CN110779554B - Mechanical arm, initial pose calibration system and method based on IMU - Google Patents
Mechanical arm, initial pose calibration system and method based on IMU Download PDFInfo
- Publication number
- CN110779554B CN110779554B CN201911235939.5A CN201911235939A CN110779554B CN 110779554 B CN110779554 B CN 110779554B CN 201911235939 A CN201911235939 A CN 201911235939A CN 110779554 B CN110779554 B CN 110779554B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- joints
- imu
- angle
- initial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 239000011159 matrix material Substances 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 230000001133 acceleration Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm, an initial pose calibration system and method based on an IMU, and the initial pose calibration method based on the IMU, which comprises the following steps: acquiring initial attitude angles acquired by IMUs installed at joints of the mechanical arm; after all the IMU and motors at all joints of the mechanical arm are electrified, calculating according to the initial attitude angle to obtain the relative rotation angle of any two adjacent joints of the mechanical arm; and according to the difference value of the relative rotation angle and the preset angle, the difference value is used as the execution angle of the motor at each joint of the mechanical arm, and the initial zero calibration of the mechanical arm is realized. By the calibration method, the gesture of the mechanical arm can be conveniently calculated, and quick zeroing of the mechanical arm motor is realized.
Description
Technical Field
The invention relates to the technical field of initial pose calibration of mechanical arms, in particular to a calibration system and method for initial pose of a mechanical arm based on an IMU.
Background
Along with remarkable progress of social development and science and technology, the micro-electromechanical technology is promoted to be continuously innovated, and an Inertial Measurement Unit (IMU) with small volume, light weight, low power consumption and high reliability expands the application range of the attitude measurement and control system from the traditional aerospace and industrial control fields to a wider field, and particularly has great promotion effect on the research of the attitude measurement and control system of some microminiature carriers or microminiature portable equipment. The mechanical arm is used as a multi-coupling, multivariable and time-varying nonlinear and unstable high-order system, and meanwhile, the kinematic equation of the mechanical arm has incomplete constraint, so that the mechanical arm is used as a system with relatively simple structure and relatively complex control, and is a typical device for verifying the attitude measurement and control system.
Dubowsky et al first propose the idea of changing the attitude of the carrier by means of a periodic movement of the joint angle. Yamada and Yoshikawa propose a feedback control method for effecting a carrier attitude change based on the movement of the operating arm along a closed path. Nakamura and Mukherjee have proposed a non-fully constrained "two-way" control method using Lyapunov method to drive the manipulator arm joints and simultaneously control the carrier pose and the manipulator joint angle.
Disclosure of Invention
The invention aims to provide a mechanical arm, an initial pose calibration system and a method based on an IMU, which can conveniently calculate the pose of the mechanical arm and realize the rapid zero return of a motor of the mechanical arm.
In order to achieve the above purpose, the present invention provides a calibration method for initial pose based on IMU, comprising the following steps:
acquiring initial attitude angles acquired by IMUs installed at joints of the mechanical arm;
Calculating according to the initial attitude angle to obtain the relative rotation angle of any two adjacent joints of the mechanical arm;
And according to the difference value of the relative rotation angle and the preset angle, the difference value is used as the execution angle of the motor at each joint of the mechanical arm, and the initial zero calibration of the mechanical arm is realized.
Optionally, after the step of acquiring the initial attitude angle acquired by the IMU installed at each joint of the mechanical arm, the method further includes the steps of:
calculating a motion track and a space gesture of the mechanical arm according to the initial gesture angle;
And displaying the motion trail and the space gesture in a three-dimensional environment.
Optionally, the step of obtaining the relative rotation angle of any two adjacent joints of the mechanical arm according to the initial attitude angle specifically includes:
calculating to obtain a rotation matrix of any IMU according to all the initial attitude angles;
And calculating according to all the rotation matrixes to obtain the relative rotation matrixes of any two adjacent joints of the mechanical arm.
