CN-117086879-B - Data acquisition method, device, equipment and storage medium

CN117086879BCN 117086879 BCN117086879 BCN 117086879BCN-117086879-B

Abstract

The embodiment of the application provides a data acquisition method, a device, equipment and a storage medium, and relates to the technical field of robots. The method comprises the steps of obtaining pose information when a joint robot is controlled to move to a target space point, wherein the pose information comprises joint angles and a first rotation matrix of an end effector, performing preliminary screening on candidate configuration parameters of the joint robot based on the obtained joint angles and the first rotation matrix to obtain at least one group of target configuration parameters, estimating rod length parameters of the joint robot when the joint robot has the target configuration parameters according to each group of target configuration parameters to obtain rod length parameters corresponding to the target configuration parameters, and screening out current configuration parameters and rod length parameters of the joint robot based on the target configuration parameters, the corresponding rod length parameters and the obtained pose information to obtain DH parameters of the joint robot. Therefore, the DH parameter acquisition difficulty of the joint robot can be reduced through the scheme.

Inventors

CHEN BO
ZHOU YANG
CHEN YUANJI

Assignees

杭州海康机器人股份有限公司

Dates

Publication Date: 20260505
Application Date: 20230919

Claims (14)

1. A method of data acquisition, the method comprising: The method comprises the steps of obtaining pose information obtained when a joint robot is controlled to move to a target space point, wherein the pose information comprises a joint rotation angle and a first rotation matrix of an end effector; estimating a rotation matrix of the end effector if the joint robot moves to the target space point location based on the set of candidate configuration parameters and joint rotation angles included in the acquired pose information aiming at each set of candidate configuration parameters of the joint robot, and obtaining a second rotation matrix corresponding to the set of candidate configuration parameters; Screening each group of candidate configuration parameters based on the difference value between the second rotation matrix corresponding to each group of candidate configuration parameters and the first rotation matrix to obtain at least one group of target configuration parameters; Aiming at each group of target configuration parameters, predicting the rod length parameters of the joint robot when the joint robot has the group of target configuration parameters, and obtaining the rod length parameters corresponding to the group of target configuration parameters; determining the difference information between estimated pose information corresponding to each set of target configuration parameters and the acquired pose information as the difference information corresponding to the target configuration parameters, wherein the estimated pose information is pose information generated when the joint robot moves to the target space point when the joint robot has the set of target configuration parameters and the corresponding rod length parameters; And determining the target configuration parameter with the minimum difference represented by the corresponding difference information and the corresponding rod length parameter as the current configuration parameter and the rod length parameter of the joint robot to obtain the DH parameter of the joint robot.
2. The method of claim 1, wherein before screening each set of candidate configuration parameters based on a difference between the second rotation matrix corresponding to each set of candidate configuration parameters and the first rotation matrix to obtain at least one set of target configuration parameters, further comprising: And aiming at each group of candidate configuration parameters, if a non-unit orthogonal matrix exists in a second rotation matrix corresponding to the group of candidate configuration parameters, eliminating the group of candidate configuration parameters from the groups of candidate configuration parameters.
3. The method according to claim 1 or 2, wherein the number of target spatial points is a plurality; the step of screening each set of candidate configuration parameters based on the difference value between the second rotation matrix corresponding to each set of candidate configuration parameters and the first rotation matrix to obtain at least one set of target configuration parameters comprises the following steps: Summing the differences corresponding to the candidate configuration parameters to obtain a loss value corresponding to the candidate configuration parameters, wherein the differences corresponding to the candidate configuration parameters are the differences between the obtained second rotation matrix corresponding to the candidate configuration parameters and the first rotation matrix; And selecting configuration parameters with loss values smaller than a first preset threshold value from the candidate configuration parameters to obtain at least one group of target configuration parameters.
4. The method of any of claims 1-2, wherein predicting the manner in which the articulated robot has stem length parameters when having any set of target configuration parameters comprises: Determining each group of candidate rod length parameters; Calculating pose information of an end effector of the joint robot when the joint robot moves to the target space point position according to the set of target configuration parameters and the set of candidate rod length parameters aiming at each set of candidate rod length parameters, and obtaining pose information corresponding to the set of candidate rod length parameters; based on pose information corresponding to each group of candidate rod length parameters, selecting a group of candidate rod length parameters meeting preset constraint conditions from each group of candidate rod length parameters, and obtaining the rod length parameters of the joint robot when the joint robot has the group of target configuration parameters; the preset constraint condition is that the difference value between the pose information corresponding to each group of candidate rod length parameters and the acquired pose information is smaller than a second preset threshold value.
5. The method according to claim 1 or 2, wherein estimating the rotation matrix of the end effector if the articulated robot moves to the target spatial point based on the set of candidate configuration parameters and the joint rotation angle included in the acquired pose information, to obtain a second rotation matrix corresponding to the set of candidate configuration parameters, includes: based on the candidate configuration parameters and joint angles included in the acquired pose information, performing kinematic positive solution calculation, and estimating a rotation matrix of the end effector to obtain a second rotation matrix corresponding to the candidate configuration parameters.
