CN111633652A - Method for registering robot coordinate system by using three-dimensional positioning device - Google Patents
Method for registering robot coordinate system by using three-dimensional positioning device Download PDFInfo
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- CN111633652A CN111633652A CN202010489341.5A CN202010489341A CN111633652A CN 111633652 A CN111633652 A CN 111633652A CN 202010489341 A CN202010489341 A CN 202010489341A CN 111633652 A CN111633652 A CN 111633652A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000013507 mapping Methods 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 239000003550 marker Substances 0.000 claims description 10
- 230000000007 visual effect Effects 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000000354 decomposition reaction Methods 0.000 description 1
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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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
- B25J9/1628—Programme controls characterised by the control loop
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- Health & Medical Sciences (AREA)
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Abstract
The application provides a method for registering a robot coordinate system by using a three-dimensional positioning device, which is applied to a robot mark registering system. The scheme provided by the application has the advantage of simple registration method.
Description
Technical Field
The application relates to the field of medical instruments, in particular to a method for registering a robot coordinate system by using a three-dimensional positioning device.
Background
The robot coordinate system registration is an important link in the robot application field, the conversion relation between the robot base coordinate system and the coordinate systems of other equipment can be obtained through the robot coordinate system registration operation, the pose of a robot end tool in the space can be obtained through the reading of the robot, and the robot end tool pose registration method can be widely applied to robot precision assembly, robot auxiliary operation and robot navigation. The registration accuracy of the existing robot coordinate system is not high, so that the subsequent coordinate conversion of the robot is influenced, and the operation accuracy of the medical robot is further influenced.
Disclosure of Invention
The invention aims to provide a method and a device for registering a robot coordinate system by using a three-dimensional positioning device.
The technical scheme adopted by the invention is as follows: there is provided a method for robot coordinate system registration using a three-dimensional positioning device, the method being applied to a robot mark registration system, the method comprising the steps of:
step S401, for the installation of the tubular tool and the tail end of the robot, carrying out TCP operation on the tubular tool to obtain a determined point C (Cx, Cy and Cz) located on the axis of the tubular tool;
s402, relatively fixing the robot and the three-dimensional positioning device, and inserting a drill rod into a tubular tool, wherein the drill rod and the tubular tool are coaxial;
step S403, clamping an auxiliary registration tool at the front end of the drill rod, wherein the plane of a mark array on the auxiliary registration tool is vertical to the axial direction of the drill rod, the axis passes through the center of the mark array, and the position of the point C in an array coordinate system is P [ Px, Py and Pz ] obtained through parameters;
s404, switching the robot to a manual mode, dragging the tail end of the robot, and randomly moving the tail end of the robot and the mark array to alpha or more positions in the visual field range of the three-dimensional positioning device, so as to ensure that the mark array can be collected by the three-dimensional positioning device and all the positions are not on the same plane or the same straight line; alpha is an integer of 4 or more;
step S405, collecting robot end pose data R ═ { R ═ R at each position in step S4041、R2、…RnPosition and attitude data T ═ T of the marker array captured by the three-dimensional positioning device1、T2、…Tn}；
Step S406, passing P [ Px, Py, Pz ] through T ═ T { (T)1、T2、…TnMapping to coordinate system N of three-dimensional positioning device to obtain point set PN＝{PN 1、PN 2…PN nAnd (C) passing C [ Cx, Cy, Cz ] through T ═ T { (T) }1、T2、…TnMapping to a robot base coordinate system B to obtain a point set TB＝{TB 1、TB 2…TB n}；
Step S407, obtaining the conversion relation between the three-dimensional positioning device coordinate system and the robot base coordinate system by using SVDT RE。
In a second aspect, a computer-readable storage medium storing a computer program for electronic data exchange is provided, wherein the computer program causes a computer to perform the method provided in the first aspect.
The technical scheme provided by the application has the advantage of improving the coordinate registration precision of the robot, and further has the advantage of improving the operation precision of the medical robot.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic diagram of a robot mark registration system according to the present invention.
Fig. 2 is a schematic structural diagram of a tubular tool, a drill rod and an auxiliary registration tool provided by the invention.
Fig. 3 is a schematic structural diagram of an auxiliary registration tool provided in the present invention.
