CN116460849A - Kinematic calibration method and calibration system for multi-degree-of-freedom robot - Google Patents
Kinematic calibration method and calibration system for multi-degree-of-freedom robot Download PDFInfo
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- CN116460849A CN116460849A CN202310499211.3A CN202310499211A CN116460849A CN 116460849 A CN116460849 A CN 116460849A CN 202310499211 A CN202310499211 A CN 202310499211A CN 116460849 A CN116460849 A CN 116460849A
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- 230000033001 locomotion Effects 0.000 claims abstract description 95
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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Abstract
The application relates to a method for calibrating kinematics of a robot with multiple degrees of freedom, wherein the robot comprises a base, an end effector and an arm connected through joints, and the method comprises the following steps: locking a portion of the plurality of degrees of freedom by limiting the base and the end effector to implement a degree of freedom limit; moving the robot to perform a first action and acquiring a corresponding first set of data associated with the joint angle and a first actual movement of the end effector; calculating a first theoretical motion of the end effector based on the first set of data and the initial kinematic parameters; and updating the initial kinematic parameters of the robot based on the first theoretical motion and the first actual motion to obtain first updated kinematic parameters.
Description
Technical Field
The application relates to the field of robots, in particular to a kinematic calibration method and a calibration system of a multi-degree-of-freedom robot.
Background
To achieve flexible operation of the robot, multiple degrees of freedom of movement are often given to the robot. For example, a manipulator having six degrees of freedom may be realized by six joints, each joint connecting the arms of two adjacent robots. Thus, by appropriate joint configuration, the position and orientation of the end effector, such as the jaws, can be arbitrarily adjusted in a certain three-dimensional space.
Before the robot works, the robot needs to be subjected to kinematic calibration so as to ensure the accuracy of the action of the robot. Kinematic calibration is a process of determining certain parameters in the kinematic structure of a robot, such as parameters associated with the relative position and orientation of the various arms of the robot. The kinematic calibration methods for industrial robots known to the applicant require the use of external sensors, such as laser trackers, dial indicators or wire-drawing devices, etc. to measure the movements of the robot, the measurements being used to estimate the kinematic characteristics of the robot. These external sensors introduce additional measurement errors, complex configurations and high costs to the calibration process.
Disclosure of Invention
The application provides an improved kinematic calibration method and calibration system of a multi-degree-of-freedom robot, which are used for solving at least one technical problem in the prior art.
In one aspect, the present application provides a method for kinematic calibration of a robot having multiple degrees of freedom, the robot including a base, an end effector, and an arm coupled by a joint, the method comprising: locking a portion of the plurality of degrees of freedom by limiting the base and the end effector to implement a degree of freedom limit; moving the robot to perform a first action and acquiring a corresponding first set of data associated with the joint angle and a first actual movement of the end effector; calculating a first theoretical motion of the end effector based on the first set of data and the initial kinematic parameters; and updating the initial kinematic parameters of the robot based on the first theoretical motion and the first actual motion to obtain first updated kinematic parameters.
In one embodiment, moving the robot to perform the first action includes controlling the joints to move the robot to perform the first action or to move the robot under an external force to perform the first action.
In one embodiment, the method further comprises: moving the robot to perform a second action, and correspondingly acquiring a second set of data associated with the joint angle and a second actual movement of the end effector, the second action being different from the first action; calculating a second theoretical motion of the end effector based on the second set of data and the initial kinematic parameters; and updating the initial kinematic parameters according to the second theoretical motion and the second actual motion to obtain second updated kinematic parameters, and determining calibrated kinematic parameters based on the first updated kinematic parameters and the second updated kinematic parameters.
In one embodiment, the method further comprises: moving the robot to perform a second action, and correspondingly acquiring a second set of data associated with the joint angle and a second actual movement of the end effector, the second action being different from the first action; calculating a second theoretical motion of the end effector based on the second set of data and the first updated kinematic parameter; and updating the first updated kinematic parameters according to the second theoretical motion and the second actual motion to obtain second updated kinematic parameters, and taking the second updated kinematic parameters as calibrated kinematic parameters.
In one embodiment, moving the robot to perform the first action includes causing all joints of the robot to produce a joint angle change to perform the first action.
In one embodiment, the robot comprises an n-axis robot having n degrees of freedom, where n is a natural number of 2 or more, locking a portion of the plurality of degrees of freedom comprises locking n-1 degrees of freedom such that the robot is capable of moving in its null space, moving the robot to perform the first action comprises moving the robot to perform the first null space movement.
