calculate to obtain a conversion matrix M, wherein the method specifically comprises the following steps:
record chinese dictionary C p 1 C p 2 … C p n }＝A，{ B p 1 B p 2 … B p n } = b then M can be calculated by:
M＝(A T A) -1 A T b。
and fifthly, obtaining the coordinates of the lower assembly hole of the monocular camera under the robot base coordinate system based on the conversion matrix.
The coordinate representation mode of the assembly hole under the monocular camera under the robot base coordinate system is obtained based on the conversion matrix, and is as follows:
[X circle ，Y circle ]＝ C pM+[X obs ，Y obs ]-[X cali ，Y cali ]
wherein, [ X ] circle ，Y circle ]The position coordinates of the assembly hole under the monocular camera under the robot base coordinate system, C p is the pixel coordinate of the center of the assembling hole measured by the monocular camera, M is the transformation matrix, [ X ] obs ，Y obs ]Position coordinates of the robot when measuring the assembly hole for the monocular camera, [ X [ ] cali ，Y cali ]The position coordinates of the robot at the time of the target are photographed for the monocular camera.
S4: and during formal grabbing, establishing a second workpiece coordinate system according to the assembly holes on the workpiece to be grabbed, and acquiring a conversion matrix from the second workpiece coordinate system to a robot base coordinate system.
During grabbing, as shown in fig. 2, a second workpiece coordinate system is established in the same way as the first workpiece coordinate system, and a transformation matrix from the second workpiece coordinate system to the robot base coordinate system during grabbing is obtained
Wherein the content of the first and second substances,
is a rotation matrix from the second workpiece coordinate system to the robot base coordinate system during grabbing,
is a translation matrix from the second workpiece coordinate system to the robot base coordinate system during grabbing.
S5: and simultaneously, obtaining a matching relation between a translation matrix from the robot tail end coordinate system to the robot base coordinate system during grabbing and a translation matrix from the second workpiece coordinate system to the robot base coordinate system during grabbing and a reference translation matrix, and further realizing accurate grabbing.
When grabbing, the conversion matrix from the robot tail end coordinate system to the robot base coordinate system adopts the conversion matrix from the second coordinate system to the base coordinate system and the conversion matrix from the first workpiece coordinate system to the robot tail end coordinate system to express the formula as follows:
in order to accurately grasp a workpiece, the relationship between the robot end and the second workpiece coordinate system should be kept consistent, so that the robot end coordinate system and the robot base coordinate system should satisfy:
converting a robot into a matrix
The grabbing action can be finished by inputting the motion of the robot.
S6: during assembly, a third workpiece coordinate system is established according to the assembly holes in the assembly platform, and a transformation matrix from the third workpiece coordinate system to the robot base coordinate system is obtained.
After the robot grabs the workpiece to be grabbed, the robot carries out the action of placing the workpiece to be assembled, as shown in fig. 3, the robot carries the workpiece to be assembled, a monocular camera is adopted to observe assembly holes on an assembly platform, the assembly holes on the assembly platform are regarded as corresponding assembly holes on the workpiece, a third workpiece coordinate system is established on the assembly platform, and therefore a conversion matrix from the third workpiece coordinate system to a robot base coordinate system can be obtained
Wherein the content of the first and second substances,
is a rotation matrix of the third object coordinate system to the robot base coordinate system,
is the translation matrix of the third object coordinate system to the robot base coordinate system.
S7: and simultaneously, obtaining a matching relation between a translation matrix from the robot tail end coordinate system to the robot base coordinate system during assembly and a translation matrix from the third workpiece coordinate system to the robot base coordinate system and a reference translation matrix during assembly, thereby realizing accurate assembly.
During assembly, the conversion matrix from the robot tail end coordinate system to the robot base coordinate system adopts a conversion matrix from a third coordinate system to the base coordinate system and a conversion matrix from the first workpiece coordinate system to the robot tail end coordinate system to express a formula as follows:
conversion matrix for robot placement for accurate placement of workpieces
It should satisfy:
transfer matrix for placing robots
Inputting the motion of the robot to complete the placing action.
In the application, a first workpiece coordinate system, a second workpiece coordinate system and a third workpiece coordinate system are all established through assembly holes, and the reference assembly holes adopted in the establishing process are consistent with the reference direction rules determined by the reference assembly holes.
It will be understood by those skilled in the art that the foregoing is only an exemplary embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, since various modifications, substitutions and improvements within the spirit and scope of the invention are possible and within the scope of the appended claims.