The invention also provides a calibration system of the initial pose based on the IMU, which comprises the following steps:
the acquisition module is used for: the method comprises the steps of acquiring initial attitude angles acquired by IMUs installed at joints of a mechanical arm;
the calculation module: the relative rotation angles of any two adjacent joints of the mechanical arm are obtained according to the initial attitude angle;
Zero position execution module: and the initial zero calibration of the mechanical arm is realized by taking the difference value of the relative rotation angle and the preset angle as the execution angle of the motor at each joint of the mechanical arm.
The invention further provides a mechanical arm which comprises a robot body and the initial pose calibration system based on the IMU.
Optionally, at least three joints are included, namely a front-back telescopic joint (J 0), an inner-outer rotary joint (J 1) and a left-right rotary joint (J 4); the front-back telescopic joint (J 0) is provided with the top of the robot body, the inner and outer rotary joints (J 1) are arranged at the front ends of the front-back telescopic joints (J 0), and the left and right rotary joints (J 4) are arranged at the bottom ends of the inner and outer rotary joints (J 1);
The first IMU is arranged on the front-back telescopic joint (J 0) and used for reflecting the relation of the robot body coordinate system relative to the world coordinate system;
A second IMU is mounted to the inner and outer revolute joints (J 1) to reflect the relationship of the front and rear telescopic joints (J 0) and/or the inner and outer revolute joints (J 1) to a world coordinate system;
A third IMU is mounted to the left and right revolute joints (J 4) to reflect the relationship of the left and right revolute joints (J 4) to a world coordinate system.
Optionally, the robot body is disposed in a vertical direction.
In comparison to the above background art, it is proposed herein to calibrate the pose of a mechanical arm by using an Inertial Measurement Unit (IMU), which performs pose information acquisition by using an accelerometer, a gyroscope and a magnetometer of an inertial measurement device. The accelerometer detects acceleration signals of the mechanical arm on the independent three axes of the carrier coordinate system, the gyroscope detects angular velocity signals of the mechanical arm relative to the navigation coordinate system, angular velocity and acceleration of the mechanical arm in the three-dimensional space are measured, and the gesture of the mechanical arm is calculated according to the angular velocity and the acceleration signals.
Specifically, an initial attitude angle of each joint is acquired through an IMU installed at each joint of the mechanical arm, and the initial attitude angle is the rotation angle of each joint compared with a world coordinate system; according to the initial attitude angle, the relative rotation angle between any two adjacent joints of the mechanical arm is obtained, the difference value between the relative rotation angle and the preset angle is used as the execution angle of a motor at each joint of the mechanical arm, so that the initial zero calibration of the mechanical arm is realized.
The IMU-based initial pose calibration system and the mechanical arm provided by the invention have the beneficial effects, and are not repeated herein.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a mechanical arm according to an embodiment of the present invention;
FIG. 2 is a partial schematic view of the anterior-posterior telescopic joint J 0 and the medial-lateral rotary joint J 1 of FIG. 1;
FIG. 3 is a schematic diagram of the IMU of FIG. 1;
FIG. 4 is a schematic diagram of the robot body coordinate system, world coordinate system and attitude angle relationship of the robotic arm of FIG. 1;
fig. 5 is a flowchart of an IMU-based initial pose calibration method according to an embodiment of the present invention;
fig. 6 is a block diagram of a calibration system based on an initial pose of an IMU according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The present invention will be further described in detail below with reference to the drawings and detailed description for the purpose of enabling those skilled in the art to better understand the aspects of the present invention.
Referring to fig. 1 to 6, fig. 1 is a schematic structural diagram of a mechanical arm according to an embodiment of the present invention; FIG. 2 is a partial schematic view of the anterior-posterior telescopic joint J 0 and the medial-lateral rotary joint J 1 of FIG. 1; FIG. 3 is a schematic diagram of the IMU of FIG. 1; FIG. 4 is a schematic diagram of the robot body coordinate system, world coordinate system and attitude angle relationship of the robotic arm of FIG. 1; fig. 5 is a flowchart of an IMU-based initial pose calibration method according to an embodiment of the present invention; fig. 6 is a block diagram of a calibration system based on an initial pose of an IMU according to an embodiment of the invention.
