WO2018214156A1 - Method of correcting locomotion control command of robot, and related apparatus for same - Google Patents

Abstract

A method of correcting a locomotion control command of a robot, the method comprising: acquiring first position data of three predetermined points on a workpiece (S11); acquiring pre-stored second position data of the three points (S12); determining, according to the first position data and second position data, a first position transform parameter (S13); and correcting, according to the first position transform parameter, a locomotion control command of a robot to obtain the corrected locomotion control command of the robot (S14). The method enables precise robot locomotion control in a condition in which a workpiece coordinate system is not calibrated in advance and the position of the workpiece is changed.

Description

Method for correcting motion control command of robot and related equipment [Technical Field]

The invention relates to the field of numerical control technology, and in particular to a method for correcting a motion control command of a robot and related equipment.

【Background technique】

When the robot's motion control uses the teaching method, but the workpiece and tool coordinate system are not established, the robot is displaced relative to the workpiece (the robot or the workpiece position changes), and the original motion control command is still used; or the same motion The control command needs to be used by multiple robots. When the original motion control command uses the teaching programming without establishing the workpiece coordinate system, if the robot still uses the original motion control command to control the robot motion, there will be a problem that the motion control is inaccurate.

Robots usually use teaching methods to carry out operations such as handling and machining. Generally, users rarely use special tools for calibration during programming, but directly use the user's tools to perform workpiece machining operations. Therefore, there are very few workpiece coordinate systems in the program. When encountering robot handling, moving or moving workpieces, it is often necessary to re-teach all the points.

In order to solve this problem, the major manufacturers can establish the workpiece coordinate system in the software program, that is, before the teaching, the workpiece coordinate system needs to be calibrated, and if there is a change, only the workpiece coordinate system needs to be changed, and the original program can be changed. Use directly. But there is no way to deal with programs that have not previously calibrated the coordinate system.

The current workpiece coordinate system function needs to be prepared in advance, which means that if the coordinate system is not established in the original program, the method cannot be used.

In addition, the measurement of the workpiece coordinate system is dependent on the tool. The workpiece coordinate system must be calibrated only if the tool coordinate system and the tool coordinate system origin (Tool Center Point, TCP) are known. The general user rarely has a special calibration tool. If any other tool is used, the measurement of the tool is also prone to error, and the tool is repeatedly disassembled to reduce the efficiency.

Therefore, it is desirable to provide a method of correcting a motion control command of a robot and related equipment to solve the above technical problems.

[Summary of the Invention]

The technical problem to be solved by the present invention is to provide a method for robot teaching calibration, which can accurately control the robot motion according to the corrected motion control command after the workpiece changes position after the workpiece coordinate system is not calibrated in advance.

In order to solve the above technical problem, the present invention provides a technical solution for providing a method for correcting a motion control command of a robot, the method comprising: acquiring first position data of three preset points on a workpiece; and acquiring pre-stored three The second position data of the points; determining the first position conversion parameter according to the first position data and the second position data; correcting the motion control command of the robot according to the first position conversion parameter, and obtaining the motion control command of the corrected robot.

In order to solve the above technical problem, another technical solution provided by the present invention is to provide a robot controller including a memory and a processor, wherein the memory stores executable programs and data, and the processor calls the memory. Executing the program and the data to perform the steps of: acquiring first position data of three preset points on the workpiece; acquiring second position data of the pre-stored three points; determining the first according to the first position data and the second position data Position conversion parameter; correcting the motion control command of the robot according to the first position conversion parameter, and obtaining a motion control command of the corrected robot.

In order to solve the above technical problem, another technical solution provided by the present invention is to provide a robot, the robot includes a robot body and a controller, and the controller is configured to: acquire first position data of three preset points on the workpiece; Obtaining second position data of the pre-stored three points; determining a first position conversion parameter according to the first position data and the second position data; correcting the motion control command of the robot according to the first position conversion parameter, and obtaining the corrected robot Motion control commands.

In order to solve the above technical problem, another technical solution provided by the present invention is to provide a storage device that stores an executable program that is executed to implement the above-described method of correcting a motion control command of a robot.

