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WO2013091596A1 - Dispositif et procédé permettant l'étalonnage basé sur un modèle pour un robot dans un espace de travail - Google Patents

Dispositif et procédé permettant l'étalonnage basé sur un modèle pour un robot dans un espace de travail Download PDF

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Publication number
WO2013091596A1
WO2013091596A1 PCT/DE2011/002143 DE2011002143W WO2013091596A1 WO 2013091596 A1 WO2013091596 A1 WO 2013091596A1 DE 2011002143 W DE2011002143 W DE 2011002143W WO 2013091596 A1 WO2013091596 A1 WO 2013091596A1
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WO
WIPO (PCT)
Prior art keywords
calibration
robot
radiation pattern
model
calibration objects
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.)
Ceased
Application number
PCT/DE2011/002143
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German (de)
English (en)
Other versions
WO2013091596A9 (fr
Inventor
Peter KOVÀCS
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ISIOS GmbH
Original Assignee
ISIOS GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by ISIOS GmbH filed Critical ISIOS GmbH
Priority to US14/365,642 priority Critical patent/US20150002855A1/en
Priority to PCT/DE2011/002143 priority patent/WO2013091596A1/fr
Publication of WO2013091596A1 publication Critical patent/WO2013091596A1/fr
Anticipated expiration legal-status Critical
Publication of WO2013091596A9 publication Critical patent/WO2013091596A9/fr
Ceased legal-status Critical Current

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Classifications

    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39008—Fixed camera detects reference pattern held by end effector
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39039—Two cameras detect same reference on workpiece to define its position in space
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39045—Camera on end effector detects reference pattern
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39393—Camera detects projected image, compare with reference image, position end effector