Fig. 4 is a schematic flow chart of a method for registering a robot coordinate system by using a three-dimensional positioning device according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," "third," and "fourth," etc. in the description and claims of this application and in the accompanying drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Aiming at the problems, the robot coordinate system registration method which gets rid of a precise auxiliary registration tool and is simple to operate and easy to learn is realized, and under the condition of smooth operation, the registration operation of the robot coordinate system can be completed within ten minutes to obtain the coordinate system conversion relation between the robot and the three-dimensional positioning device.
Taking the example of a robot end tool being a hollow tubular structure and using the NDI Vega three-dimensional motion capture system as a three-dimensional positioning device, the present application proposes a machine using a three-dimensional positioning deviceThe robot coordinate system registration method is characterized in that an auxiliary registration tool is designed for fixing a marking array and an end tool of NDI, the connection relation is detailed as shown in figure 2, and the conversion relation between a robot base coordinate system and a three-dimensional positioning device coordinate system is obtained by collecting data of 4 or more registration points and calculating. Firstly, carrying out TCP operation on a tubular end tool, wherein a TCP point is positioned at a determined point on the axis of the tubular tool; the three-dimensional positioning device and the robot are relatively fixed, and the movable range of the tail end of the robot is placed in the visual field range of the three-dimensional positioning device as much as possible, which is shown in detail in figure 1; installing an auxiliary registration tool on the robot end tool; the robot is adjusted to a passive mode, and a tool at the tail end of the robot is dragged, so that the auxiliary registration tool can be captured by the three-dimensional positioning device; dragging to 4 or more positions, and recording the pose data T ═ T of the three-dimensional positioning device at each position1、T2、…TnPose data R ═ R of robot end flange1、R2、…Rn}; the conversion relation between the coordinate system of the three-dimensional positioning device and the base coordinate system of the robot is obtained through T and R calculationT RE。
The method is shown in fig. 4, and comprises the following steps:
step S401, for the installation of the tubular tool and the tail end of the robot, performing TCP operation on the tubular tool (namely calibrating the central point of the robot tool), and obtaining a determined point C (Cx, Cy and Cz) located on a tubular axis through the TCP operation of the tubular tool; the determination point C is a central point obtained by TCP operation; the point C can be the coordinate data of the robot base coordinate system B;
s402, relatively fixing the robot and the three-dimensional positioning device, and inserting a drill rod into a tubular tool, wherein the drill rod and the tubular tool are coaxial;
step S403, clamping the auxiliary registration tool at the front end of the drill rod, wherein the plane of a mark array on the auxiliary registration tool is vertical to the axial direction of the drill rod, the axis passes through the center of the mark array, and the position of the C point in an array coordinate system is P [ Px, Py and Pz ] obtained through parameters;
the above parameters may specifically be mechanical parameters of the tip as shown in fig. 2, such as distance, angle, etc.
S404, the robot is adjusted to a manual mode, the tail end of the robot is dragged, the tail end of the robot and the mark array are in the visual field range of the three-dimensional positioning device, (the robot can be dragged manually or can move autonomously without essential difference and within the protection range), the robot is randomly moved to alpha or more positions, the mark array is ensured to be collected by the three-dimensional positioning device, and all the positions are ensured not to be on the same plane or the same straight line; α is an integer of 4 or more;
step S405, collecting robot end pose data R ═ { R ═ R at each position in step S4041、R2、…RnPosition and attitude data T ═ T of the marker array captured by the three-dimensional positioning device1、T2、…Tn}；
The robot end pose data R may be pose data of a robot base coordinate system B.
Step S406, passing P [ Px, Py, Pz ] through T ═ T { (T)1、T2、…TnMapping to coordinate system N of three-dimensional positioning device to obtain point set PN＝{PN 1、PN 2…PN nAnd (C) passing C [ Cx, Cy, Cz ] through T ═ T { (T) }1、T2、…TnMapping to a robot base coordinate system B to obtain a point set TB＝{TB 1、TB 2…TB n}；
Step S407, obtaining the transformation relation between the three-dimensional positioning device coordinate system and the robot coordinate system by SVDT RE.
Because of the point set NPSum point set BTIs the position of the same physical point in different coordinate systems, therefore, the registration of the robot coordinates can be completed by a corresponding decomposition method such as SVD (the description of the SVD can be referred to as Olga Sorkine.