The beneficial effects of the present invention are: different from the prior art, the present invention obtains first position data of three preset points on the workpiece; acquires second position data of the pre-stored three points; according to the first position data and Second The position data determines a first position conversion parameter; the motion control command of the robot is corrected according to the first position conversion parameter, and the corrected motion control command of the robot is obtained, and the workpiece can be changed after the workpiece is changed without pre-calibrating the workpiece coordinate system. Accurately control robot motion in accordance with the corrected motion control commands.

[Description of the Drawings]

1 is a flow chart showing a method of correcting a motion control command of a robot according to a first embodiment of the present invention;

2 is a flow chart showing a method of correcting a motion control command of a robot according to a second embodiment of the present invention;

3 is a schematic diagram of a robot controller module according to an embodiment of the present invention;

4 is a schematic diagram of a robot module according to an embodiment of the present invention;

FIG. 5 is a block diagram of a memory device according to an embodiment of the present invention.

【detailed description】

The invention will now be described in detail in conjunction with the drawings and embodiments.

Please refer to FIG. 1. FIG. 1 is a flow chart of a method for correcting a motion control command of a robot according to a first embodiment of the present invention. In this embodiment, the method of correcting the motion control command of the robot may include the following steps:

Step S11: Acquire first position data of three points preset on the workpiece.

In this embodiment, the preset three points may be any three points that are not collinearly set on the workpiece in advance. The first position data may be position data of the three points after the workpiece is transformed. Obtaining the first position data of the preset three points on the workpiece may obtain the teaching data input by the user to control the robot to make the tool contact the three points after the workpiece transformation position, and then obtain the first position according to the teaching data. data. In other embodiments, the first position data of the three points preset on the workpiece may be obtained by other methods, such as measurement calibration, etc., which is not limited in this embodiment. For details, refer to the description below.

Step S12: Acquire second location data of the pre-stored three points.

In this embodiment, the second position data may be position data of the three points before the workpiece transformation position. Acquiring the second position data of the pre-stored three points, for example, the robot pre-stores the second position data of the three points before the workpiece transformation position, and acquires the second position data from the memory of the robot. In this embodiment, The second location data may be obtained and stored by teaching the three points before the workpiece transformation position, as described in the following description. In other embodiments, the second location data may be obtained by other means such as measurement calibration, and then the second location data is stored in the memory.

Step S13: determining a first position conversion parameter according to the first position data and the second position data.

In this embodiment, determining the first location conversion parameter according to the first location data and the second location data may be: calculating a conversion matrix according to the first location data and the second location data, and in other embodiments, The first location data and the second location data calculate other location conversion parameters. This embodiment of the present invention does not limit this.

Step S14: Correcting the motion control command of the robot according to the first position conversion parameter, and obtaining a motion control command of the corrected robot.

In this embodiment, the motion control command of the robot is corrected according to the first position conversion parameter, and the corrected motion control command of the robot may include: Correcting the three-dimensional coordinates in the motion control command; and correcting the rotation angle in the motion control command of the robot according to the first position conversion parameter, as described in the following description.

Referring to FIG. 2, FIG. 2 is a flow chart of a method for correcting a motion control command of a robot according to a second embodiment of the present invention. In this embodiment, acquiring the first position data of the preset three points on the workpiece comprises: receiving the teaching data input by the user, so as to control the robot to make the tool contact the three preset points on the workpiece; acquiring according to the teaching data First location data. Correcting the motion control command of the robot according to the first position conversion parameter comprises: correcting the three-dimensional coordinates in the motion control command of the robot according to the first position conversion parameter, and controlling the motion control command of the robot according to the first position conversion parameter The rotation angle is corrected.

In this embodiment, the method of correcting the motion control command of the robot may include the following steps:

Step S21: receiving the first teaching data input by the user to control the robot to make the tool contact the three preset points on the workpiece.

In this embodiment, the preset three points may be any three points that are not collinearly set on the workpiece in advance. The tool can be a tool that is installed on the robot. The tool can be rigidly connected to the flange of the robot. The tool can be a point contact tool. For example, the tool can be a welding torch. In other embodiments, the tool can be other tools, The connection to the robot can also be other ways. Preferably, the first teaching data input by the user is received to control three points preset on the workpiece after the tool on which the robot drive is mounted contacts the workpiece changing position. Teaching the robot to the user means that when the user controls the robot to perform a specific motion, the robot records the teaching data corresponding to the specific motion and can perform the specific motion according to the teaching data in a subsequent process.

