TW202146187A - Coordinate calibration method of manipulator - Google Patents
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Description
本案係關於一種座標校正方法,尤指一種機器手臂的座標校正方法。This case is about a coordinate correction method, especially a coordinate correction method for a robotic arm.
如今,機器人在各個產業上的應用愈加廣泛。機器人在運作過程中可能受載台移動而往返於不同的場域或工作站,而非固定運作 於特定之工作站。於此情況下,若機器人移動至任一工作站時,均需重新建立座標系並進行教點,以確保工作精度。然而,重複建立座標系及教點將耗費大量時間,導致工作效率降低,且難以確保每次確立之座標系均完全相同,可能使得機器手臂之工作精度下降。Today, robots are used more and more widely in various industries. During the operation, the robot may travel to and from different fields or workstations due to the movement of the carrier, rather than fixedly operating at a specific workstation. In this case, if the robot moves to any workstation, it needs to re-establish the coordinate system and teach points to ensure the work accuracy. However, it will take a lot of time to repeatedly establish the coordinate system and teach points, which will reduce the work efficiency, and it is difficult to ensure that the coordinate system established each time is exactly the same, which may reduce the working accuracy of the robot arm.
因此,如何發展一種可改善上述習知技術之機器手臂的座標校正方法,實為目前迫切之需求。Therefore, it is an urgent need to develop a coordinate calibration method that can improve the above-mentioned conventional robot arm.
本案之目的在於提供一種機器手臂的座標校正方法,其係通過三維測量裝置建立工作空間之參考座標系,在機器手臂暫離後回到該工作空間時,通過三維測量裝置獲取實際座標系,並依據參考座標系與實際座標系間之差異對機器手臂進行調整,使機器手臂仍維持運作於參考座標系中。藉此,無需重複建立座標系及進行教點,可提升工作效率,且由於機器手臂始終運作於參考座標系中,故可有效確保機器手臂的高精度。The purpose of this case is to provide a coordinate correction method for a robot arm, which establishes a reference coordinate system of the workspace through a three-dimensional measuring device, and obtains the actual coordinate system through the three-dimensional measuring device when the robot arm returns to the workspace after temporarily leaving. Adjust the robot arm according to the difference between the reference coordinate system and the actual coordinate system, so that the robot arm still operates in the reference coordinate system. In this way, there is no need to repeatedly establish a coordinate system and teach points, which can improve work efficiency, and because the robot arm always operates in the reference coordinate system, the high precision of the robot arm can be effectively ensured.
為達上述目的,本案提供一種機器手臂的座標校正方法,其中機器手臂設置於可動載台上及運作於至少一工作空間中,工作空間中設置有三維測量裝置,三維測量裝置係架構於測量機器手臂的位置。座標校正方法包含步驟:(a) 在機器手臂受可動載台移動而至工作空間中運作時,依據移動命令控制機器手臂進行移動,並利用三維測量裝置取得機器手臂所到達的至少三個參考定位點;(b) 依據至少三個參考定位點計算取得旋轉矩陣及平移向量,並依據旋轉矩陣及平移向量計算取得相應之參考座標系;(c) 機器手臂受可動載台移動而離開工作空間,而在機器手臂回到工作空間中運作時,依據移動命令控制機器手臂進行移動,並利用三維測量裝置取得機器手臂所到達的至少三個實際定位點;(d) 依據至少三個實際定位點計算取得旋轉矩陣及平移向量,進而計算取得相應之實際座標系,再通過比較參考座標系及實際座標系的旋轉矩陣及平移向量,計算取得座標補正資訊;以及 (e) 依據座標補正資訊調整機器手臂,使機器手臂維持運作於參考座標系。In order to achieve the above purpose, the present application provides a coordinate calibration method for a robotic arm, wherein the robotic arm is arranged on a movable stage and operates in at least one workspace, and a three-dimensional measurement device is arranged in the workspace, and the three-dimensional measurement device is constructed on the measuring machine. position of the arm. The coordinate correction method includes the steps: (a) when the robot arm is moved by the movable stage to operate in the working space, control the robot arm to move according to the movement command, and use a three-dimensional measuring device to obtain at least three reference positions reached by the robot arm (b) Calculate the rotation matrix and translation vector according to at least three reference positioning points, and obtain the corresponding reference coordinate system according to the rotation matrix and translation vector; (c) The robot arm is moved by the movable stage to leave the workspace, When the robot arm returns to the working space, the robot arm is controlled to move according to the movement command, and the three-dimensional measuring device is used to obtain at least three actual positioning points reached by the robot arm; (d) Calculated according to the at least three actual positioning points Obtain the rotation matrix and translation vector, and then calculate and obtain the corresponding actual coordinate system, and then calculate and obtain the coordinate correction information by comparing the rotation matrix and translation vector of the reference coordinate system and the actual coordinate system; and (e) Adjust the robot arm according to the coordinate correction information , to keep the robot arm operating in the reference coordinate system.
