CN109719757A - Teaching Multi-freedom-degreemanipulator manipulator end pose measuring method - Google Patents
Teaching Multi-freedom-degreemanipulator manipulator end pose measuring method Download PDFInfo
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- CN109719757A CN109719757A CN201910172802.3A CN201910172802A CN109719757A CN 109719757 A CN109719757 A CN 109719757A CN 201910172802 A CN201910172802 A CN 201910172802A CN 109719757 A CN109719757 A CN 109719757A
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Abstract
本发明公开了一种教学用多自由度机械手末端位姿测量方法，①建立多关节机械手的简化模型，简化模型基于坐标刻度纸零点即绝对坐标系的原点设置，机械手指末端设为相对坐标系的原点；②三只激光笔固定在相对坐标系原点，两两激光笔之间的夹角均相等；③三条激光照射到坐标刻度纸上，测出三个照射点于绝对坐标系下的坐标值，利用3个坐标值和激光笔之间的夹角，运用正弦定理建立三个关于机械手指末端坐标点的约束方程，求解出机械手指末端的坐标值，这个坐标值为机械手指末端在绝对坐标系下的位置点；④、在绝对坐标系和相对坐标系之间建立用三个欧拉角表示的旋转变换矩阵，此旋转变换矩阵表示运动过程中每个时刻下机械手指末端的姿态。
The invention discloses a method for measuring the position and attitude of the end of a multi-degree-of-freedom manipulator for teaching. (1) A simplified model of a multi-joint manipulator is established. The simplified model is set based on the zero point of coordinate scale paper, that is, the origin of the absolute coordinate system, and the end of the manipulator is set as the relative coordinate system. 2. The three laser pens are fixed at the origin of the relative coordinate system, and the angle between the two laser pens is equal; 3. The three lasers are irradiated on the coordinate scale paper, and the coordinates of the three irradiated points in the absolute coordinate system are measured. value, use the angle between the three coordinate values and the laser pointer, use the sine theorem to establish three constraint equations about the coordinate points of the end of the robot finger, and solve the coordinate value of the end of the robot finger. This coordinate value is the absolute value of the end of the robot finger. The position point in the coordinate system; 4. A rotation transformation matrix represented by three Euler angles is established between the absolute coordinate system and the relative coordinate system. This rotation transformation matrix represents the posture of the end of the robot finger at each moment during the movement process.
Description
Technical field
The present invention relates to robot movement control technology, specially a kind of teaching is surveyed with Multi-freedom-degreemanipulator manipulator end pose
Amount method.
Background technique
The Multi-freedom-degreemanipulator manipulator of servo driving is a kind of mechanical device of low cost, because having structure simple, light small
Skilful feature and the favor imparted knowledge to students by robot classroom practice.
The manipulator of servo driving is limited to the requirement of cost, volume and portability as a kind of teaching demonstration utensil,
Pose measurement sensor is usually not installed in its mechanical finger end, such as: more mesh ccd sensors, inertance element, thus it is this
The motion control theory category opened loop control of manipulator.
Faculty is carrying out machine in teaching demonstration robot kinematics, the relevant teaching knowledge point of inverse kinematics or student
When the control of tool hands movement is practiced, the pose of mechanical finger end is mainly the geometric parameter and kinematic parameter for passing through manipulator joint
It derives and goes out, but such methods are easy to be influenced by manipulator joint gap and transmission arm deformation etc., and manipulator joint
Number is more, causes error bigger, is difficult really to determine the attained pose of mechanical finger end.
From the point of view of the principle of experiment verifiability, such result can generate certain shadow to robot classroom teaching effect
It rings.
Summary of the invention
In view of the deficiencies of the prior art, the invention proposes a kind of teaching Multi-freedom-degreemanipulator manipulator end pose measurement sides
Method.
It is able to solve the prior art insufficient teaching Multi-freedom-degreemanipulator manipulator end pose measuring method, is carved using coordinate
Spend the mechanical finger end pose of paper and three laser pens as auxiliary tool measurement multi-joint manipulator, measurement method are as follows:
1, simplified model, absolute coordinate system and the relative coordinate system of multi-joint manipulator are established, the simplified model is based on
Coordinate scale paper reset, the coordinate scale paper zero point are the origin of absolute coordinate system, the manipulator of multi-joint manipulator
Refer to that end is set as the origin of relative coordinate system.