In one embodiment, the robot is a redundant robot having seven degrees of freedom, and locking n-1 degrees of freedom includes locking the base and locking the end effector to the first position, thereby locking six degrees of freedom.
In one embodiment, the method further comprises: moving and locking the end effector to a second position different from the first position; moving the robot to perform a third zero-space movement and correspondingly acquiring a third set of data associated with the joint angle and a third actual movement of the end effector; calculating a third theoretical motion of the end effector based on the third set of data and the initial kinematic parameter; and updating the initial kinematic parameters according to the third theoretical motion and the third actual motion to obtain third updated kinematic parameters, and determining calibrated kinematic parameters based on the first updated kinematic parameters and the third updated kinematic parameters.
In one embodiment, the base and end effector are locked to the same fixture.
In one embodiment, updating the initial kinematic parameters based on the first set of data and the initial kinematic parameters includes updating the initial kinematic parameters using a pairwise distance method.
In one embodiment, locking a portion of the multiple degrees of freedom includes locking the base while allowing the end effector to move in a number of directions that is less than the number of multiple degrees of freedom.
In one embodiment, the end effector is configured to move along a linear track in a fixed linear direction.
In one embodiment, the end effector is configured to rotate about an axis of the bearing.
In one embodiment, the end effector is configured to move in one plane.
In one embodiment, the end effector is configured to rotate about the center of the ball joint.
Another aspect of the present application provides a kinematic calibration system for a robot having multiple degrees of freedom, the robot including a base, an end effector, and an arm coupled by a joint, the kinematic calibration system including a control system for kinematic calibration of the robot, the control system configured to perform the kinematic calibration methods described in the embodiments of the present application.
The details of one or more embodiments of the invention are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the invention will be apparent from the description and drawings, and from the claims.
Drawings
These and other features of this application will be more readily understood from the following detailed description of the various aspects of the application taken in conjunction with the accompanying drawings that depict various embodiments of the application, in which:
FIG. 1 is a schematic view of a robot according to one embodiment of the present application;
FIG. 2 is a flow chart of a method of robot kinematic calibration according to one embodiment of the present application;
FIG. 3 is a schematic diagram of a robotic kinematic calibration system according to one embodiment of the present application.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.
In the present invention, terms such as "mounted," "connected," "secured," "disposed," and the like are to be construed broadly unless otherwise specifically defined and limited. For example, unless expressly defined otherwise, "connected" may be either fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. For another example, when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The application provides a kinematic calibration method of a multi-degree-of-freedom robot, which comprises a base, an end effector and an arm connected through a joint. The calibration method comprises the following steps: locking a portion of the plurality of degrees of freedom by limiting the base and end effector of the robot to implement the degree of freedom limitation; moving the robot to perform a first action and acquiring a corresponding first set of data associated with the joint angle and a first actual movement of the end effector; calculating a first theoretical motion of the end effector based on the first set of data and the initial kinematic parameters; and updating the initial kinematic parameters of the robot based on the first theoretical motion and the first actual motion to obtain first updated kinematic parameters.
In one embodiment, as shown in fig. 1, a robot 10 includes a base 11 at one end, an end effector 12 at the other end, a plurality of arms 13, and joints 14 connecting adjacent bases 11, arms 13, and end effectors 12. End effector 12 may include a variety of forms, such as a gripper or the like. Since in this example there are seven joints of the robot 10, it is a seven-axis robot with seven degrees of freedom, and thus also constitutes a redundant robot that can perform operations in three-dimensional cartesian coordinate system space.
Referring to fig. 2, according to some embodiments of the present application, a method for performing a kinematic calibration of a robot includes:
s1: the degree of freedom restriction is implemented by restricting a base and an end effector of the robot to lock a portion of the plurality of degrees of freedom.
In one embodiment, the robot is assumed to be an n-axis robot having n degrees of freedom, where n is a natural number of 2 or more. Locking a portion of the plurality of degrees of freedom includes locking n-1 degrees of freedom to move the robot to perform a zero-space motion. Null-space motion refers to the movement of other parts of the robot, such as the arm and joints, without movement of the end effector. By way of example, with a robot 10 having seven degrees of freedom, the locking base 11 and end effector 12 may lock six degrees of freedom, with the remaining one degree of freedom available for the robot 10 to perform zero-space motion. In some embodiments, locking of the base 11 and end effector 12 may be achieved by securing the two to the same or different fixtures.
In other embodiments, the degree of freedom to be locked may be reduced by other ways of restraining the base 11 and end effector 12. For example, the end effector 12 is allowed to move in multiple directions, thereby giving the robot 10 more degrees of freedom of movement during calibration. The number of directions is here smaller than the number of degrees of freedom of the robot 10.