Definitions

  • the present invention relates to an arrangement for model-based calibration of a robot in a workspace, comprising at least three calibration objects, which are designed either as directional radiation patterns together with associated radiation pattern generator or as radiation pattern position sensors, wherein position sensors deliver upon measurement of a radiation pattern measured values with position information, which to a Computing be forwarded, which determines the parameters of a mathematical mechanism model using these measurements
  • a mechanism 1 is a system of so-called segments or rigid bodies, which are connected by rotary push or screw joints. Examples are robots, machine tools or hexapods.
  • Robot To simplify the understanding of the present invention, the term robot 1 is used below as a synonym for the term mechanism.
  • Effector (5) is a segment of the mechanism to which a work object (e.g., gripper (with workpiece), miller, camera, etc.) can be mounted for the purpose of carrying out a utility.
  • the aim of the patent is to position the effector with work object exactly in the working space or relative to the robot base.
  • Position summarizes the position and orientation of an object in the 3-dimensional visual space.
  • Joint configuration is the total of all control values of the joints of a robot, which determines the position of all robot segments or rigid bodies including the effector.
  • model-based robot calibration basically consists of three basic steps:
  • the mathematical methods of parameter identification e.g. Gauss-Newton or Levenberg-Marquardt method calculates the parameters of a mathematical model of the robot and the position of the involved calibration objects.
  • Calibration systems differ substantially by the measuring devices used and the respective underlying mathematical mechanism model.
  • a radiation pattern generator 3 generates directional electromagnetic radiation (e.g., lasers, maser, radar) or directional radiation patterns, such as e.g. Single rays 2 or bundles of isolated single rays 8 or line or cross-shaped radiation patterns 9 or any other patterns.
  • directional electromagnetic radiation e.g., lasers, maser, radar
  • directional radiation patterns such as e.g. Single rays 2 or bundles of isolated single rays 8 or line or cross-shaped radiation patterns 9 or any other patterns.
  • Laser For the sake of simplicity, the term laser is used below as a synonym of radiation pattern generator 2.
  • Radiation pattern position sensors 3 can accurately register the position and possibly orientation of an incident radiation pattern 2 relative to a coordinate system permanently assigned to the sensor.
  • the term sensor is used below as a synonym of radiation pattern position sensor.
  • a calibration object is to be understood in the present description as a generic term for sensors and radiation patterns, including the associated laser. Contiguous images of radiation patterns on the sensor surface such as points, lines or crosses 7 are considered as a single calibration object. Unconnected radiation patterns, which are generated by a laser, for example by means of splitting optics 8, are described as several different cables. Librations Meetinge conceived.
  • a calibration object pair is defined as a coherent radiation pattern together with the associated laser and a sensor.
  • Laser sensor systems are robot calibration systems that are based on the following principle: A calibration object of a calibration object pair is mounted on the effector and hereinafter referred to as effector object. The other calibration object of the pair is stationarily positioned in or near the working space and hereinafter referred to as the reference object.
  • the robot moves the effector object into a plurality of positions in which at least one radiation pattern of the laser strikes the sensor.
  • the sensor forwards the measured values to a computing unit which calculates the exact parameters of a mathematical mechanism model from the measured values and associated joint configurations.
  • Calibration object pairs can change in the course of a mechanism calibration or more precisely: each laser can irradiate different sensors and each sensor can be irradiated by different radiation patterns.
  • EP1135237 sets out the basics of industrially applicable laser sensor methods.
  • the present patent is based on EP1135237 without being limited in scope by EP1135237.
  • WO 2010/094949 and the patents cited therein use stationary sensors and effector object lasers to derive information about the position of the effector in several ways over several steps.
  • the device is not used to calibrate robots but to measure isolated effector positions. Purpose, objectives and effect differ from the present patent.
  • the method provides an error amplification by a factor of 12 to 13 under optimum conditions in a typical industrial robot. The method is not used industrially.
  • the object of the present invention is therefore to develop an arrangement and a method of the type mentioned in such a way that the aforementioned disadvantages are eliminated.
  • the object is achieved in that at least two calibration objects are rigidly interconnected.
  • the decisive advantage of this rigid connection is the maximum increase in information or efficiency per measurement as follows:
  • the impact point of a laser beam on a sensor provides two equations for the parameter identification: one for the x and y coordinates of the impact point in the sensor coordinate system.
  • Two equations per measurement are provided by the original laser sensor technology
  • Fig. 2 Standard limited system calibration system with three sensors on a single carrier unit