2, the laser pen of three oblique lower sections is fixed on the origin i.e. mechanical finger end of relative coordinate system, two-by-two laser pen
Between angle by measurement obtain.
3, in the laser irradiation to coordinate scale paper that three laser pens issue, three points of irradiation are measured under absolute coordinate system
Coordinate value can establish three about manipulator with sine using this 3 angles between coordinate value and laser pen
The constraint equation for referring to ending coordinates point, solves the coordinate value of mechanical finger end, this coordinate value is that mechanical finger end exists
Location point and manipulator under the absolute coordinate system most important output order in motion control programming, as feedback signal
Input control system.
4, the rotation transformation square for establishing one between absolute coordinate system and relative coordinate system with three Eulerian angles to indicate
Battle array, the rotational transformation matrix are used to indicate to inscribe when multi-joint manipulator is each during the motion the appearance of mechanical finger end
State, this posture input instruction, completing as required for controlling multi-joint manipulator for task as important movement programming
It goes to move, inputs to control section as the signal in feedback mechanism.
Angle between laser pen can be adjusted according to the size of coordinate scale paper, it is ensured that laser irradiation is in coordinate
On scale paper.
Conventionally, the angle between laser pen two-by-two is disposed as equal.
A kind of structure of the multi-joint manipulator includes being set to the vertical arm of coordinate scale paper zero point, in the vertical arm
First cursor is set, and first cursor is equipped with the second cursor, and the second cursor is equipped with third cursor, described
Third cursor is equipped with the mechanical finger of rotation.
Beneficial effects of the present invention:
1, teaching of the present invention is installed three in mechanical finger end with Multi-freedom-degreemanipulator manipulator end pose measuring method and is swashed
Light pen, the angle between three laser pens can be according to the big minor adjustment of pedestal scale paper, and the laser that enable laser pen to emit is complete
It projects on coordinate scale paper entirely, the coordinate of subpoint can directly be read on coordinate scale paper.
2, the present invention provides a kind of method of Converse solved mechanical finger end pose, such Converse solved method is compared
Compared with manipulator joint is directly passed through, gradually Derivation mechanical finger end pose process is simply very much, and to measurement method
Required mechanical structure and equipment is simple.
3, the present invention brings great convenience to teaching experiment, easy to operate understandable.
Detailed description of the invention
Fig. 1 is the coordinates modeling schematic diagram of one embodiment of the present invention.
Fig. 2 is that the coordinate of three laser rays and the tetrahedron of coordinate scale paper formation under relative coordinate system is illustrated in Fig. 1
Figure.
Fig. 3 is the structural schematic diagram of multi-joint manipulator in Fig. 1.
Figure number mark: 1, coordinate scale paper；2, multi-joint manipulator；3, vertical arm；4, the first cursor；5, the second rotation
Arm；6, third cursor；7, mechanical finger；8, bottom plate；9, turntable；10, the first steering engine；11, the second steering engine；12, third steering engine.
Specific embodiment
Illustrated embodiment is described further technical solution of the present invention with reference to the accompanying drawing.
The present invention imparts knowledge to students with Multi-freedom-degreemanipulator manipulator end pose measuring method, is to use coordinate scale paper 1 and three
End pose of the laser pen as the mechanical finger 7 of auxiliary tool measurement multi-joint manipulator 2, measurement method are as follows:
1, the basic model of whole system is established, as shown in Figure 1, model is mainly made of three parts: 1. multi-joint is mechanical
The simplified model of hand 2,2. absolute coordinate system (X0-Y0-Z0) and 3. relative coordinate system (XT-YT-ZT), the coordinate scale paper 1
0. 0 be the origin of absolute coordinate system, and the vertical arm 3 of multi-joint manipulator 2 is set on the origin of absolute coordinate system, described vertical
Arm 3 is equipped with the first cursor 4, and first cursor 4 is equipped with the second cursor 5, and the second cursor 5 turns equipped with third
Swing arm 6, the third cursor 6 are equipped with mechanical finger 7, and the end of the mechanical finger 7 is set as the origin of relative coordinate system
P, the coordinate of all the points is indicated in absolute coordinate system on model.
2, the upper end of three laser pens is fixed on 7 end of mechanical finger the i.e. point of origin P of relative coordinate system, regulates two-by-two
Three angle αs (belonging to known quantity, obtain through measurement) between laser pen, so that three angle αs are equal, institute as shown in Figure 1, Figure 2
Show.
3, the laser beam that three laser pens emit downwards is radiated at respectively on coordinate scale paper 1, and point of irradiation is respectively A point, B
Point and C point, measure the coordinate value of three coordinate points A, B, C, as shown in Figure 1 on coordinate scale paper 1.
4, A, three triangles (one tetrahedron of composition) is formed between tri- coordinate points of B, C and P point, recycles sine
The coordinate value that 3 constraint equations solve 7 end of mechanical finger i.e. P point is listed, as shown in Figure 1 and Figure 2.
5, under absolute coordinate system and relative coordinate system, a rotation transformation square is established using three Eulerian angles Ψ, θ, φ
Battle array, indicates vector PA, PB, PC in rotational transformation matrix.
6, vector PA, PB, the PC indicated under vector PA, PB, PC and absolute coordinate system for being indicated using rotational transformation matrix
Three equatioies, as three constraint equations about Eulerian angles are listed, rotation transformation square can be solved by solving three constraint equations
Three Eulerian angles of battle array.
7 end pose of mechanical finger determines by 7 parameters, relative coordinate system (T respectively where 7 end of mechanical finger
System) three Eulerian angles Ψ, θ, φ being rotated around absolute coordinate system (O system), the angle α between three laser pens, relative coordinate system
Coordinate P (X, Y, Z) of the point of origin P under absolute coordinate system, three Eulerian angles are used to indicate the terminal angle of mechanical finger 7, three
Eulerian angles Ψ, θ, φ and coordinate points P (X, Y, Z) indicate multi-joint manipulator 2 during the motion, where 7 end of mechanical finger
Position and posture, this process and application of results into the automatic control program of multi-joint manipulator 2, to determine all the time
With the movement of control 7 end of mechanical finger (handgrip), this result also can pass to control system, shape as the signal of feedback mechanism
At a closed-loop control system, very big effect is played for the stability and accuracy that improve the movement of multi-joint manipulator 2 and is imitated
Fruit.
7, according to the real structure schematic diagram of Construction of A Model multi-joint manipulator 2, real structure is more with modeling shown in Fig. 1
2 each position posture of joint Manipulator is completely the same.
As shown in figure 3, the vertical arm 3 of the multi-joint manipulator 2 is set on bottom plate 8, the vertical arm 3 is screw rod connection
Bracket, the turntable 9 of the bracket is equipped with the first steering engine 10 of control the first cursor 4 rotation, on first cursor 4
The second steering engine 11 being arranged controls the rotation of the second cursor 5, and the third steering engine 12 being arranged on second cursor 5 controls third
Cursor 6 rotates, and the third cursor 6 is equipped with the mechanical finger 7 that can carry out two dimensional motion (respectively by corresponding steering engine control
It makes, has expression in Fig. 3).
Above structure, relative coordinate system (T system) are established in 7 end of mechanical finger, and point P (X, Y, Z) represents 7 end of mechanical finger
The coordinate point value under absolute coordinate system (O system) is held, three joints (corresponding steering engine position) being freely rotated are in difference
When motion state, the up and down motion of 7 end of mechanical finger, side-to-side movement may be implemented and move forward and backward, finally realize multi-joint
Various different movements of the manipulator 2 under remote control operation.