體現本案特徵與優點的一些典型實施例將在後段的說明中詳細敘述。應理解的是本案能夠在不同的態樣上具有各種的變化,其皆不脫離本案之範圍,且其中的說明及圖示在本質上係當作說明之用,而非架構於限制本案。Some typical embodiments embodying the features and advantages of the present case will be described in detail in the description of the latter paragraph. It should be understood that this case can have various changes in different aspects, all of which do not depart from the scope of this case, and the descriptions and diagrams therein are essentially for illustration purposes rather than limiting the present case.
為了更易於了解本案技術,以下將以第1圖及第2圖示例說明機器手臂、可動載台及三維測量裝置與其所在的工作空間的具體態樣,然而須注意的是,工作空間及三維測量裝置的可能實施態樣並不以此為限,僅需確保三維測量裝置之設置位置維持固定,且可在工作空間中量測機器手臂之位置/座標即可In order to make it easier to understand the technology of this case, the following will use Figures 1 and 2 to illustrate the specific aspects of the robot arm, the movable stage, the three-dimensional measurement device and the workspace where they are located. However, it should be noted that the workspace and the three-dimensional The possible implementation of the measuring device is not limited to this, it only needs to ensure that the setting position of the three-dimensional measuring device remains fixed, and the position/coordinates of the robot arm can be measured in the working space.
第1圖為本案較佳實施例之機器手臂、工作空間及三維測量裝置的立體結構示意圖,第2圖為第1圖之三維測量裝置的立體結構示意圖。如第1圖及第2圖所示,其中係以工作平台2代表三維測量裝置3所在的工作空間,三維測量裝置3固設於工作平台2上,機器手臂1設置於可動載台5上,且機器手臂1受可動載台5帶動而與之同步移動。當然,於實際應用中,工作平台2上亦將設置機器手臂1在運作過程中相互動的元件或裝置,此處為便於說明建立座標過程而僅於圖中示出工作平台2上之三維測量裝置3。機器手臂1可為例如但不限於六軸型機器手臂或SCARA機器手臂。三維測量裝置3係架構於測量機器手臂1的位置/座標,且包含球形體31、基座32及三個測量模組33。球形體31可拆卸地組接於機器手臂1,且受機器手臂1帶動而同步移動或轉動。三個測量模組33均設置於基座32上,其中每一測量模組33包含測量結構34及位置感測器。三個測量模組33的三個測量結構34分別於X軸、Y軸及Z軸方向上移動,且均與球形體31接觸。位置感測器係架構於在對應之測量結構34被球形體31推動時感測測量結構34的移動距離,其中位置感測器可為例如但不限於由光學尺所構成。