6. The method of claim 1, wherein the acquiring pose information obtained when controlling the articulated robot to move to the target spatial point comprises: Controlling the joint robot to perform a specified operation by using a specified tool, wherein the specified operation comprises a translation operation and a rotation operation; and acquiring pose information when the joint robot is controlled to move to the target space point position from the appointed tool.
7. A data acquisition device, the device comprising: the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring pose information obtained when the joint robot is controlled to move to a target space point position, and the pose information comprises a joint rotation angle and a first rotation matrix of an end effector; the initial screening module is used for estimating a rotation matrix of the end effector to obtain a second rotation matrix corresponding to each set of candidate configuration parameters of the joint robot based on the joint rotation angles included in the set of candidate configuration parameters and the acquired pose information, and screening each set of candidate configuration parameters based on the difference between the second rotation matrix corresponding to each set of candidate configuration parameters and the first rotation matrix to obtain at least one set of target configuration parameters; The estimating module is used for estimating the rod length parameters of the joint robot when the joint robot has the set of target configuration parameters according to each set of target configuration parameters, so as to obtain the rod length parameters corresponding to the set of target configuration parameters; The system comprises a screening module, a current configuration parameter and a rod length parameter of the joint robot, wherein the screening module is used for determining the difference information between estimated pose information corresponding to each group of target configuration parameters and acquired pose information as the difference information corresponding to the target configuration parameters, the estimated pose information is pose information generated when the joint robot moves to the target space point location when the joint robot has the group of target configuration parameters and the corresponding rod length parameters, and the current configuration parameters and the rod length parameters of the joint robot are determined to obtain DH parameters of the joint robot.
8. The apparatus of claim 7, wherein the preliminary screening module further comprises: And the rejecting submodule is used for rejecting the candidate configuration parameters from the candidate configuration parameters of each group if the non-unit orthogonal matrix exists in the second rotation matrix corresponding to the candidate configuration parameters of each group before the candidate configuration parameters of each group are screened based on the difference value between the second rotation matrix corresponding to the candidate configuration parameters of each group and the first rotation matrix to obtain at least one group of target configuration parameters.
9. The apparatus of any one of claims 7-8, wherein the number of target spatial points is a plurality; the primary screening module is specifically used for: Summing the differences corresponding to the candidate configuration parameters to obtain a loss value corresponding to the candidate configuration parameters, wherein the differences corresponding to the candidate configuration parameters are the differences between the obtained second rotation matrix corresponding to the candidate configuration parameters and the first rotation matrix; And selecting configuration parameters with loss values smaller than a first preset threshold value from the candidate configuration parameters to obtain at least one group of target configuration parameters.
10. The apparatus of any one of claims 7-8, wherein predicting the manner in which the articulated robot has stem length parameters when having any one set of target configuration parameters comprises: Determining each group of candidate rod length parameters; Calculating pose information of an end effector of the joint robot when the joint robot moves to the target space point position according to the set of target configuration parameters and the set of candidate rod length parameters aiming at each set of candidate rod length parameters, and obtaining pose information corresponding to the set of candidate rod length parameters; based on pose information corresponding to each group of candidate rod length parameters, selecting a group of candidate rod length parameters meeting preset constraint conditions from each group of candidate rod length parameters, and obtaining the rod length parameters of the joint robot when the joint robot has the group of target configuration parameters; the preset constraint condition is that the difference value between the pose information corresponding to each group of candidate rod length parameters and the acquired pose information is smaller than a second preset threshold value.
11. The apparatus according to claim 7 or 8, wherein estimating the rotation matrix of the end effector if the articulated robot moves to the target spatial point based on the set of candidate configuration parameters and the joint rotation angle included in the acquired pose information, to obtain a second rotation matrix corresponding to the set of candidate configuration parameters, includes: based on the candidate configuration parameters and joint angles included in the acquired pose information, performing kinematic positive solution calculation, and estimating a rotation matrix of the end effector to obtain a second rotation matrix corresponding to the candidate configuration parameters.
12. The apparatus of claim 7, wherein the acquisition module comprises: The control sub-module is used for controlling the joint robot to perform specified operations by using a specified tool, wherein the specified operations comprise translation operations and rotation operations; and the acquisition sub-module is used for acquiring pose information when the joint robot is controlled to move to the target space point position from the appointed tool.
13. An electronic device, comprising: a memory for storing a computer program; A processor for implementing the method of any of claims 1-6 when executing a program stored on a memory.
14. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program which, when executed by a processor, implements the method of any of claims 1-6.