  • FIG. 4 calibration variant with stationary laser with splitting optics
  • FIG. 5 Measurement of heterogeneous calibration object combinations.
  • FIG. 1 shows a realization according to the invention with a carrier unit 5 on the effector 6, on which four simple lasers 3 are mounted in a rigid position relative to each other and a reference object which consists of a carrier unit 5 with two sensors 4 rigidly connected.
  • suitable (calibration) measuring positions of the Ef- Four laser light spots on the photosensitive surface 7 of the sensor 4 are obtained.
  • the amount of effector positions in which all four beams strike a sensor is limited.
  • a prerequisite for a successful mechanism calibration is a wide range of different measurement positions.
  • the series of measurements are designed so that the sensors are hit by as many laser beams or radiation patterns as possible in some measuring positions and in other measuring positions that result from an optimization of the measuring series (n) result, less rays or in the extreme case only one laser beam hits the sensor.
  • the embodiment in Fig. 2 shows a effector laser with a cross-optic, which projects a cross-shaped beam pattern 9 on sensors and a stationary carrier unit 5 with three sensors 4.
  • the exemplary single carrier unit 5 can be easily transported and installed quickly. If the relative positions of the sensors relative to each other in advance measured exactly, so the carrier unit is u.a. as a length standard with high error attenuation due to the large distance between the sensors. In all measuring positions of the mechanism, only one sensor is irradiated at a time.
  • the calibration method proposed here and the method in EP1135237 do not require that the respective position of the effector or the effector objects can be unambiguously reconstructed from the measured values obtained in a measuring position. Partial information about the respective effector position is sufficient.
  • Fig. 3 shows a linear or translational joint 10 which is representative of more complex mechanisms with multiple linear joints, eg gantry robots or machine tools.
  • Linear joints usually have slight deviations from the straightness, which must be identified and compensated.
  • both effector and reference objects are rigid combinations of a respective laser 3 and a sensor 4.
  • the lasers are aligned approximately parallel to the baffle axis, as shown, and the sensors are positioned so that both are in contact with each other throughout the joint movement Laser to be taken.
  • the information yield is twice as high as in the technique according to EP1135237.
  • With a third, also parallel to the joint aligned Calibration object pair one can obtain the maximum information of six equations per measurement.
  • a laser with splitting optics 8, which emits a plurality of beams 2 at different angles, is mounted stationary on the edge of the working space, and on the effector 6, a carrier unit 5 with two sensors 4 rigidly connected is mounted.
  • the interchange of effector object and reference object in this example gives a different variant of the calibration than the preceding embodiments with other advantageous properties. In some calibration measurement positions, both sensors can be hit simultaneously by different beams of the laser.
  • a laser 3 is rigidly connected to a sensor 4 both at the effector 6 and stationary in the working space.
  • both calibration measurements of the type as in Fig. 1 are possible as well as those in Fig. 4. While in Fig. 3 the measurements are made on the sensors simultaneously, this is not the primary goal in the robot with rotary joints in Fig. 5 ,
  • the rigid connection primarily supports the initial identification of the position of the calibration objects as follows. Be e.g. Assuming the user sets the reference object 3; 4; 5 in Fig. 5 with pre-measured position exactly from laser to sensor in the working space. As soon as the position of the sensor in the robot coordinate system is determined, the position of the rigidly connected laser can be calculated immediately afterwards.
  • the positions of the reference objects relative to the robot base and the effector objects relative to the effector must be approximately determined in laser sensor systems before calibration measurement series can be calculated in which the laser really hits the sensor.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un dispositif et un procédé permettant l'étalonnage, basé sur un modèle, d'un mécanisme (1) dans un espace de travail, comprenant au moins trois objets d'étalonnage, qui sont réalisés soit sous la forme de motifs de rayonnement (2) dirigés, y compris le générateur (3) de motifs de rayonnement correspondant, soit sous la forme de capteurs de positionnement (4) des motifs de rayonnement. Lesdits capteurs de positionnement (4) fournissent, en cas d'impact d'un motif de rayonnement, des valeurs mesurées contenant des informations de position qui sont transmises à un dispositif de calcul qui, à l'appui de ces valeurs mesurées, détermine les paramètres d'un modèle mathématique du mécanisme. Ledit dispositif et ledit procédé se caractérisent par le fait qu'au moins deux objets d'étalonnage (2; 3) sont reliés entre eux de manière rigide.
PCT/DE2011/002143 2011-12-19 2011-12-19 Dispositif et procédé permettant l'étalonnage basé sur un modèle pour un robot dans un espace de travail Ceased WO2013091596A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US14/365,642 US20150002855A1 (en) 2011-12-19 2011-12-19 Arrangement and method for the model-based calibration of a robot in a working space
PCT/DE2011/002143 WO2013091596A1 (fr) 2011-12-19 2011-12-19 Dispositif et procédé permettant l'étalonnage basé sur un modèle pour un robot dans un espace de travail