The technical scheme of the application takes the case that the end tool of the robot is a hollow tubular structure, and uses the Vega three-dimensional motion capture system of NDI as theThe application provides a method for registering a robot coordinate system by using a three-dimensional positioning device, an auxiliary registration tool is designed for fixing a marking array and an end tool of NDI, the connection relation is detailed as shown in figure 2, and the conversion relation between a robot base coordinate system and the three-dimensional positioning device coordinate system is obtained by acquiring and calculating data of 4 or more registration points. Firstly, carrying out TCP operation on a tubular end tool, wherein a TCP point is positioned at a determined point on the axis of the tubular tool; the three-dimensional positioning device and the robot are relatively fixed, and the movable range of the tail end of the robot is placed in the visual field range of the three-dimensional positioning device as much as possible, which is shown in detail in figure 1; installing an auxiliary registration tool on the robot end tool; the robot is adjusted to a passive mode, and a tool at the tail end of the robot is dragged, so that the auxiliary registration tool can be captured by the three-dimensional positioning device; dragging to 4 or more positions, and recording the pose data T ═ T of the three-dimensional positioning device at each position1、T2、…TnPose data R ═ R of robot end flange1、R2、…Rn}; the conversion relation between the coordinate system of the three-dimensional positioning device and the base coordinate system of the robot is obtained through T and R calculationT RE. Therefore, the conversion relation between the coordinate system of the three-dimensional positioning device and the coordinate system of the robot can be quickly realized, and the registration of the coordinate system of the robot is realized.
Aiming at the example that the tubular tool is used as the end tool and Vega of NDI is used as the three-dimensional positioning device, the auxiliary registration tool is designed, and the auxiliary registration tool is designed aiming at the condition that the tubular tool is used for fixing the rod-shaped tool as the execution part; the auxiliary registration tool is divided into two parts, an array holder and a mounting fixture, see fig. 2 in detail; the array fixer is designed according to the requirement of the three-dimensional positioning device on the marked array, the threaded holes on the array fixer ensure that the marked points are all on the same plane, and each threaded hole is vertical to the plane where the array marked point is located, and the design can ensure that one coordinate axis of the array coordinate system is vertical to the plane where the array marked point is located and passes through the origin of the array coordinate system; the mounting fixture is an intermediate piece for attaching the array holder to other tools, and in this patent, the array holder and the rod-shaped tool are attached, see fig. 3, such that the axis of the rod-shaped tool passes through the origin of the array coordinate system and is parallel to one coordinate axis of the array coordinate system.
Referring to fig. 1, 2, and 3, the robot mark registration system includes: a robot 20, a three-dimensional positioning device 10, a tubular tool 30, a drill rod 40 and an auxiliary registration tool 50;
wherein, the robot 20 is fixedly connected with the tubular tool 30 through a flange 21, the drill rod 40 is inserted into the tubular tool 30, and the auxiliary registration tool 50 is fixedly connected with the front end of the drill rod 40 through a front end clamp 58 of the drill rod 40;
the assisted registration tool 50 includes: a tag array 51, the tag array 51 comprising: 4 marker points 52 distributed and surrounding, wherein the length of at least one marker point 521 of the marker points 52 is larger than that of the rest of the marker points 522 (the design of the marker array follows the design requirements provided by the three-dimensional positioning device).
In an alternative, the angle between the 4 marker points 52 may be 90 ° (the design of the marker array follows the design requirements provided by the three-dimensional positioning device).