Description

Data acquisition method, device, equipment and storage medium Technical Field The present application relates to the field of robotics, and in particular, to a method, apparatus, device, and storage medium for acquiring data. Background With the continuous improvement of the industrial automation degree, a scheme of performing object gripping by using an articulated robot has been receiving a great deal of attention. In the fields of high-precision grabbing such as operation, welding and assembly, absolute precision of the joint robot needs to be strictly ensured, and in practical production application, parameter errors of DH (Denavit-Hartenberg) kinematic models of the joint robot can be caused along with the conditions of abrasion, overload and the like of the joint robot. In order to improve the absolute positioning accuracy of the joint robot, the DH parameters of the DH kinematic model of the joint robot are usually corrected, and obtaining the DH parameters of the joint robot is a precondition for the DH parameters correction of the joint robot. In the related art, the DH parameters of the articulated robot are usually obtained by analyzing part of parameters, such as a rod length, from a design specification of the articulated robot or a 3D model of the articulated robot, and then moving the articulated robot to a zero position pose and then obtaining configuration parameters, such as a coordinate system orientation, an axial direction, a zero position bias, and the like. However, the DH parameter can be correctly obtained by a certain robot expert knowledge, so that the manual operation difficulty in practical application is increased. Therefore, how to reduce the difficulty in obtaining DH parameters of the articulated robot is a technical problem to be solved. Disclosure of Invention The embodiment of the application aims to provide a data acquisition method, a device, equipment and a storage medium, so as to reduce the acquisition difficulty of DH parameters of an articulated robot. The specific technical scheme is as follows: In a first aspect, an embodiment of the present application provides a data acquisition method, where the method includes: The method comprises the steps of obtaining pose information obtained when a joint robot is controlled to move to a target space point, wherein the pose information comprises a joint rotation angle and a first rotation matrix of an end effector; Based on joint angles and a first rotation matrix in the obtained pose information, performing primary screening on each group of candidate configuration parameters of the joint robot to obtain at least one group of target configuration parameters; Aiming at each group of target configuration parameters, predicting the rod length parameters of the joint robot when the joint robot has the group of target configuration parameters, and obtaining the rod length parameters corresponding to the group of target configuration parameters; and screening out the current configuration parameters and the rod length parameters of the joint robot based on the target configuration parameters, the corresponding rod length parameters and the acquired pose information, and obtaining DH parameters of the joint robot. Optionally, the performing, based on the joint rotation angle and the first rotation matrix in the obtained pose information, preliminary screening on each set of candidate configuration parameters of the articulated robot to obtain at least one set of target configuration parameters includes: estimating a rotation matrix of the end effector if the joint robot moves to the target space point location based on the set of candidate configuration parameters and joint rotation angles included in the acquired pose information aiming at each set of candidate configuration parameters of the joint robot, and obtaining a second rotation matrix corresponding to the set of candidate configuration parameters; and screening each group of candidate configuration parameters based on the difference value between the second rotation matrix corresponding to each group of candidate configuration parameters and the first rotation matrix to obtain at least one group of target configuration parameters. Optionally, before screening the candidate configuration parameters of each group based on the difference between the second rotation matrix corresponding to the candidate configuration parameters of each group and the first rotation matrix to obtain at least one group of target configuration parameters, the method further includes: And aiming at each group of candidate configuration parameters, if a non-unit orthogonal matrix exists in a second rotation matrix corresponding to the group of candidate configuration parameters, eliminating the group of candidate configuration parameters from the groups of candidate configuration parameters. Optionally, the step of screening out the current configuration parameters and the rod length parameters