FIG. 1 is a schematic three-dimensional structure diagram of a robot arm, a work space and a three-dimensional measuring device according to a preferred embodiment of the present invention, and FIG. 2 is a three-dimensional structure schematic diagram of the three-dimensional measuring device of FIG. 1 . As shown in Figures 1 and 2, the
請參閱第3圖,第3圖係為本案較佳實施例之機器手臂的座標校正方法的流程示意圖。首先,在機器手臂1受可動載台5移動至工作空間(例如:工作平台2)中運作時,依據移動命令控制機器手臂1進行移動,並利用三維測量裝置3取得機器手臂1所到達的至少三個參考定位點 (步驟S1)。移動命令可例如但不限於包含控制機器手臂1以不同的操作動作進行至少三次移動。接著,依據該至少三個參考定位點建立參考座標系(步驟S2)。接著,機器手臂1受可動載台5移動而離開工作空間,而在機器手臂1回到工作空間中運作時,依據移動命令控制機器手臂1進行移動,並利用三維測量裝置3取得機器手臂1所到達的至少三個實際定位點 (步驟S3),其中實際定位點的數量與參考定位點的數量相同。而後,依據至少三個實際定位點取得實際座標系,並依據參考座標系及實際座標系計算取得座標補正資訊 (步驟S4)。最後,依據座標補正資訊調整機器手臂1,使機器手臂1維持運作於參考座標系 (步驟S5)。Please refer to FIG. 3 . FIG. 3 is a schematic flowchart of the coordinate calibration method of the robot arm according to the preferred embodiment of the present invention. First, when the
由此可知,在機器手臂1初次移動至工作空間時,係建立參考座標系。在建立參考座標系後,即便機器手臂1移動至其他工作空間或場域,在機器手臂1回到已建立參考座標系之工作空間時,可通過比較參考座標系及實際座標系迅速調整機器手臂1,而使機器手臂1仍可運作於原先建立之參考座標系中,無需重新建立座標系及進行教點,藉此,可大幅機器手臂1之工作效率及精度。It can be seen from this that when the
請再參閱第1至3圖所示,上述三個測量結構34係分別沿對應各個軸向(X軸、Y軸及Z軸)的可移動距離共同定義測量空間,於座標校正方法之步驟S1及步驟S3中,球形體31受機器手臂1帶動而於測量空間中移動,三個位置感測器的感測結果反映球形體31的三維座標。於一些實施例中,座標校正方法之步驟S1至步驟S3中的參考定位點及實際定位點為三維測量裝置3所測量的球形體31之球心的三維座標。Please refer to FIGS. 1 to 3 again, the above-mentioned three
上述球形體31可拆卸地組接於機器手臂1,因此機器手臂1可僅在有建立或校正座標系之需求時組接於球形體31,以便於執行第3圖所示之座標校正方法。更甚者,機器手臂1可僅在需量測定位點時組接於球形體31,具體而言,機器手臂1可僅於座標校正方法之步驟S1至步驟S3中組接於球形體31。The
於一些實施例中,機器手臂1組接於工具4,工具4係受機器手臂1帶動而運作於工作平台2上,其中,當機器手臂1組接於工具4的情況下,機器手臂1亦可同時組接於三維測量裝置3的球形體31。藉此,當機器手臂1進行座標系校正時,無需在校正前拆除工具4,故在校正完成後,無需重新安裝工具4並進行相應調校,從而可節省校正工序及耗費時間,間接提升機器手臂1的工作效率In some embodiments, the
以下將示例說明如何取得座標系及座標補正資訊。The following example shows how to obtain the coordinate system and coordinate correction information.