Step S22: Acquire first location data according to the teaching data.

In this embodiment, the first position data is acquired according to the first teaching data, and the first position data may be position data of the three points after the workpiece is transformed. Obtaining the first location data according to the first teaching data may include: acquiring third location data of three points in a basic coordinate system according to the first teaching data; converting the third location data into a flange coordinate The first location data in the system. Converting the third position data into first position data in the flange coordinate system may include converting the third position data using a second position conversion parameter between the known base coordinate system and the flange coordinate system For the first location data.

Preferably, the first position data includes coordinates of each of the three points in the flange coordinate system after the workpiece changes position, taking the first point of the three points as an example, the first point is at the flange coordinate The coordinates of the three coordinate axes of the system are respectively x' _fl , y ' _fl , z' _fl , and the first position data further includes the attitude angle a′ of the first coordinate point relative to the three coordinate axes after the workpiece changes position. , b', c'.

Preferably, the third position data acquired from the first teaching data includes coordinates of the base coordinate system of each of the three points after the workpiece changes position, taking the first point as an example, the first point is in the basic coordinate system The coordinates are respectively x', y', z', and the fourth position data further includes the attitude angles a', b', c' of the base coordinate system relative to the three coordinate axes after the workpiece is changed position.

The third position data is converted into the first position data using the second position conversion parameter. For example, using the known transformation relationship f ₁ , the first point is converted to the coordinates x', y', z' of the base coordinate system after the workpiece is changed position to the coordinate x' _fl , y ' _fl in the flange coordinate system ,z' _fl .

Step S23: Acquire second location data of the pre-stored three points.

In this embodiment, the second position data may be position data of the three points before the workpiece transformation position. Acquiring the second position data of the pre-stored three points, for example, the robot pre-stores the second position data of the three points before the workpiece transformation position, and acquires the second position data from the memory of the robot. Pre-save the three The second position data of the point may specifically include: receiving the second teaching data input by the user in advance to control the robot to make the tool contact the three points before the workpiece transformation position, and acquiring the second position data according to the second teaching data. And storing the second location data in the memory. Obtaining the second location data according to the second teaching data may include: acquiring fourth location data of the three points in the basic coordinate system according to the second teaching data; converting the fourth location data into a flange coordinate The second location data in the system. Converting the fourth position data into the second position data in the flange coordinate system may include converting the fourth position data into a position by using a second position conversion parameter between the known base coordinate system and the flange coordinate system The second location data is described.

Preferably, the second position data includes coordinates of each of the three points in the flange coordinate system before the workpiece changes position, taking the first point as an example, the first point is in the three coordinate axes of the flange coordinate system The coordinates are x _fl , y _fl , z _fl , respectively. The second position data further includes the attitude angles a, b, c of the first coordinate point relative to the three coordinate axes before the workpiece changes position.

Preferably, the fourth position data acquired from the second teaching data includes coordinates of each of the three points in the basic coordinate system before the workpiece changes position, taking the first point as an example, the first point is in the basic coordinate system The coordinates are x, y, z, respectively. The fourth position data also includes the attitude angles a, b, c of the first coordinate point relative to the three coordinate axes before the workpiece changes position.

Preferably, the fourth position data is converted to the second position data using a second positional shift parameter between the known base coordinate system and the flange coordinate system. For example, using the known transformation relationship f ₁ , the first point is converted to the coordinates x _fl , y _fl , z _fl in the flange coordinate system before the workpiece changes position in the coordinates x, y, z of the base coordinate system. It is not difficult to understand that since the basic coordinate system and the flange coordinate system are known, the conversion relationship between the two, that is, the second position conversion parameter is known.

Step S24: Determine a first location conversion parameter according to the first location data and the second location data.

In this embodiment, determining the first location conversion parameter according to the first location data and the second location data comprises: calculating a conversion matrix according to the first location data and the second location data.

Preferably, calculating the conversion matrix according to the first position data and the second position data comprises: setting a first point of the three points before the workpiece transformation position to coincide with a first three-dimensional Cartesian coordinate system origin, The first point after the workpiece transformation position is set to coincide with an origin of the second three-dimensional Cartesian coordinate system, wherein the first a positional relationship between a coordinate axis of the three-dimensional Cartesian coordinate system and the three points is consistent with a relative positional relationship between a coordinate axis of the second three-dimensional Cartesian coordinate system and the three points;

Calculate the transformation matrix by the following formula:

ε _X = a'-a; ε _Y = b'-b; ε _z = c'-c

Where x _fl , y _fl , z _fl are the coordinates of the first point before the workpiece transformation position on the three coordinate axes of the flange coordinate system, and x' _fl , y ' _fl , z ' _fl is the first position after the workpiece transformation position The coordinates of the points on the three coordinate axes of the flange coordinate system, a, b, and c are the attitude angles of the first point in the base coordinate system before the workpiece transformation position, and a', b', and c' are the workpiece transformation positions respectively. The first point is the attitude angle of the basic coordinate system, ε _X , ε _Y , ε _Z are the angles between the three coordinate axes of the first three-dimensional Cartesian coordinate system and the three coordinate axes of the corresponding second three-dimensional Cartesian coordinate system, respectively.

The derivation process of the transformation matrix is as follows:

The calculation of the transformation matrix between the first three-dimensional Cartesian coordinate system and the second three-dimensional Cartesian coordinate system is obtained by means of three rotation matrices plus translation:

Where R ₁ (ε _X )R ₂ (ε _Y )R ₃ (ε _Z ) is a rotation matrix around the three coordinate axes x, y, and z of the first three-dimensional Cartesian coordinate system, respectively.

Thus the conversion matrix can be obtained as:

Step S25: correcting the three-dimensional coordinates in the motion control command of the robot according to the first position conversion parameter and correcting the rotation angle in the motion control command of the robot according to the first position conversion parameter.

In this embodiment, the motion control command may be the third teaching data input by the user received in advance. The third teaching data is corrected to generate fourth teaching data. Specifically, the coordinates and the rotation angle of each point on the first motion trajectory recorded in the third teaching data are converted into new coordinates by the first conversion parameter to generate a second motion trajectory to generate corresponding fourth teaching data. , that is, by converting the points on the first track through the conversion matrix T _m into one-to-one corresponding new coordinates, the new coordinates form a second motion track, and then generating corresponding fourth teaching data according to the second motion track, Then, the robot can move the tool according to the second motion trajectory recorded in the fourth teaching data to accurately process the workpiece after the position change, without re-entering the teaching data, according to the original teaching data and the first position conversion parameter. Precise control of the robot is achieved. In other embodiments, the motion control command may be other commands for controlling the motion of the robot, which is not limited by the present invention.

Please refer to FIG. 3. FIG. 3 is a schematic diagram of a robot controller module according to an embodiment of the present invention. In the present embodiment, the robot controller includes a memory 11 and a processor 12, in which the executable program and data are stored, and the processor 12 calls the executable program and data in the memory 11 to perform the following steps: acquiring the workpiece The first position data of the three points is set; the second position data of the pre-stored three points is obtained; the first position conversion parameter is determined according to the first position data and the second position data; and the movement of the robot is performed according to the first position conversion parameter The control command is corrected to obtain a motion control command of the corrected robot.

The steps of the above-mentioned processor 12 calling the executable program and the data execution in the memory 11 are described in detail in the foregoing description, and are not described herein again. The data stored in the memory 11 may include: first location data, second location data, third location data, fourth location data, and first location rotation according to any one of the foregoing implementations. The parameter, the second position conversion parameter, the first teaching data, the second teaching data, the third teaching data, the fourth teaching data, and other data mentioned in the above embodiments.

Please refer to FIG. 4. FIG. 4 is a schematic diagram of a robot module according to an embodiment of the present invention. In this embodiment, the robot includes a robot body 21 and a controller 22, and the controller 22 is configured to: acquire first position data of three preset points on the workpiece; and acquire second position data of the pre-stored three points; The first position data and the second position data determine a first position conversion parameter; the motion control command of the robot is corrected according to the first position conversion parameter to obtain a motion control command of the corrected robot.

Preferably, the controller 22 is configured to: correct the three-dimensional coordinates in the motion control command of the robot according to the first position conversion parameter; and correct the rotation angle in the motion control command of the robot according to the first position conversion parameter.

Preferably, the controller 22 is configured to: receive teaching data input by the user to control the robot to make the tool contact the three points preset on the workpiece; and acquire the first position data according to the teaching data.

Preferably, the controller 22 is configured to: acquire third position data of the three points in the basic coordinate system according to the teaching data;

Preferably, the controller 22 is configured to convert the third position data into first position data in the flange coordinate system.

Preferably, the controller 22 is configured to convert the third position data into the first position data using a second position conversion parameter between the known base coordinate system and the flange coordinate system.

Preferably, the three points preset on the workpiece are not collinear.

Preferably, the controller is configured to: calculate a conversion matrix according to the first location data and the second location data.

Preferably, the first position data is position data of three points after the workpiece transformation position, and the second position data is position data of the first three points of the workpiece transformation position,

The controller 22 is used to:

The first point of the first three points of the workpiece transformation position is set to coincide with the origin of the first three-dimensional Cartesian coordinate system, and the first point after the workpiece transformation position is set to coincide with the origin of the second three-dimensional Cartesian coordinate system, wherein the first three-dimensional The positional relationship between the coordinate axes of the Cartesian coordinate system and the three points is consistent with the relative positional relationship between the coordinate axes of the second three-dimensional Cartesian coordinate system and the three points;

Calculate the transformation matrix by the following formula:

ε _X = a'-a; ε _Y = b'-b; ε _z = c'-c

Where x _fl , y _fl , z _fl are the coordinates of the first point before the workpiece transformation position on the three coordinate axes of the flange coordinate system, and x' _fl , y ' _fl , z ' _fl is the first position after the workpiece transformation position The coordinates of the points on the three coordinate axes of the flange coordinate system, a, b, and c are the attitude angles of the first point in the base coordinate system before the workpiece transformation position, and a', b', and c' are the workpiece transformation positions respectively. The first point is the attitude angle of the basic coordinate system, ε _X , ε _Y , ε _Z are the angles between the three coordinate axes of the first three-dimensional Cartesian coordinate system and the three coordinate axes of the corresponding second three-dimensional Cartesian coordinate system, respectively.

Preferably, the tool is a point contact tool.

Preferably, the tool is a welding torch.

Preferably, the tool is rigidly connected to the flange of the robot.

Please refer to FIG. 5. FIG. 5 is a schematic diagram of a module of a storage device according to an embodiment of the present invention. In the present embodiment, the storage device 31 stores an executable program that is executed to implement the method of correcting the motion control command of the robot described in any of the above embodiments. The storage device 31 can be a USB flash drive, an optical disk, a hard disk, a mobile hard disk, a server, etc. Of course, the storage device 31 can also be the memory 11 in the above embodiment.

Different from the prior art, the present invention obtains first position data of three points preset on a workpiece; acquires second position data of three pre-stored points; and determines first according to the first position data and the second position data Position conversion parameter; correcting the motion control command of the robot according to the first position conversion parameter, and obtaining the motion control command of the corrected robot, which can follow the corrected motion after the workpiece changes position without pre-calibrating the workpiece coordinate system Control commands accurately control robot motion.

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims (34)

A method of correcting a motion control command of a robot, the method comprising: Obtaining first position data of three preset points on the workpiece; Obtaining pre-stored second location data of the three points; Determining a first location conversion parameter according to the first location data and the second location data; Correcting a motion control command of the robot according to the first position conversion parameter to obtain a corrected motion control command of the robot. The method according to claim 1, wherein the correcting the motion control command of the robot according to the first position conversion parameter comprises: Correcting the three-dimensional coordinates in the motion control command of the robot according to the first position conversion parameter; and The rotation angle in the motion control command of the robot is corrected according to the first position conversion parameter. The method according to claim 1, wherein the acquiring the first location data of the three preset points on the workpiece comprises: Receiving teaching data input by the user to control the robot to make the tool contact three preset points on the workpiece; Obtaining the first location data according to the teaching data. The method according to claim 3, wherein the obtaining the first location data according to the teaching data comprises: Acquiring, according to the teaching data, third position data of the three points in a basic coordinate system; The third position data is converted into first position data in a flange coordinate system. The method according to claim 4, wherein said converting said third position data into first position data in a flange coordinate system comprises: The third position data is converted to the first position data using a second positional transformation parameter between the known base coordinate system and the flange coordinate system. The method of claim 1 wherein the three points preset on the workpiece are not collinear. The method according to claim 1, wherein the determining the first location conversion parameter according to the first location data and the second location data comprises: A conversion matrix is calculated based on the first location data and the second location data. The method according to claim 7, wherein said first position data is position data of said three points after said workpiece transformation position, said second position data being said said workpiece transformation position The position data of the three points, the calculating the conversion matrix according to the first position data and the second position data includes: Setting a first point of the three points before the workpiece transformation position to coincide with a first three-dimensional Cartesian coordinate system origin, and setting the first point after the workpiece transformation position to be opposite to the second three-dimensional right angle The origin of the coordinate system coincides, wherein the positional relationship between the coordinate axes of the first three-dimensional Cartesian coordinate system and the three points is consistent with the relative positional relationship between the coordinate axes of the second three-dimensional Cartesian coordinate system and the three points ; Calculate the transformation matrix by the following formula:

ε _X = a'-a; ε _Y = b'-b; ε _z = c'-c Where x _f1 , y _f1 , z _f1 are the coordinates of the first point before the workpiece transformation position on the three coordinate axes of the flange coordinate system, and x′ _f1 , y′ _f1 , z′ _f1 are a coordinate of the first point on the three coordinate axes of the flange coordinate system after the workpiece is transformed, and a, b, and c are respectively a posture of the first point in the basic coordinate system before the workpiece transformation position The angles, a', b', and c' are respectively the attitude angles of the first point in the base coordinate system after the workpiece transformation position, and ε _X , ε _Y , and ε _Z are respectively the first three-dimensional rectangular coordinates The angle between the three coordinate axes of the system and the corresponding three coordinate axes of the second three-dimensional Cartesian coordinate system. The method of claim 3 wherein the tool is a point contact tool. The method of claim 9 wherein said tool is a welding torch. The method of claim 9 wherein said tool is rigidly coupled to a flange of said robot. A robot controller, characterized in that the robot controller comprises a memory and a processor, The memory stores executable programs and data, and the processor calls executable programs and data in the memory to perform the following steps: Obtaining first position data of three preset points on the workpiece; Obtaining pre-stored second location data of the three points; Determining a first location conversion parameter according to the first location data and the second location data; Correcting a motion control command of the robot according to the first position conversion parameter to obtain a corrected motion control command of the robot. The robot controller according to claim 12, wherein the correcting the motion control command of the robot according to the first position conversion parameter comprises: Correcting the three-dimensional coordinates in the motion control command of the robot according to the first position conversion parameter; and The rotation angle in the motion control command of the robot is corrected according to the first position conversion parameter. The robot controller according to claim 12, wherein the acquiring the first position data of the three points preset on the workpiece comprises: Receiving teaching data input by the user to control the robot to make the tool contact three preset points on the workpiece; Obtaining the first location data according to the teaching data. The robot controller according to claim 14, wherein the acquiring the first location data according to the teaching data comprises: Acquiring, according to the teaching data, third position data of the three points in a basic coordinate system; The third position data is converted into first position data in a flange coordinate system. The robot controller according to claim 15, wherein the converting the third position data into the first position data in the flange coordinate system comprises: The third position data is converted to the first position data using a second positional transformation parameter between the known base coordinate system and the flange coordinate system. The robot controller according to claim 12, wherein the preset three on the workpiece Points are not collinear. The robot controller according to claim 12, wherein the determining the first position conversion parameter according to the first position data and the second position data comprises: A conversion matrix is calculated based on the first location data and the second location data. The robot controller according to claim 18, wherein the first position data is position data of the three points after the workpiece transformation position, and the second position data is before the workpiece transformation position The location data of the three points, the calculating the conversion matrix according to the first location data and the second location data includes: Setting a first point of the three points before the workpiece transformation position to coincide with a first three-dimensional Cartesian coordinate system origin, and setting the first point after the workpiece transformation position to be opposite to the second three-dimensional right angle The origin of the coordinate system coincides, wherein the positional relationship between the coordinate axes of the first three-dimensional Cartesian coordinate system and the three points is consistent with the relative positional relationship between the coordinate axes of the second three-dimensional Cartesian coordinate system and the three points ; Calculate the transformation matrix by the following formula:

ε _X = a'-a; ε _Y = b'-b; ε _z = c'-c Where x _f1 , y _f1 , z _f1 are the coordinates of the first point before the workpiece transformation position on the three coordinate axes of the flange coordinate system, and x′ _f1 , y′ _f1 , z′ _f1 are a coordinate of the first point on the three coordinate axes of the flange coordinate system after the workpiece is transformed, and a, b, and c are respectively a posture of the first point in the basic coordinate system before the workpiece transformation position The angles, a', b', and c' are respectively the attitude angles of the first point in the base coordinate system after the workpiece transformation position, and ε _X , ε _Y , and ε _Z are respectively the first three-dimensional rectangular coordinates The angle between the three coordinate axes of the system and the corresponding three coordinate axes of the second three-dimensional Cartesian coordinate system. The robot controller of claim 14, wherein the tool is a point contact tool. The robot controller of claim 20 wherein said tool is a welding torch. The robot controller of claim 20 wherein said tool is rigidly coupled to a flange of said robot. A robot, characterized in that the robot comprises a robot body and a controller, the controller for: Obtaining first position data of three preset points on the workpiece; Obtaining pre-stored second location data of the three points; Determining a first location conversion parameter according to the first location data and the second location data; Correcting a motion control command of the robot according to the first position conversion parameter to obtain a corrected motion control command of the robot. The robot of claim 23 wherein said controller is for: Correcting the three-dimensional coordinates in the motion control command of the robot according to the first position conversion parameter; and The rotation angle in the motion control command of the robot is corrected according to the first position conversion parameter. The robot of claim 23 wherein said controller is for: Receiving teaching data input by the user to control the robot to make the tool contact three preset points on the workpiece; Obtaining the first location data according to the teaching data. The robot of claim 25 wherein said controller is for: Acquiring, according to the teaching data, third position data of the three points in a basic coordinate system; The third position data is converted into first position data in a flange coordinate system. The robot of claim 26 wherein said controller is for: The third position data is converted to the first position data using a second positional transformation parameter between the known base coordinate system and the flange coordinate system. The robot according to claim 23, wherein the three points preset on the workpiece are not collinear. The robot of claim 23 wherein said controller is for: A conversion matrix is calculated based on the first location data and the second location data. The robot according to claim 29, wherein said first position data is position data of said three points after said workpiece change position, said second position data being said said workpiece change position Three points of position data, the controller is used to: Setting a first point of the three points before the workpiece transformation position to coincide with a first three-dimensional Cartesian coordinate system origin, and setting the first point after the workpiece transformation position to be opposite to the second three-dimensional right angle The origin of the coordinate system coincides, wherein the positional relationship between the coordinate axes of the first three-dimensional Cartesian coordinate system and the three points is consistent with the relative positional relationship between the coordinate axes of the second three-dimensional Cartesian coordinate system and the three points ; Calculate the transformation matrix by the following formula:

ε _X = a'-a; ε _Y = b'-b; ε _z = c'-c Where x _f1 , y _f1 , z _f1 are the coordinates of the first point before the workpiece transformation position on the three coordinate axes of the flange coordinate system, and x′ _f1 , y′ _f1 , z′ _f1 are a coordinate of the first point on the three coordinate axes of the flange coordinate system after the workpiece is transformed, and a, b, and c are respectively a posture of the first point in the basic coordinate system before the workpiece transformation position The angles, a', b', and c' are respectively the attitude angles of the first point in the base coordinate system after the workpiece transformation position, and ε _X , ε _Y , and ε _Z are respectively the first three-dimensional rectangular coordinates The angle between the three coordinate axes of the system and the corresponding three coordinate axes of the second three-dimensional Cartesian coordinate system. The robot of claim 25 wherein said tool is a point contact tool. The robot of claim 31 wherein said tool is a welding torch. The robot of claim 31 wherein said tool is rigidly coupled to a flange of said robot. A storage device, characterized in that the storage device stores an executable program, the executable program being executed to implement the method of any one of claims 1-11.

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