The invention provides an initial pose calibration method based on an IMU (inertial measurement Unit), which is mainly used for a mechanical arm shown in an attached figure 1 of the specification, wherein after the IMU is fixed on the mechanical arm, when the mechanical arm rotates, the IMU correspondingly rotates along with the mechanical arm, namely the IMU and the mechanical arm rotate around the same rotation axis by the same angle. Therefore, the rotation angle of the mechanical arm can be obtained by only solving the rotation angle of the inertial measurement unit.
The flow chart of the calibration method is shown in fig. 5 of the specification, and the process mainly comprises the following steps:
S1, acquiring initial attitude angles acquired by IMUs installed at joints of a mechanical arm;
S2, obtaining a relative rotation angle between any two adjacent joints of the mechanical arm according to the initial attitude angle;
and S3, according to the difference value of the relative rotation angle and the preset angle, the difference value is used as an execution angle of a motor at each joint of the mechanical arm, and initial zero calibration of the mechanical arm is realized.
For step S1, an IMU is fixed at each joint of each mechanical arm, and as described above, the IMU rotates synchronously with the mechanical arm, and the IMU may collect initial attitude angles (or angular rates) in three directions. The initial attitude angle refers to the absolute rotation angle of each joint compared to the world coordinate system.
Specifically, when the mechanical arm is powered on and the mechanical arm is stable (the mechanical arm is stable means that the mechanical arm does not do any motion after the IMU and the motor are powered on), the IMU can collect the initial attitude angle of each joint. For step S2, after the motors at all the IMUs and all the joints of the mechanical arm are electrified, the relative rotation angle between any two adjacent joints of the mechanical arm is obtained according to the initial attitude angle.
When the mechanical arm is electrified and stable, calculating according to the initial attitude angle to obtain the relative rotation angle between any two adjacent joints; i.e. the relative rotation angle is calculated from the absolute rotation angle.
For the calculation method for obtaining the relative rotation angle from the absolute rotation angle, the rotation matrix of any IMU can be obtained by calculation according to all initial attitude angles; and then calculating the relative rotation angle according to all the rotation matrixes.
In particular, a world coordinate system and a carrier coordinate system of the inertial measurement unit may be defined first: the world coordinate system W adopts the geographic coordinate systems of east (E), north (N) and sky (U); the carrier coordinate system O employs an inertial measurement unit default coordinate system, as shown in fig. 3. The transformation matrix from world coordinate system W to carrier coordinate system O may be denoted as R w→O. As shown in fig. 4 of the specification, the transformation from the world coordinate system W to the carrier coordinate system O can be decomposed into three rotations, and the three rotations are defined as the angles ψ, θ and γ, which are the heading angle (yaw), pitch angle (pitch) and roll angle (roll), respectively. That is, each IMU can return in real time the relationship between its own coordinate system (carrier coordinate system O) and world coordinate system W, which is expressed in terms of euler angles.
Euler Angles of the mechanical arm: (roll, pitch, law) can be calculated from the Euler angle of the IMU; i.e. the rotation matrix between any two adjacent joints, can be calculated from the absolute rotation angle (the initial pose angle measured by the IMU).
The IMU1 reflects the relation between the robot body coordinate system and the world coordinate system; IMU2 reflects the relationship between the J 0、J1 joint and the world coordinate system; IMU3 reflects the relationship of the J 4 joint to the world coordinate system.
Angles by IMU 1: (roll, pitch, yaw) to obtain a rotation matrix Mr1.
Specifically, mr1=mx1×my1×mz1.
Where x, y and z represent three directions of the coordinate system.
Angles by IMU 2: (roll, pitch, yaw) to obtain a rotation matrix Mr2. The calculation formula of the rotation matrix Mr2 is the same as Mr1.
Angles by IMU 3: (roll, pitch, yaw) to obtain a rotation matrix Mr3, and the calculation formula of the rotation matrix Mr3 is the same as Mr1.