The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (5)
1. A method for registering a robot coordinate system using a three-dimensional positioning apparatus, the method being applied to a robot mark registration system, the method comprising the steps of:
s101, for the installation of a tubular tool and the tail end of a robot, carrying out TCP operation on the tubular tool to obtain a determined point C (Cx, Cy and Cz) located on the axis of the tubular tool;
s102, relatively fixing the robot and the three-dimensional positioning device, and inserting a drill rod into a tubular tool, wherein the drill rod and the tubular tool are coaxial;
s103, clamping an auxiliary registration tool at the front end of the drill rod, wherein the plane of a mark array on the auxiliary registration tool is vertical to the axial direction of the drill rod, the axis passes through the center of the mark array, and the position of the point C in an array coordinate system is P [ Px, Py and Pz ] obtained through parameters;
step S104, the robot is adjusted to a manual mode, the tail end of the robot is dragged, the tail end of the robot and the mark array move to alpha or more positions randomly in the visual field range of the three-dimensional positioning device, the mark array is guaranteed to be collected by the three-dimensional positioning device, and all the positions are guaranteed not to be on the same plane or the same straight line; alpha is an integer of 4 or more;
step S105, collecting robot end pose data R ═ { R ═ R at each position in step S1041、R2、…RnPosition and attitude data T ═ T of the marker array captured by the three-dimensional positioning device1、T2、…Tn}；
Step S106, passing P [ Px, Py, Pz ] through T ═ T { (T)1、T2、…TnMapping to coordinate system N of three-dimensional positioning device to obtain point set PN＝{PN 1、PN 2…PN nAnd (C) passing C [ Cx, Cy, Cz ] through T ═ T { (T) }1、T2、…TnMapping to a robot base coordinate system B to obtain a point set TB＝{TB 1、TB 2…TB n}；
S107, obtaining the conversion relation between the coordinate system of the three-dimensional positioning device and the robot base coordinate system by SVDT RE。
2. The method of claim 1, wherein the robotic mark registration system comprises: the system comprises a robot, a three-dimensional positioning device, a tubular tool, a drill rod and an auxiliary registration tool;
the robot is fixedly connected with the tubular tool through a flange, the drill rod is inserted into the tubular tool, and the auxiliary registration tool is fixedly connected with the front end of the drill rod through a drill rod front end clamp;
the assisted registration tool comprises: a tag array, the tag array comprising: 4 marking points are distributed on the periphery.
3. The method according to claim 1, wherein C [ Cx, Cy, Cz ] is passed through T ═ T1、T2、…TnMapping to a robot base coordinate system B to obtain a point set TB＝{TB 1、TB 2…TB nThe method specifically comprises the following steps:
passing C [ Cx, Cy, Cz ] through T1Mapping to the coordinate System of a three-dimensional positioning device to obtain TN 1(ii) a C [ Cx, Cy, Cz ] is through TnMapping to the coordinate System of a three-dimensional positioning device to obtain TN n。
4. The method according to claim 1, wherein P [ Px, Py, Pz ] is passed through T ═ T { (T)1、T2、…TnMapping to coordinate system N of three-dimensional positioning device to obtain point set TN＝{TN 1、TN 2…TN nThe method specifically comprises the following steps:
passing P [ Px, Py, Pz ] through T1Mapping to the coordinate System of a three-dimensional positioning device to obtain PN 1(ii) a P [ Px, Py, Pz ] through TnMapping to the coordinate System of a three-dimensional positioning device to obtain PN n。
5. A computer-readable storage medium, characterized in that a computer program for electronic data exchange is stored, wherein the computer program causes a computer to perform the method according to any one of claims 1-4.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010489341.5A CN111633652A (en) | 2020-06-02 | 2020-06-02 | Method for registering robot coordinate system by using three-dimensional positioning device |
| PCT/CN2021/072679 WO2021244037A1 (en) | 2020-06-02 | 2021-01-19 | Method and apparatus for registering robot coordinate system using three-dimensional positioning apparatus, and system, computer, and readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010489341.5A CN111633652A (en) | 2020-06-02 | 2020-06-02 | Method for registering robot coordinate system by using three-dimensional positioning device |
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| WO (1) | WO2021244037A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112790867A (en) * | 2021-02-03 | 2021-05-14 | 上海电气集团股份有限公司 | Robotic arm-based method and system for cutting acetabular cups |
| WO2021244037A1 (en) * | 2020-06-02 | 2021-12-09 | 杭州键嘉机器人有限公司 | Method and apparatus for registering robot coordinate system using three-dimensional positioning apparatus, and system, computer, and readable storage medium |
| WO2022252676A1 (en) * | 2021-06-01 | 2022-12-08 | 北京长木谷医疗科技有限公司 | Method and apparatus for calibrating robotic arm flange physical origin, and electronic device |
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| CN114343847B (en) * | 2022-01-06 | 2023-05-30 | 广东工业大学 | Hand-eye calibration method of surgical robot based on optical positioning system |
| CN115500946B (en) * | 2022-08-17 | 2024-01-16 | 北京长木谷医疗科技股份有限公司 | Method and device for measuring surgical instrument positioning frame based on surgical robot |
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| WO2021244037A1 (en) | 2021-12-09 |
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