• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a method for automatically correcting a work path of a robot that calculates a position and a posture of a workpiece in a three-dimensional space based on a coordinate system generated on the workpiece. Measurement of the reference workpiece using the laser vision sensor attached to the end of the robot to correct the position of the object due to torsion or bending as well as deformation caused by the translation and rotation movements when working with the robot The reference point is measured to set an object coordinate system on the processed object, and in the same manner, the measurement reference point of the current processed object is measured to set the object coordinate system. A method of automatically correcting a work path of a robot for expressing a deformation amount between two coordinate systems set by the above in a 4 × 4 matrix and using the deformation amount in a machining path of the robot is provided.
    公开号:KR20000021210A
    申请号:KR1019980040198
    申请日:1998-09-28
    公开日:2000-04-25
    发明作者:박종오；강병훈
    申请人:박호군；한국과학기술연구원；
    IPC主号:
    专利说明:

    Automatic work path correction method of robot
    [8] The present invention relates to the automatic compensation method for robot working path for calculating the position and attitude of the workpiece in a three-dimensional space based on the coordinate system generated on the workpiece.
    [9] In order to replace human work, industrial robots perform automation work using industrial robots. Since industrial robots can repeat the positions and postures taught once within the accuracy allowed by the robots, the necessity is increasing in production lines requiring simple repetitions.
    [10] However, most industrial robots need to input position and posture information on the work path in advance in order to perform an automated task, and the operator moves the robot by the teachings attached to the robot and the necessary posture on the work path. Get information of and location.
    [11] In addition, even if the same object to be placed in front of the robot changes the position and posture every time, if you perform the machining work in the previously taught work path can reduce the quality of the process, in some cases produce a defective product .
    [12] Therefore, it is necessary to correct the previously taught work path by measuring how much the position and posture of the current work object changes relative to the position and posture of the work object when the current work object is taught before the machining work is performed.
    [13] Recently, a sensor is attached to the end of the robot to measure the current position and defibrillation distance of the robot as a relative distance from the processed object to obtain information about the robot's processing path required for actual work. This is done a lot. What is needed at this time is a method of deriving a relationship between the coordinate system of the measured object from the sensor coordinate system attached to the end of the robot of the technical field of the present invention.
    [14] Conventional methods for correcting the work path of the robot taught in correspondence with the positional deformation of the target object as described above include the following methods.
    [15] The first method is to design and use a high-accuracy fixture so that the deformation of position and posture can be ignored for each target object. In other words, it is to design a correction tool for positioning the workpiece so that the position and posture of the workpiece during the teaching of the robot's work path and when the actual machining operation is performed are reliably within the tolerance range. Such a method is widely used in actual factory automation. However, the above method can be easily applied if there is a corrector, but the cost of designing the corrector is very expensive, and also time-consuming and expensive. In addition, it is not possible to cope with the occurrence of unexpected defects or errors in the correction tool.
    [16] Secondly, when the actual work is performed by using the slit light 2D laser sensor, the position and posture of the work object are compared with the time of teaching, and the relative amount is calculated to correct the work path of the robot every time. Existing methods, however, assume that the object is a rigid body and only measure the position and attitude of the object.
    [17] Third, a method of calibrating using a line laser vision sensor is described below with reference to FIG. 1.
    [18] 1 is an exemplary view of measuring a laser vision sensor.
    [19] Referring to FIG. 1, the line laser vision sensor refers to a sensor capable of obtaining a three-dimensional information value with respect to one laser line line as shown in FIG. 1. By using the three-dimensional sensor to calculate the coordinate axis correlation between the reference object and the current object to correct the position of the uncertain correction (Fixture), and also to correct the deformation of the processing object itself. Existing position correction method assumes a machining object as a rigid body and limits the cause of the position error of the object to only the case of the linear motion and the rotation motion. Therefore, assuming that there are no relative position errors or deformations between measurement reference points for determining the position and attitude of the object, the absolute position and direction of the absolute object to be processed relative to the robot are determined by repeatedly measuring the object in the production line several times. It was.
    [20] Existing correction method using the sensor of the technical field of the present invention as described above is not applicable when the deformation occurs in the object or the measurement reference point is changed by the deformation of the object. That is, there is a problem that the degree of work is not quantitatively reliable because the types of objects that can be applied are limited, and the average values obtained by measuring several times in the work line are taken as reference points when determining the reference positions and postures of the objects.