For example, in one example, end effector 12 is configured to move along a linear track in a fixed linear direction. There is one more degree of freedom for the robot 10 to move relative to the case where the end effector is fixed. For a seven degree of freedom robot 10, two degrees of freedom are left available for movement of the robot 10.
In another example, end effector 12 is configured to rotate about an axis of a bearing. In this case, there is also one more degree of freedom for the robot 10 to move relative to the case where the end effector is fixed. As for a robot 10 with seven degrees of freedom, two degrees of freedom are also left available for movement of the robot 10.
In another example, end effector 12 is configured to move in one plane. In this case, two more degrees of freedom are available for movement of the robot 10 relative to the case where the end effector is fixed. As for a robot 10 with seven degrees of freedom, three degrees of freedom remain for movement of the robot 10.
In another example, the end effector 12 is configured to rotate about the center of the ball joint. Three more degrees of freedom are available for movement of the robot relative to the case where the end effector is fixed. As for a robot 10 with seven degrees of freedom, four degrees of freedom are left available for movement by the robot.
S2: the robot is moved to perform a first action and a corresponding first set of data associated with the joint angle and a first actual movement of the end effector is acquired.
For example, for a robot 10 having seven degrees of freedom, with its base 11 fixed to the end effector 12, the robot 10 may now be caused to perform zero-space motion. The first motion is then a first zero-space motion, and the first actual motion is essentially zero motion, i.e., the end effector is not actually moving as a result of being fixed.
In examples where the end effector 12 is not fully stationary, the first actual movement includes movement of the end effector 12 in respective degrees of freedom, such as angle of rotation, direction of movement, travel of movement, and the like.
In one embodiment, the robot 10 may be controlled to perform a first action, for example, based on instructions controlling the movement of the joint 14 to control the robot 10 to perform the first action. In another embodiment, the robot 10 may be moved by an external force to perform the first action. For example by manually actuating the movement of the robot 10 to perform the first action. The first action may be a predetermined action or a relatively random action, and may implement a process of parameter calibration of collected data to be described later.
In one embodiment, all of the joints 14 of the robot 10 may be moved, i.e., a change in joint angle may be produced. In other embodiments, only a portion of the joints 14 may be moved, for example, where the robot 10 leaves multiple degrees of freedom available for movement.
The first set of data associated with the joint angle may be either direct joint angle data or indirect data to reflect the joint angle. Based on these angle data, the movement of the individual arms 13 connected to the joints 14, for example the pose of the arms 13 after movement, can be calculated at the same time. The first set of data can thus be used for the calibration of the kinematic parameters to be described later.
S3: a first theoretical motion of the end effector is calculated based on the first set of data and the initial kinematic parameters.
By theoretical motion is meant the motion that the end effector should theoretically be able to achieve based on the initial kinematic parameters. The motion of the end effector can be calculated based on the joint angle data and the initial kinematic parameters. The initial kinematic parameters can be data set when the robot leaves the factory, or can be final calibration data after the previous calibration. In actual situations, the theoretical motion calculated from the initial kinematic parameters is not consistent with the motion actually generated due to various errors, such as parameter variations caused by wear of parts, etc.
In one embodiment, the first theoretical motion of end effector 12 is calculated using a forward kinematic method, i.e., the theoretical motion of end effector 12 is calculated using a forward kinematic equation based on joint parameters. Forward kinematics is prior art in the art and is not described in detail herein.
S4: the initial kinematic parameters of the robot are updated based on the first theoretical motion and the first actual motion to obtain first updated kinematic parameters.
As previously described, there is an inconsistency between the theoretical and actual motions calculated based on the initial kinematic parameters, and thus the kinematic parameters of the robot 10 need to be recalibrated so that the motion calculated by forward kinematics coincides with the actual motion. In this way, the pose of the end effector 12, including orientation and position, may be derived from the joint data, or the required joint motion data may be calculated inversely from the desired pose of the end effector 12 to control the motion of the joint 14.
In one embodiment, the updating of the kinematic parameters may be performed by a suitable algorithm. For example, a Pair-wise distance (Pair-wise distance) method is used to converge the calculated value to the actual value, thereby obtaining the first updated kinematic parameter.
In one embodiment, the acquired first updated kinematic parameters may be directly used as the calibration kinematic parameters of the robot 10.
In other embodiments, multiple calibrations may be performed and multiple sets of updated kinematic parameters may be obtained, such that the final calibrated kinematic parameters of the robot 10 are determined in combination with the updated kinematic parameters.