Then, adjacent joints are calculated, namely, the obtained gyromamatrix M T1, the gyromamatrix M T2,MT1 and the gyromamatrix M T2 are obtained by the following formula,
MT1＝(Mr1)T*Mr2;MT2＝((Mr2)T*Mr3。
And then obtaining the relative rotation angle between two adjacent joints of the mechanical arm according to a corresponding formula, namely the Euler angle of the mechanical arm: (roll, pitch, yw).
Specifically, roll=arctan (- (M T1[1,2])/MT1 [2,2 ]) in the euler angle of the mechanical arm;
in Euler angles of mechanical arms
pitch＝arctan(MT1[0,2]/(MT1[2,2]*cos(roll)-MT1[1，2]*sin(roll)))；
Yaw=arctan (- (M T2[0,1])/MT2 [0,0 ]) in the euler angle of the robotic arm.
Aiming at the step S3, the difference value between the relative rotation angle and the preset angle is used as the execution angle of the motor at each joint of the mechanical arm, so that the initial zero calibration of the mechanical arm is realized; the preset angle, that is, the specific position where the mechanical arm is currently expected to be located, and the specific value of the preset angle can be determined according to actual needs. The difference value can be used for resetting and calculating the execution angle of a steering engine (motors at all joints), and the initial zero calibration of the mechanical arm under the condition of no absolute encoder is realized.
Further, in order to intuitively acquire the motion trail of the current mechanical arm, the motion trail and the spatial gesture of the mechanical arm can be calculated according to the initial gesture angle measured by the IMU, and the motion trail and the spatial gesture of the mechanical arm are displayed in a three-dimensional environment.
After the IMU measures the initial attitude angle, the motion trail and the spatial attitude of the mechanical arm can be displayed in a three-dimensional environment in real time through the display device; namely, the initial attitude angle is used as input, and the motion track at any position of the mechanical arm and the spatial attitude of the mechanical arm can be output by utilizing a corresponding formula, so that the current state of the mechanical arm is simulated in real time, and the motion process of the mechanical arm can be intuitively known. The process generates motion track data and space posture data according to the acquired IMU position information sequence, acquires three-dimensional coordinate system parameters and corresponding time information, and acquires track posture information of the mechanical arm.
The initial pose calibration method based on the IMU provided by the invention is characterized in that a plurality of IMUs are respectively arranged at each joint to obtain the initial pose angle (absolute rotation angle) of each joint, and the relative rotation angle between any two adjacent joints is obtained through calculation, so that the state of the mechanical arm after on-line startup can be obtained, and the zero calibration of the mechanical arm is realized according to the difference value between the current state and the expected state as the execution angle of a motor (which can be a steering engine or other components).
The invention also provides an IMU-based initial pose calibration system, the structural block diagram of which is shown in the attached figure 6 of the specification, comprising:
The acquisition module S101: the method comprises the steps of acquiring initial attitude angles acquired by IMUs installed at joints of a mechanical arm;
the calculation module S102: the relative rotation angles of any two adjacent joints of the mechanical arm are obtained according to the initial attitude angle;
Zero position execution module S103: and the initial zero calibration of the mechanical arm is realized by taking the difference value of the relative rotation angle and the preset angle as the execution angle of the motor at each joint of the mechanical arm.
The function of each module may be referred to above, wherein the computing module S102 further has the following functions:
Calculating to obtain a rotation matrix of any IMU according to all initial attitude angles;
And calculating according to all the rotation matrixes to obtain the relative rotation angle.
In addition, the IMU-based calibration system may further include a display module, where the display module is connected to the computing module S102, and the display module is configured to display the motion trail and the spatial pose of the mechanical arm in a three-dimensional environment.
The mechanical arm with the initial pose calibration system provided by the invention comprises the initial pose calibration system described in the specific embodiment; other parts of the robotic arm may be referred to in the art and are not further developed herein.