    [21] The present invention has been presented to solve the above problems, and an object of the present invention is to modify the position of the object by torsion or bending in addition to the deformation caused by the translation and rotation movements. The measurement reference point of the reference processing object is measured by using the attached laser vision sensor to set the object coordinate system on the processing object, and the object reference system is set by measuring the measurement reference point of the current processing object in the same manner. The present invention provides a method for automatically correcting a work path of a robot for correcting by using a machining path of a robot by expressing a deformation amount between two coordinate systems set by the 4 × 4 matrix.
    [1] 1 is a measurement example of a laser vision sensor
    [2] 2 is an exemplary diagram for defining a position of an object existing in three dimensions
    [3] 3 is an exemplary diagram for explaining a coordinate system of a reference object and a measurement object.
    [4] 4 is a flowchart illustrating a method for automatically correcting a work path of a robot of the present invention.
    [5] <Description of the symbols for the main parts of the drawings>
    [6] 10: reference object 20: current measurement object
    [7] 30: robot 40: laser vision sensor
    [22] Hereinafter will be described with reference to the accompanying drawings, equations, tables with respect to the configuration and operation of the embodiment of the present invention.
    [23] 2 is an exemplary diagram for defining a position of an object existing in three dimensions.
    [24] 3 is an exemplary diagram for explaining a coordinate system of a reference object and a measurement object.
    [25] In actual work with robot, there are two location error generating areas that need to be measured to calibrate the robot working path every time. First, the reference measurement point moves, and second, the inspection target part moves. Table 1 shows the position error generating parts corresponding to the two cases.
    [26] Location error occurrence area that needs measurement Position errorConsideration for the awardCorrection 1. Move the reference point1.1 Rigid bodies: Consider only the movement of the object itself, such as translation and rotationConsidered 1.2 For non-rigid bodies: Consideration of the movement of the measuring point due to other site deformations, such as translation, rotation, torsion and bendingConsidered 2. Movement of inspection site2.1 Only take into account the measurement areas such as burrs, spring back, hole centers, and inclinations of the planes within the tolerancesConsidered 2.2 When the laser line of the sensor fails to illuminate the characteristic point due to bad machining or deformation.Don't consider
    [27] Referring to Table 1 above, when the path of the robot is first taught, an error of a reference measurement point that can define the degree of distortion of the current work object with respect to the reference work object occurs. That is, in order to define the position of the object existing in the three-dimensional, as shown in Fig. 2, three points on at least one axis, three points on another axis, and one point on the other axis in three axes of X, Y, Z You need to know the location. 2 shows the positions of three points on the Z-axis, two points on the X-axis, and one point on the Y-axis.
    [28] Therefore, at least three reference measurement points must exist to define the position and direction of the object in three dimensions, and the position of the reference work object when teaching the robot path to the position and direction of the current object by the error of the reference measurement point. And the direction will be different. As shown in Table 1, the error of the reference measurement point is different depending on the case of the rigid object and the non-rigid object. In the case of the rigid body, the error is generated only by the translation and rotational movements of the workpiece. . Unlike the above, in the case of a non-rigid workpiece, the error of the reference measurement point is caused by bending deformation, torsional deformation, etc., in addition to the translational and rotational movements of the workpiece.
    [29] Secondly, the position error occurrence area to be measured is a work target area that requires an actual robot work path. The work target area is the part that the actual machining work or the inspection work should be done by using the robot among the work objects.
    [30] 1) The part where burr to be processed and removed exists.
    [31] 2) The site where the weld bead must be processed and removed.
    [32] 3) The part to be inspected the spring back caused by bending.
    [33] 4) Areas where holes or slots due to punching should be examined.
    [34] 5) Other areas where the geometry of the machined surface is to be examined.
    [35] In practice, the robot's work path, which should be corrected for the current work object, must be obtained by measuring the work area. The cause of the error of the work target site as described above can be divided into two cases as shown in Table 1. In the case of inspection of the error area by the laser sensor, the inspection area is in and out of the tolerance of the object.
    [36] When the inspection site is within the tolerance of the object, the deformation of the inspection site can be measured. Therefore, the relative deformation amount is measured based on the reference coordinate system of the current object. The machining path of the robot is determined using the deformation amount measured as described above. If the inspection site does not fall within the tolerance of the object, the object itself should be treated rather than processing through inspection or correction of the machining path of the robot.
    [37] The present invention solves the problem by the following method to define the position error generating part that needs to be measured as described above, and to correct the machining path of the robot.
    [38] First, in the movement of the reference measurement point, an object coordinate system independent of the reference work object and the current measurement object is set by considering both the rigid and non-rigid objects. Then, the coordinate system transformation amount for each other object is calculated based on the coordinate system, and the amount of change in position and direction between two objects is calculated through the transformation amount.
    [39] Secondly, the amount of movement of the work area is first inspected at the measurement site, and when the test is made within the allowable tolerance, the relative deformation amount is calculated based on the coordinate system of the current work object obtained in the first step. The machining path of the robot with respect to the current work object is corrected through the deformation amount. However, if the work area is not inspected within the inspection allowance, it is determined as a defect in the production of the work object itself, and the work object is defectively processed.
    [40] A method of setting the coordinate system of the reference object and the measurement object is described with reference to FIG. 3 as follows.
    [41] 3 is an exemplary diagram for explaining setting of a coordinate system of a reference object and a measurement object.
    [42] 3 shows a robot 30 performing a task, a laser vision sensor 40 attached to the robot 30 to measure a position of an object, a current measuring object 20, a reference object 10, and each It consists of the coordinate system of the measuring object. The position of the reference measurement point measured on the reference object using the laser vision sensor 40 attached to the end of the robot 30 is determined by P 1 (x 1 , y 1 , z 1 ), P 2 (x 2 , y 2 , z 2 ), P 3 (x 3 , y 3 , z 3 ), and the position of the reference measurement point measured on the current measurement object is P ' 1 (x' 1 , y ' 1 , z' 1 ), P ' 2 (x ' 2 , y' 2 , z ' 2 ), P' 3 (x ' 3 , y' 3 , z ' 3 ). P 1 (x 1 , y 1 , z 1 ), P 2 (x 2 , y 2 , z 2 ), P 3 (x 3 , y 3 , z 3 ) and P ′ 1 (x ' 1 , y' 1 , z ' 1 ), P' 2 (x ' 2 , y' 2 , z ' 2 ), P' 3 (x ' 3 , y' 3 , z ' 3 ) Set it.
    [43] First, a method of setting an object coordinate system of a reference object is as follows.
    [44] First, the initial origin of the object coordinate system of the reference object is assumed to be P 1 (x 1 , y 1 , z 1 ). When the initial origin is determined by the above process, the object coordinate system X-axis direction vector of the reference object is calculated by Equation 1.
    [45]
    [46] The Z-axis direction vector of the object coordinate system of the reference object is calculated by Equation 2.
    [47]
    [48]
    [49]
    [50] In the above,
    [51] The Y-axis direction vector of the object coordinate system of the reference object is calculated by Equation 3.
    [52]
    [53] Therefore, the coordinate system rotation matrix of the reference object is calculated by Equation 4.
    [54]
    [55] In the above,
    [56]
    [57]
    [58]
    [59] In addition, since the origin of the object coordinate system of the reference object is assumed to be P 1 = (x 1 , y 1 , z 1 ), a transformation matrix of the object coordinate system is expressed by Equation 5 below.
    [60]
    [61] Similarly, the method of setting the object coordinate system of the current workpiece currently positioned to measure for robot operation is as follows.
    [62] First, it is assumed that the initial origin of the object coordinate system of the current work object is P ' 1 (x' 1 , y ' 1 , z' 1 ). When the origin is determined by the above, the object coordinate system X-axis direction vector of the reference object is calculated by Equation 6.
    [63]
    [64] The Z-axis direction vector of the object coordinate system of the reference object is calculated by Equation 7.
    [65]
    [66]
    [67]
    [68] In the above,
    [69]
    [70]
    [71]
    [72] The Y-axis direction vector of the object coordinate system of the reference object is calculated by Equation 8.
    [73]
    [74] Therefore, the coordinate system rotation matrix of the reference object is calculated by Equation 9.
    [75]
    [76] In the above,
    [77]
    [78]
    [79]
    [80] Since the origin of the object coordinate system of the reference object is assumed to be P ' 1 = (x' 1 , y ' 1 , z' 1 ), a transformation matrix of the object coordinate system is expressed by Equation 10.
    [81]
    [82] Therefore, the displaced position and the conversion amount of the current workpiece with respect to the reference object are given by Equation (11).
    [83] T = T 2 ⋅T 1 -1
    [84] Referring to the flowchart of FIG. 4, a method for automatically calibrating a work path of a robot by setting a coordinate system of a reference object and a measurement object formed as described above is as follows.
    [85] 4 is a flowchart illustrating a method for automatically correcting a work path of a robot of the present invention.
    [86] Referring to FIG. 4, the position of the reference measurement point of the reference object 10 is measured using the laser vision sensor 40 of the robot 30 (S100).
    [87] When the reference measurement point of the reference object 10 is measured in step S100, a reference coordinate system of the reference object 10 is set (S200).
    [88] When the reference coordinate system of the reference object 10 is set in step S200, the position of the reference measurement point of the current measurement object 20 is measured using the laser vision sensor 40 of the robot 30 (S300).
    [89] When the reference measurement point of the current measurement object 20 is measured in step S300, a coordinate system of the current measurement object 20 with respect to the reference object 10 is set (S400).
    [90] When the coordinate system of the current measurement object 20 is set in step S400, the amount of conversion between the reference coordinate system and the coordinate system of the current measurement object 20 is obtained (S500).
    [91] When the conversion amount is obtained by the process S500, a correction operation is performed using the conversion amount (S600).
    [92] Through all the above processes, the robot's work path automatic correction method is implemented as the present invention intends.
    [93] As can be seen from the above description, the present invention is attached to the end of the robot so that the position of the object can be corrected by torsion or bending, in addition to the deformation caused by the translation and rotation movement when working with the robot The measurement reference point of the reference processing object is measured by using the laser vision sensor, and the object coordinate system is set on the processing object, and the object reference system is set by measuring the measurement reference point of the current processing object in the same manner. The deformation amount between the two coordinate systems set by the above is expressed in a 4 × 4 matrix, and the deformation amount is corrected by using the robot's machining path, and the laser sensor is attached to the robot to increase the reliability of inspection or machining. And there is an effect that the simplicity and accuracy of the operation occurs.
    权利要求:
    Claims (4)
    [1" claim-type="Currently amended] In the method of performing the correction of the working path by using the correlation between the reference object and the target object using a laser vision sensor,
    A reference measurement point measuring process (S100) for measuring a position of a reference measurement point of the reference object 10 using the laser vision sensor 40 of the robot 30,
    When the reference measurement point of the reference object 10 is measured in the reference measurement point measurement process (S100), the reference coordinate system setting process (S200) of setting a reference coordinate system of the reference object 10,
    When the reference coordinate system of the reference object 10 is set in the reference coordinate system setting process (S200), the current measuring position of the reference measurement point of the current work object 20 using the laser vision sensor 40 of the robot 30. Reference measuring point measuring process (S300),
    When the reference measurement point of the current work object 20 is measured in the current reference measurement point measurement process (S300), the current work coordinate system setting process (S400) of setting the coordinate system of the current work object 20 with respect to the reference object 10 and ,
    When the coordinate system of the current work object 20 is set in the current work coordinate system setting process (S400), a conversion amount calculation process of obtaining a conversion amount between the reference coordinate system and the coordinate system of the current work object 20 (S500). and,
    When the conversion amount is obtained by the conversion amount calculation process (S500), the work path automatic correction method of the robot comprising a correction step (S600) for performing a correction operation using the conversion amount.
    [2" claim-type="Currently amended] The transformation matrix of the coordinate system set in the reference coordinate system setting process,

    Work path automatic correction method of the robot, characterized in that.
    [3" claim-type="Currently amended] The transformation matrix of the coordinate system set in the current working coordinate system setting process,
    In the above, P ' 1 = (x' 1 , y ' 1 , z' 1 )
    Work path automatic correction method of the robot, characterized in that.
    [4" claim-type="Currently amended] The method of claim 1, wherein the conversion amount calculation process,
    T = T 2 ⋅T 1 -1 Automatic operation path correction method of the robot, characterized in that the calculation using the equation.
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    同族专利:
    公开号 | 公开日
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
    1998-09-28|Application filed by 박호군, 한국과학기술연구원
    1998-09-28|Priority to KR1019980040198A
    1998-09-28|Priority claimed from KR1019980040198A
    2000-04-25|Publication of KR20000021210A
    2001-11-05|Application granted
    2001-11-05|Publication of KR100301231B1
    优先权:
    申请号 | 申请日 | 专利标题
    KR1019980040198A|KR100301231B1|1998-09-28|The automatic compensation method for robot working path|
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