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/DE2011/002143 WO2013091596A1 (fr) 2011-12-19 2011-12-19 Dispositif et procédé permettant l'étalonnage basé sur un modèle pour un robot dans un espace de travail

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WO2013091596A1 true WO2013091596A1 (fr) 2013-06-27
WO2013091596A9 WO2013091596A9 (fr) 2014-09-18

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110834320A (zh) * 2018-08-16 2020-02-25 株式会社三丰 与机器人一起使用的辅助测量位置坐标确定系统
CN110834322A (zh) * 2018-08-16 2020-02-25 株式会社三丰 具有辅助测量位置坐标确定系统的机器人系统
CN110936373A (zh) * 2018-09-24 2020-03-31 株式会社三丰 具有端部工具计量位置坐标确定系统的机器人系统
CN112792817A (zh) * 2021-02-01 2021-05-14 中国建筑第八工程局有限公司 机械臂工件坐标系的非接触式标定装置及方法
US11745354B2 (en) 2018-08-16 2023-09-05 Mitutoyo Corporation Supplementary metrology position coordinates determination system including an alignment sensor for use with a robot
WO2023170166A1 (fr) * 2022-03-11 2023-09-14 Renishaw Plc Système et procédé d'étalonnage d'un bras de robot articulé

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160243703A1 (en) 2015-02-19 2016-08-25 Isios Gmbh Arrangement and method for the model-based calibration of a robot in a working space

Citations (6)

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Publication number Priority date Publication date Assignee Title
FR2729236A1 (fr) * 1995-01-06 1996-07-12 Thomson Broadband Systems Guidage de robot par eclairage actif
US6101455A (en) * 1998-05-14 2000-08-08 Davis; Michael S. Automatic calibration of cameras and structured light sources
EP1135237A1 (fr) 1998-11-12 2001-09-26 Alois Knoll Procede et dispositif pour augmenter l'exactitude de la position d'effecteurs sur des mecanismes et pour mesurer des objets dans un espace de travail
DE202005010299U1 (de) * 2005-06-30 2006-01-12 Beyer, Lukas Meßvorrichtung für Industrieroboter
WO2010094949A1 (fr) 2009-02-17 2010-08-26 Absolute Robotics Limited Mesure d'informations de position pour un bras robotisé
US20110280472A1 (en) * 2010-05-14 2011-11-17 Wallack Aaron S System and method for robust calibration between a machine vision system and a robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2729236A1 (fr) * 1995-01-06 1996-07-12 Thomson Broadband Systems Guidage de robot par eclairage actif
US6101455A (en) * 1998-05-14 2000-08-08 Davis; Michael S. Automatic calibration of cameras and structured light sources
EP1135237A1 (fr) 1998-11-12 2001-09-26 Alois Knoll Procede et dispositif pour augmenter l'exactitude de la position d'effecteurs sur des mecanismes et pour mesurer des objets dans un espace de travail
DE202005010299U1 (de) * 2005-06-30 2006-01-12 Beyer, Lukas Meßvorrichtung für Industrieroboter
WO2010094949A1 (fr) 2009-02-17 2010-08-26 Absolute Robotics Limited Mesure d'informations de position pour un bras robotisé
US20110280472A1 (en) * 2010-05-14 2011-11-17 Wallack Aaron S System and method for robust calibration between a machine vision system and a robot

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Title
C.S. GATLA; R. LUMIA; J. WOOD; G. STARR: "An Automated Method to Calibrate Industrial Robots Using a Virtual Closed Kinematic Chain", IEEE TRANSACTIONS ON ROBOTICS, vol. 23, no. 6, 2007, XP011198633, DOI: doi:10.1109/TRO.2007.909765
J.M.HOLLERBACH: "The calibration index and taxonomy for robot kinematic calibration methods", INT. J. ROBOT. RES., vol. 15, no. 12, 1996, pages 573 - 591, XP000643808
K. SCHRÖER: "Identifikation von Kalibrationsparametem kinematischer Ketten", 1993, HANSER VERLAG

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110834320A (zh) * 2018-08-16 2020-02-25 株式会社三丰 与机器人一起使用的辅助测量位置坐标确定系统
CN110834322A (zh) * 2018-08-16 2020-02-25 株式会社三丰 具有辅助测量位置坐标确定系统的机器人系统
CN110834320B (zh) * 2018-08-16 2023-02-24 株式会社三丰 与机器人一起使用的辅助测量位置坐标确定系统
CN110834322B (zh) * 2018-08-16 2023-02-28 株式会社三丰 具有辅助测量位置坐标确定系统的机器人系统
US11745354B2 (en) 2018-08-16 2023-09-05 Mitutoyo Corporation Supplementary metrology position coordinates determination system including an alignment sensor for use with a robot
CN110936373A (zh) * 2018-09-24 2020-03-31 株式会社三丰 具有端部工具计量位置坐标确定系统的机器人系统
CN110936373B (zh) * 2018-09-24 2023-02-28 株式会社三丰 具有端部工具计量位置坐标确定系统的机器人系统
CN112792817A (zh) * 2021-02-01 2021-05-14 中国建筑第八工程局有限公司 机械臂工件坐标系的非接触式标定装置及方法
WO2023170166A1 (fr) * 2022-03-11 2023-09-14 Renishaw Plc Système et procédé d'étalonnage d'un bras de robot articulé

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