The initial pose calibration system is installed on the robot body, and at least three joints can be included according to the number of the joints, namely a front telescopic joint J 0, a rear telescopic joint J 1, an inner rotary joint J 1, a left rotary joint J 4 and a right rotary joint J 4; the front and rear telescopic joints J 0 are arranged at the top of the robot body, the inner and outer rotary joints J 1 are arranged at the front ends of the front and rear telescopic joints J 0, and the left and right rotary joints J 4 are arranged at the bottom ends of the inner and outer rotary joints J 1;
The first IMU1 is arranged on the front and rear telescopic joints J 0 and is used for reflecting the relation of a robot body coordinate system relative to a world coordinate system;
The second IMU2 is mounted on the inner and outer rotary joints J 1 to reflect the relationship between the front and rear telescopic joints J 0 and/or the inner and outer rotary joints J 1 with respect to the world coordinate system;
The third IMU3 is mounted to the left and right rotational joints J 4 to reflect the relationship of the left and right rotational joints J 4 to the world coordinate system. In addition, the robot body may be disposed in a vertical manner, as shown in fig. 1 of the specification. The vertical motion joint J 3 is capable of telescoping in a vertical direction, regardless of its particular pose.
Wherein, the front-rear direction may be defined as a y-axis direction as shown in fig. 1 to 3 of the specification, the inside-outside direction may be defined as a direction rotated along the x-axis as shown in fig. 1 to 3 of the specification, and the left-right direction may be defined as a direction rotated along the y-axis as shown in fig. 1 to 3 of the specification.
It should be noted that in this specification relational terms such as first and second are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The mechanical arm, the IMU-based initial pose calibration system and the IMU-based initial pose calibration method provided by the invention are described in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (5)
1. The initial pose calibration method based on the IMU is characterized by comprising the following steps of:
When the mechanical arm is electrified and stable, acquiring initial attitude angles acquired by IMUs installed at joints of the mechanical arm, wherein the IMUs synchronously rotate along with the mechanical arm, the IMUs are used for acquiring initial attitude angles or angular rates in three directions, and the initial attitude angles are absolute rotation angles of the joints compared with a world coordinate system;
Calculating according to the initial attitude angle to obtain the relative rotation angle of any two adjacent joints of the mechanical arm;
According to the difference value of the relative rotation angle and the preset angle, the difference value is used as an execution angle of a motor at each joint of the mechanical arm, and initial zero calibration of the mechanical arm is realized;
After the step of obtaining the initial attitude angle acquired by the IMU installed at each joint of the mechanical arm, the method further comprises the steps of:
calculating a motion track and a space gesture of the mechanical arm according to the initial gesture angle;
Displaying the motion trail and the spatial gesture in a three-dimensional environment;
the step of obtaining the relative rotation angle of any two adjacent joints of the mechanical arm according to the initial attitude angle comprises the following steps:
calculating to obtain a rotation matrix of any IMU according to all the initial attitude angles;
And calculating according to all the rotation matrixes to obtain the relative rotation matrixes of any two adjacent joints of the mechanical arm.
2. An IMU-based initial pose calibration system adapted for use in the calibration method of claim 1, comprising:
the acquisition module is used for: the method comprises the steps of acquiring initial attitude angles acquired by IMUs installed at joints of a mechanical arm;
the calculation module: the relative rotation angles of any two adjacent joints of the mechanical arm are obtained according to the initial attitude angle;
Zero position execution module: and the initial zero calibration of the mechanical arm is realized by taking the difference value of the relative rotation angle and the preset angle as the execution angle of the motor at each joint of the mechanical arm.
3. A robotic arm comprising a robot body, further comprising an IMU-based initial pose calibration system as claimed in claim 2.
4. A manipulator according to claim 3, comprising at least three of said joints, a front-rear telescopic joint (J 0), a medial-lateral rotary joint (J 1) and a lateral rotary joint (J 4), respectively; the front-back telescopic joint (J 0) is provided with the top of the robot body, the inner and outer rotary joints (J 1) are arranged at the front ends of the front-back telescopic joints (J 0), and the left and right rotary joints (J 4) are arranged at the bottom ends of the inner and outer rotary joints (J 1);
The first IMU is arranged on the front-back telescopic joint (J 0) and used for reflecting the relation of the robot body coordinate system relative to the world coordinate system;
A second IMU is mounted to the inner and outer revolute joints (J 1) to reflect the relationship of the front and rear telescopic joints (J 0) and/or the inner and outer revolute joints (J 1) to a world coordinate system;
A third IMU is mounted to the left and right revolute joints (J 4) to reflect the relationship of the left and right revolute joints (J 4) to a world coordinate system.