當機器手臂1依據移動命令進行移動時,可利用三維測量裝置3測量取得三個參考定位點的三維座標,通過等式 (1)、(2) 及 (3),可依據三個參考定位點P0
、Px
及Py
取得X軸、Y軸及Z軸之單位向量、及,據此,機器手臂1之旋轉矩陣R如等式 (4) 所示。(1)(2)(3)(4)
而後可根據旋轉矩陣R計算取得平移向量,如等式 (5) 所示,(5)
其中Px0
、Py0
及Pz0
為機器手臂1之檔點位置。藉此,可依據旋轉矩陣及平移向量建立參考座標系。於一些實施例中,機器手臂1自參考定位點P0
沿X軸移動以獲取參考定位點Px
,機器手臂1自參考定位點P0
沿Y軸移動以獲取參考定位點Py
。When the
而若機器手臂1移動至其他工作空間或場域,在機器手臂1回到已建立參考座標系之工作空間時,係控制機器手臂1依據移動命令移動,並利用三維測量裝置3測量取得三個實際定位點的三維座標。參照前述之等式(1)至(5),可計算取得當下機器手臂1之旋轉矩陣及平移向量。通過等式 (6) 及 (7),可計算取得旋轉矩陣變化量及平移向量變化量。(6)(7)If the
將旋轉矩陣變化量及平移向量變化量作為座標補正資訊,並據此對機器手臂1進行調整,即可使機器手臂1運作於原先建立之參考座標系中,而無需令機器手臂1運作於實際座標系中並重新進行教點。Use the rotation matrix change and translation vector change as the coordinate correction information, and adjust the
綜上所述,本案提供一種機器手臂的座標校正方法,其係通過三維測量裝置建立工作空間之參考座標系,在機器手臂暫離後回到該工作空間時,通過三維測量裝置獲取實際座標系,並依據參考座標系與實際座標系間之差異對機器手臂進行調整,使機器手臂仍維持運作於參考座標系中。藉此,無需重複建立座標系及進行教點,可提升工作效率,且由於機器手臂始終運作於參考座標系中,故可有效確保機器手臂的高精度。另外,在機器手臂組接於工具的情況下,機器手臂亦可同時組接於三維測量裝置的球形體。藉此,當機器手臂進行校正時,無需在校正前拆除工具,故在校正完成後,無需重新安裝工具對進行相應調校,從而可節省校正工序及耗費時間,間接提升機器手臂的工作效率。To sum up, this case provides a coordinate correction method for a robotic arm, which establishes a reference coordinate system of a workspace through a three-dimensional measuring device, and obtains the actual coordinate system through a three-dimensional measuring device when the robotic arm returns to the working space after temporarily leaving. , and adjust the robot arm according to the difference between the reference coordinate system and the actual coordinate system, so that the robot arm still operates in the reference coordinate system. In this way, there is no need to repeatedly establish a coordinate system and teach points, which can improve work efficiency, and because the robot arm always operates in the reference coordinate system, the high precision of the robot arm can be effectively ensured. In addition, when the robot arm is connected to the tool, the robot arm can also be connected to the spherical body of the three-dimensional measuring device at the same time. In this way, when the robot arm is calibrated, it is not necessary to remove the tool before calibration. Therefore, after the calibration is completed, there is no need to reinstall the tool to adjust accordingly, which can save the calibration process and time-consuming, and indirectly improve the work efficiency of the robot arm.
須注意,上述僅是為說明本案而提出之較佳實施例,本案不限於所述之實施例,本案之範圍由如附專利申請範圍決定。且本案得由熟習此技術之人士任施匠思而為諸般修飾,然皆不脫如附專利申請範圍所欲保護者。It should be noted that the above-mentioned preferred embodiments are only proposed to illustrate the present case, and the present case is not limited to the described embodiments, and the scope of the present case is determined by the scope of the appended patent application. And this case can be modified by Shi Jiangsi, a person who is familiar with this technology, but none of them can be protected as attached to the scope of the patent application.
1:機器手臂 2:工作平台 3:三維測量裝置 31:球形體 32:基座 33:測量模組 34:測量結構 4:工具 5:可動載台 S1、S2、S3、S4、S5:座標校正方法的步驟1: Robot arm 2: Work Platform 3: 3D measuring device 31: Sphere 32: Pedestal 33: Measurement module 34: Measuring Structure 4: Tools 5: Movable stage S1, S2, S3, S4, S5: steps of the coordinate correction method
第1圖為本案較佳實施例之機器手臂、工作空間及三維測量裝置的立體結構示意圖。FIG. 1 is a schematic three-dimensional structure diagram of a robot arm, a work space and a three-dimensional measurement device according to a preferred embodiment of the present invention.
第2圖為第1圖之三維測量裝置的立體結構示意圖。FIG. 2 is a schematic three-dimensional structure diagram of the three-dimensional measuring device of FIG. 1 .
第3圖係為本案較佳實施例之機器手臂的座標校正方法的流程示意圖。FIG. 3 is a schematic flowchart of the coordinate calibration method of the robot arm according to the preferred embodiment of the present invention.
S1、S2、S3、S4、S5:座標校正方法的步驟S1, S2, S3, S4, S5: steps of the coordinate correction method
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