For example, in one embodiment, the calibration method further comprises: moving the robot 10 to perform a second action and correspondingly acquiring a second set of data associated with the joint angle and a second actual movement of the end effector 12, wherein the second action is different from the first action; calculating a second theoretical motion of end effector 12 based on the second set of data and the initial kinematic parameters; updating the initial kinematic parameters according to the second theoretical motion and the second actual motion to obtain second updated kinematic parameters.
The above process of acquiring the second updated kinematic parameters is similar to the process of acquiring the first updated kinematic parameters described above, except that the actions of the robot 10 are changed. For example, for zero-space motion, some or all of the joint 14 or arm 13 motion is changed.
By changing the motion of the robot 10 to perform the kinematic calibration again, the final calibration kinematic parameter can be calculated comprehensively based on the results of the two calibrations, for example, an average value of the two parameters is used as the final calibration kinematic parameter.
In addition, in another embodiment, in the second calibration process, the first updated kinematic parameter may be used as an initial kinematic parameter, and a similar procedure may be used for recalibration, so as to obtain a second updated kinematic parameter, and the second updated kinematic parameter is used as a calibration kinematic parameter of the robot 10.
In embodiments where the base 11 of the robot 10 and the end effector 12 are locked such that the robot 10 performs zero-space motion, the calibration method may further include: moving and locking end effector 12 to a second position different from the first position; moving the robot 10 to perform a third zero-space movement and correspondingly acquiring a third set of data associated with the joint angle and a third actual movement of the end effector 12; calculating a third theoretical motion of the end effector 12 based on the third set of data and the initial kinematic parameters; and updating the initial kinematic parameters according to the third theoretical motion and the third actual motion to obtain third updated kinematic parameters, and determining the calibration kinematic parameters based on the first updated kinematic parameters and the third updated kinematic parameters.
The above process of acquiring the third updated kinematic parameters is similar to the process of acquiring the first updated kinematic parameters described above, except that the position of the end effector 12 of the robot 10 is changed.
By changing the position of the end effector 12 to perform calibration again, the final calibration kinematic parameters may be determined comprehensively based on the results of the two calibrations, for example, using the average of the two as the final calibration kinematic parameters. In another embodiment, in the second calibration process, the first updated kinematic parameter may be used as an initial kinematic parameter, and a similar procedure is used for recalibration, so as to obtain a third updated kinematic parameter, and the third updated kinematic parameter is used as a final calibrated kinematic parameter.
Naturally, the first updated kinematic parameter, the second updated kinematic parameter and the third updated kinematic parameter may be integrated, so as to finally determine the calibration kinematic parameter. For example, an average of the three is used as the final calibration kinematic parameter.
It will be appreciated that the above-mentioned "second update kinematic parameter" and "third update kinematic parameter" are merely names made for convenience of description, and are not necessarily logically dependent. For example, the acquisition of the third updated kinematic parameter is not dependent on the second updated kinematic parameter. It will be appreciated, of course, that the third updated kinematic parameter may be obtained based on the second updated kinematic parameter, such as by using the second updated kinematic parameter as the initial kinematic parameter, changing the position of the end effector 12, and recalibrating to obtain the third updated kinematic parameter as the final calibrated kinematic parameter.
The application also provides a kinematic calibration system of the robot with multiple degrees of freedom. Referring to fig. 3, the kinematic calibration system includes a control system 20 to kinematically calibrate the robot 10. The control system 20 may be various computer systems having processors. It will be appreciated that the control system 20 may be the control system of the robot 10 itself or may be a separate system for kinematic calibration. The control system 20 is configured to perform the kinematic calibration methods described in the above embodiments, such as controlling the movement of the robot 10 to perform actions and obtain corresponding data associated with joint angles and movements of the end effector 12; calculating a theoretical motion of the end effector 12 based on the data and the initial kinematic parameters; and updating the initial kinematic parameters of the robot 10 based on the theoretical motion and the actual motion to obtain updated kinematic parameters. Since the methods of the embodiments have been described in detail above, the detailed descriptions thereof are omitted.
According to the kinematic calibration method and the calibration system of the embodiments of the application, a large number of external sensors are not required to be used for acquiring parameters for calibration, so that the system and the flow are simplified, and the calibration cost is reduced. In addition, the kinematic calibration method and the calibration system based on the embodiments of the application can facilitate multiple calibration or superposition calibration, so that the kinematic calibration method and the calibration system have better kinematic calibration precision and calibration efficiency, and simultaneously the calibration process has greater flexibility.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (16)
1. A method of kinematic calibration of a robot having multiple degrees of freedom, the robot comprising a base, an end effector, and an arm connected by an articulation, the method comprising calibrating the robot one or more times, each of the one or more calibrations comprising:
limiting the base and the end effector to lock a portion of a plurality of degrees of freedom to implement a degree of freedom limit;
moving the robot to perform an action and acquiring corresponding data associated with the joint angle and corresponding actual movement of the end effector, respectively;
calculating a theoretical motion of the end effector from the data associated with the joint angle and the initial kinematic parameters of the robot;
updating the initial kinematic parameters according to the theoretical motion and the actual motion to determine updated kinematic parameters.
2. The method of claim 1, wherein the one or more calibrations comprise a plurality of calibrations, at least one of the plurality of calibrations comprising:
and taking the updated kinematic parameters determined in the last calibration as initial kinematic parameters in the current calibration.
3. The method according to claim 2, wherein the method further comprises:
and taking the updated kinematic parameters determined in the last calibration as the calibrated kinematic parameters.
4. The method of claim 1, wherein the one or more calibrations comprise a plurality of calibrations that employ the same initial kinematic parameters, the method further comprising:
and determining the calibrated kinematic parameters based on the updated kinematic parameters respectively determined in the plurality of calibrations.
5. The method of claim 1, wherein the updating the initial kinematic parameters based on the theoretical motion and the actual motion to determine updated kinematic parameters comprises updating the initial kinematic parameters using a pairwise distance method.
6. The method of claim 1, wherein moving the robot to perform one action comprises causing all of the joints of the robot to change in joint angle to perform the first action.
7. The method of claim 1, wherein the robot comprises an n-axis robot having n degrees of freedom, where n is a natural number greater than or equal to 2, and wherein in at least one of the one or more calibrations, the locking a portion of the plurality of degrees of freedom comprises locking n-1 degrees of freedom so that the robot is capable of moving in its null space, and wherein the moving the robot to perform an action comprises moving the robot to perform a null space movement.
8. The method of claim 7, wherein the robot is a redundant robot having seven degrees of freedom, the locking n-1 degrees of freedom comprising locking the base and the end effector, thereby locking six degrees of freedom.
9. The method of claim 8, wherein the one or more calibrations comprise a plurality of calibrations in each of which n-1 degrees of freedom are locked, and in which the end effector is locked in different positions.
10. The method of claim 8, wherein the base and the end effector are locked to the same fixture.
11. The method of claim 1, wherein the locking a portion of the multiple degrees of freedom comprises locking the base while allowing the end effector to move in a plurality of directions, the number of directions being less than the number of degrees of freedom of the robot.
12. The method of claim 11, wherein the end effector is configured to move along a linear track in a fixed linear direction.
13. The method of claim 11, wherein the end effector is configured to rotate about an axis of a bearing.
14. The method of claim 11, wherein the end effector is configured to move in a plane.
15. The method of claim 11, wherein the end effector is configured to rotate about a center of a ball joint.
16. A kinematic calibration system for a robot with multiple degrees of freedom, the robot comprising a base, an end effector and an arm connected by an articulation, characterized in that the kinematic calibration system comprises a control system for kinematic calibration of the robot, the control system being configured to perform the kinematic calibration method of any one of claims 1-15.
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| CN202111305545.XA CN113894791B (en) | 2021-11-05 | 2021-11-05 | Kinematic calibration method and calibration system for multi-degree-of-freedom robot |
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| US4552502A (en) * | 1983-10-07 | 1985-11-12 | Nordson Corporation | Apparatus for locking the wrist links of a work robot in the same respective relative positions to facilitate calibration of the wrist link position transducers thereof |
| WO2009147832A1 (en) * | 2008-06-06 | 2009-12-10 | パナソニック株式会社 | Robot, robot control device, control method and control program |
| JP6220877B2 (en) * | 2012-08-15 | 2017-10-25 | インテュイティブ サージカル オペレーションズ， インコーポレイテッド | System and method for joint motion cancellation using zero space |
| CN104655167B (en) * | 2013-11-20 | 2017-02-01 | 北京信息科技大学 | Calibration method of angle encoder eccentricity and structure parameters of joint coordinate measuring machine |
| CN107309884B (en) * | 2016-04-27 | 2023-03-21 | 上海捷勃特机器人有限公司 | Robot calibration system and method |
| CN106625594A (en) * | 2016-12-16 | 2017-05-10 | 南京熊猫电子股份有限公司 | Robot zero position calibration method based on electromagnetic encoders |
| CN112847341B (en) * | 2020-12-25 | 2024-02-02 | 中国科学院宁波材料技术与工程研究所 | Industrial robot step-by-step calibration system and method |
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