5. The mechanical arm of claim 4, wherein the robot body is disposed in a vertical direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911235939.5A CN110779554B (en) | 2019-12-05 | 2019-12-05 | Mechanical arm, initial pose calibration system and method based on IMU |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911235939.5A CN110779554B (en) | 2019-12-05 | 2019-12-05 | Mechanical arm, initial pose calibration system and method based on IMU |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110779554A CN110779554A (en) | 2020-02-11 |
| CN110779554B true CN110779554B (en) | 2024-06-04 |
Family
ID=69393896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911235939.5A Active CN110779554B (en) | 2019-12-05 | 2019-12-05 | Mechanical arm, initial pose calibration system and method based on IMU |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110779554B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111922567B (en) * | 2020-08-13 | 2022-06-21 | 北京博清科技有限公司 | Welding control method and device, computer readable storage medium and welding system |
| CN114474046B (en) * | 2021-12-27 | 2023-10-20 | 北京子牛亦东科技有限公司 | Automatic calibration method for zero position of manipulator and transmission position calibration method |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4986280A (en) * | 1988-07-20 | 1991-01-22 | Arthur D. Little, Inc. | Hand position/measurement control system |
| JP2011093011A (en) * | 2009-10-27 | 2011-05-12 | Toyota Motor Corp | Robot arm control device, method of controlling the same, and program |
| CN104182614A (en) * | 2014-07-25 | 2014-12-03 | 山东建筑大学 | System and method for monitoring attitude of mechanical arm with six degrees of freedom |
| CN106217374A (en) * | 2016-08-11 | 2016-12-14 | 广州成潮智能科技有限公司 | The control method of a kind of intelligent machine mechanical arm, Apparatus and system |
| CN106625774A (en) * | 2016-12-27 | 2017-05-10 | 中国科学院长春光学精密机械与物理研究所 | Space mechanical arm geometric parameter calibration method |
| CN107478223A (en) * | 2016-06-08 | 2017-12-15 | 南京理工大学 | A kind of human body attitude calculation method based on quaternary number and Kalman filtering |
| CN108297101A (en) * | 2018-03-20 | 2018-07-20 | 四川大学 | The position and attitude error detection of multi-joint arm serial manipulator end and dynamic compensation method |
| CN109262659A (en) * | 2018-12-20 | 2019-01-25 | 中国铁建重工集团有限公司 | A kind of zero adjustment method and apparatus of joint of mechanical arm sensor |
| CN109483555A (en) * | 2018-05-17 | 2019-03-19 | 上海节卡机器人科技有限公司 | A kind of series connection rotary joint industrial robot statical model parameter identification method |
| CN110027678A (en) * | 2019-04-22 | 2019-07-19 | 哈尔滨工程大学 | A kind of mixed connection based on wave Active Compensation, which is stepped on, seizes the opportunity structure motion planning method |
| CN211053693U (en) * | 2019-12-05 | 2020-07-21 | 上海钛米机器人科技有限公司 | Mechanical arm |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101772974B1 (en) * | 2010-12-21 | 2017-09-12 | 삼성전자주식회사 | Method for generating human-like motion of humanoid robot |
| JP5962340B2 (en) * | 2012-08-31 | 2016-08-03 | セイコーエプソン株式会社 | robot |
-
2019
- 2019-12-05 CN CN201911235939.5A patent/CN110779554B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4986280A (en) * | 1988-07-20 | 1991-01-22 | Arthur D. Little, Inc. | Hand position/measurement control system |
| JP2011093011A (en) * | 2009-10-27 | 2011-05-12 | Toyota Motor Corp | Robot arm control device, method of controlling the same, and program |
| CN104182614A (en) * | 2014-07-25 | 2014-12-03 | 山东建筑大学 | System and method for monitoring attitude of mechanical arm with six degrees of freedom |
| CN107478223A (en) * | 2016-06-08 | 2017-12-15 | 南京理工大学 | A kind of human body attitude calculation method based on quaternary number and Kalman filtering |