Claims (4)
1. teaching Multi-freedom-degreemanipulator manipulator end pose measuring method, it is characterised in that: use coordinate scale paper (1) and three
Mechanical finger (7) end pose of the laser pen as auxiliary tool measurement multi-joint manipulator (2), measurement method are as follows:
1., simplified model, absolute coordinate system and the relative coordinate system of establishing multi-joint manipulator (2), the simplified model is based on
Coordinate scale paper (1) reset, coordinate scale paper (1) zero point are the origin of absolute coordinate system, multi-joint manipulator (2)
Mechanical finger (7) end be set as the origin of relative coordinate system；
2., three laser pens of oblique lower section be fixed on origin i.e. mechanical finger (7) end of relative coordinate system, laser pen two-by-two
Between angle by measurement obtain；
3., in the laser irradiation to coordinate scale paper (1) that issues of three laser pens, measure three points of irradiation under absolute coordinate system
Coordinate value can establish three about manipulator with sine using this 3 angles between coordinate value and laser pen
The constraint equation for referring to (7) ending coordinates point, solves the coordinate value of mechanical finger (7) end, this coordinate value is mechanical finger
(7) location point of the end under absolute coordinate system；
4., the rotational transformation matrix establishing one between absolute coordinate system and relative coordinate system and indicated with three Eulerian angles,
The rotational transformation matrix is used to indicate to inscribe mechanical finger (7) end when multi-joint manipulator (2) is each during the motion
Posture.
2. teaching Multi-freedom-degreemanipulator manipulator end pose measuring method according to claim 1, it is characterised in that: two-by-two
Angle between laser pen is adjusted according to the size of coordinate scale paper (1).
3. teaching Multi-freedom-degreemanipulator manipulator end pose measuring method according to claim 2, it is characterised in that: two-by-two
Angle between laser pen is equal.
4. teaching Multi-freedom-degreemanipulator manipulator end pose measuring method according to any one of claims 1 to 3,
Be characterized in that: the multi-joint manipulator (2) includes the vertical arm (3) set on coordinate scale paper (1) zero point, the vertical arm
(3) it is arranged on the first cursor (4), first cursor (4) is equipped with the second cursor (5), and the second cursor is set on (5)
Have third cursor (6), the third cursor (6) is equipped with mechanical finger (7).
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110355783A (en) * | 2019-06-05 | 2019-10-22 | 邵阳学院 | A kind of detection device of articulated robot positioning accuracy |
| CN112548554A (en) * | 2020-12-19 | 2021-03-26 | 北京工业大学 | Robot bolt tightening system integrating multi-sensing distance measurement |
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| CN102607411A (en) * | 2012-03-06 | 2012-07-25 | 上海大学 | Measuring device for terminal pose of robot |
| US20130256278A1 (en) * | 2012-03-29 | 2013-10-03 | Frank Garza | Robotic weld gun orientation normalization |
| CN105043333A (en) * | 2015-03-13 | 2015-11-11 | 哈尔滨工程大学 | Miniaturized underwater manipulator position angle measuring method |
| CN107253190A (en) * | 2017-01-23 | 2017-10-17 | 梅卡曼德（北京）机器人科技有限公司 | The device and its application method of a kind of high precision machines people trick automatic camera calibration |
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Patent Citations (5)
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| CN101308014A (en) * | 2008-07-09 | 2008-11-19 | 北京理工大学 | System and method for determining position and posture by adopting multiple beams of light |
| CN102607411A (en) * | 2012-03-06 | 2012-07-25 | 上海大学 | Measuring device for terminal pose of robot |
| US20130256278A1 (en) * | 2012-03-29 | 2013-10-03 | Frank Garza | Robotic weld gun orientation normalization |
| CN105043333A (en) * | 2015-03-13 | 2015-11-11 | 哈尔滨工程大学 | Miniaturized underwater manipulator position angle measuring method |
| CN107253190A (en) * | 2017-01-23 | 2017-10-17 | 梅卡曼德（北京）机器人科技有限公司 | The device and its application method of a kind of high precision machines people trick automatic camera calibration |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110355783A (en) * | 2019-06-05 | 2019-10-22 | 邵阳学院 | A kind of detection device of articulated robot positioning accuracy |
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| CN112548554A (en) * | 2020-12-19 | 2021-03-26 | 北京工业大学 | Robot bolt tightening system integrating multi-sensing distance measurement |
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Application publication date: 20190507 |