Claims (9)
1. A robot high-precision assembling method based on grabbing pose constraint is characterized in that a robot grabs a workpiece from a tooling platform and carries the workpiece to assemble on an assembling platform, and the method comprises the following steps:
s1: placing a reference workpiece on the tooling platform, setting a contact grabbing position of the robot and the reference workpiece as a grabbing calibration position, and acquiring a conversion matrix from a robot tail end coordinate system to a robot base coordinate system;
s2: establishing a first workpiece coordinate system on the tool platform according to at least two assembling holes on the reference workpiece, and measuring corresponding assembling holes to obtain a conversion matrix from the first workpiece coordinate system to a robot base coordinate system;
s3: obtaining a reference rotation matrix and a reference translation matrix from the first workpiece coordinate system to the robot end coordinate system according to the conversion matrix from the first workpiece coordinate system to the robot base coordinate system and the conversion matrix from the robot end coordinate system to the robot base coordinate system;
s4: when formal grabbing is carried out, a second workpiece coordinate system is established according to assembly holes in workpieces to be grabbed, and a conversion matrix from the second workpiece coordinate system to a robot base coordinate system is obtained;
s5: a transformation matrix from the robot tail end coordinate system to the robot base coordinate system during grabbing is expressed by adopting a transformation matrix from a second coordinate system to the base coordinate system and a transformation matrix from the first workpiece coordinate system to the robot tail end coordinate system, so that a matching relation between a rotation matrix from the robot tail end coordinate system to the robot base coordinate system during grabbing and a rotation matrix from the second workpiece coordinate system to the robot base coordinate system during grabbing and a reference rotation matrix is obtained, and a matching relation between a translation matrix from the robot tail end coordinate system to the robot base coordinate system during grabbing and a translation matrix from the second workpiece coordinate system to the robot base coordinate system during grabbing and a reference translation matrix is obtained simultaneously, so that accurate grabbing is realized;
s6: during assembly, a third workpiece coordinate system is established according to an assembly hole in the assembly platform, and a conversion matrix from the third workpiece coordinate system to a robot base coordinate system is obtained;
s7: and simultaneously, obtaining a matching relation between a translation matrix from the robot tail end coordinate system to the robot base coordinate system during assembly and a translation matrix from the third workpiece coordinate system to the robot base coordinate system and a reference translation matrix during assembly, thereby realizing accurate assembly.
2. The method of claim 1, wherein the step of obtaining the coordinates of the assembly hole in the robot-based coordinate system by using a monocular camera to obtain a transformation matrix from the first coordinate system, the second coordinate system or the third coordinate system to the robot-based coordinate system comprises:
calibrating a robot base coordinate system by using a binocular camera to obtain a conversion relation between the robot base coordinate system and the binocular camera coordinate system;
measuring the pixel coordinate of a target by adopting a monocular camera;
measuring the position coordinates of the target by using a binocular camera, and converting the position coordinates to a robot base coordinate system based on the conversion relation;
obtaining a conversion matrix of the pixel coordinate of the target and the position coordinate of the robot under the base coordinate system;
and obtaining the coordinates of the assembly holes under the monocular camera under the robot base coordinate system based on the conversion matrix.
3. The method of claim 2, wherein the transformation matrix is obtained using a least squares method.
4. A method according to claim 2 or 3, characterized in that the coordinate representation of the mounting hole under the monocular camera in the robot-based coordinate system is obtained based on a transformation matrix:
[X circle ，Y circle ]＝ C pM+[X obs ，Y obs ]-[X cali ，Y cali ]
wherein, [ X ] circle ，Y circle ]Coordinates of the assembly holes under the monocular camera under the robot base coordinate system, C p is the pixel coordinate of the center of the assembling hole measured by the monocular camera, M is the transformation matrix, [ X ] obs ，Y obs ]Position coordinates of the robot when measuring the assembly hole for the monocular camera, [ X [ ] cali ，Y cali ]The position coordinates of the robot at the time of the target are photographed for the monocular camera.
5. The method according to claim 2, wherein the calibrating the base coordinates of the robot by using the binocular camera and the obtaining the transformation relationship between the base coordinates of the robot and the coordinates of the binocular camera specifically comprises:
step 1: self-calibration is carried out on the binocular camera;
step 2: sticking a target at the tail end of the robot, changing the pose of the robot, measuring 2n groups of target point coordinates and recording the corresponding pose of the robot, wherein n is more than or equal to 12;
and step 3: and importing the robot pose data into a hand-eye calibration program package to obtain the conversion relation.
6. Method according to claim 1, characterized in that in step S3 the reference rotation matrix of the first object coordinate system to the robot end coordinate system
Comprises the following steps:
wherein, the first and the second end of the pipe are connected with each other,
a rotation matrix from a robot terminal coordinate system to a robot base coordinate system is given by a teaching machine or a program built in the robot;
wherein, the first and the second end of the pipe are connected with each other,
p1 and P2 are mounting hole coordinates.
7. Method according to claim 1, characterized in that in step S3 the first object coordinate system to robot end coordinate system reference translation matrix
Comprises the following steps:
wherein the content of the first and second substances,
and
a rotation matrix and a translation matrix from a robot terminal coordinate system to a robot base coordinate system are given by a built-in demonstrator or a built-in program of the robot;
is a translation matrix from the first object coordinate system to the robot base coordinate system, which is the coordinates of the origin of the first object coordinate system under the robot base coordinate system.
8. The method according to claim 1, characterized in that the first, second and third object coordinate systems are established using assembly holes, and that the reference assembly holes used in the establishment are regularly in line with the reference directions determined by the reference assembly holes.
9. The method of claim 1, wherein the robot base mounting surface is parallel to the tooling platform and the assembly platform.
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| CN108818535A (en) * | 2018-07-05 | 2018-11-16 | 杭州汉振科技有限公司 | Robot 3D vision hand and eye calibrating method |
| CN115091456A (en) * | 2022-07-01 | 2022-09-23 | 武汉理工大学 | Robot hand-eye calibration method based on matrix solution |
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| CN116442225A (en) * | 2023-04-18 | 2023-07-18 | 北京思灵机器人科技有限责任公司 | Robot tail end positioning method, positioning device and electronic equipment |
| CN116442225B (en) * | 2023-04-18 | 2023-11-07 | 北京思灵机器人科技有限责任公司 | Robot tail end positioning method, positioning device and electronic equipment |
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