| CN106217374A (en) * | 2016-08-11 | 2016-12-14 | 广州成潮智能科技有限公司 | The control method of a kind of intelligent machine mechanical arm, Apparatus and system |
| CN106625774A (en) * | 2016-12-27 | 2017-05-10 | 中国科学院长春光学精密机械与物理研究所 | Space mechanical arm geometric parameter calibration method |
| CN108297101A (en) * | 2018-03-20 | 2018-07-20 | 四川大学 | The position and attitude error detection of multi-joint arm serial manipulator end and dynamic compensation method |
| CN109483555A (en) * | 2018-05-17 | 2019-03-19 | 上海节卡机器人科技有限公司 | A kind of series connection rotary joint industrial robot statical model parameter identification method |
| CN109262659A (en) * | 2018-12-20 | 2019-01-25 | 中国铁建重工集团有限公司 | A kind of zero adjustment method and apparatus of joint of mechanical arm sensor |
| CN110027678A (en) * | 2019-04-22 | 2019-07-19 | 哈尔滨工程大学 | A kind of mixed connection based on wave Active Compensation, which is stepped on, seizes the opportunity structure motion planning method |
| CN211053693U (en) * | 2019-12-05 | 2020-07-21 | 上海钛米机器人科技有限公司 | Mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110779554A (en) | 2020-02-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103234512B (en) | Triaxial air bearing table high-precision attitude angle and angular velocity measuring device | |
| US10521011B2 (en) | Calibration of inertial measurement units attached to arms of a user and to a head mounted device | |
| CN100390503C (en) | Laser Tracking Inertial Combined Measurement System and Its Measurement Method | |
| CN104772756A (en) | Mechanical arm based on inertial measurement units and control method thereof | |
| US10705113B2 (en) | Calibration of inertial measurement units attached to arms of a user to generate inputs for computer systems | |
| CN114216456B (en) | Attitude measurement method based on fusion of IMU and robot body parameters | |
| Roan et al. | Manipulator state estimation with low cost accelerometers and gyroscopes | |
| CN102087110B (en) | Miniature underwater moving vehicle autonomous attitude detecting device and method | |
| CN107478223A (en) | A kind of human body attitude calculation method based on quaternary number and Kalman filtering | |
| CN104764451A (en) | Target posture tracking method based on inertia and geomagnetic sensor | |
| CN101799934A (en) | Real time human movement capture system based on micro electro mechanical inertia sensing network | |
| CN103727939B (en) | Biaxial rotating attitude measurement system and measuring method thereof | |
| CN107063262A (en) | A kind of complementary filter method resolved for UAV Attitude | |
| CN110779554B (en) | Mechanical arm, initial pose calibration system and method based on IMU | |
| CN104182614A (en) | System and method for monitoring attitude of mechanical arm with six degrees of freedom | |
| CN108759822B (en) | Mobile robot 3D positioning system | |
| CN108279773B (en) | A data glove based on MARG sensor and magnetic field positioning technology | |
| Azarbeik et al. | Augmenting inertial motion capture with SLAM using EKF and SRUKF data fusion algorithms | |
| Abbate et al. | Development of a MEMS based wearable motion capture system | |
| CN106695736A (en) | Gesture identification human-simulated mechanical arm system based on multi-sensor fusion and synchronizing method | |
| CN116551676B (en) | An online acquisition method for the terminal pose information of a dexterous hand based on inertial navigation network | |
| CN211053693U (en) | Mechanical arm | |
| CN111152260A (en) | A joint rotation angle auxiliary measurement system and method of a series rotary joint manipulator | |
| Leboutet et al. | Second-order kinematics for floating-base robots using the redundant acceleration feedback of an artificial sensory skin | |
| Zhang et al. | Motion Tracking of a High-Speed Multilink System Using Dynamic Measurements Fusion |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |