A tracking system steady state measurement control method

Abstract

The application discloses a kind of tracking instrument steady-state measurement control method, belong to intelligent control technical field, including coordinate system calibration step, respectively flange coordinate system, tool coordinate system is calibrated, steady-state measurement step, including after giving the operating point of robot, calculate each target ball in each operating point in tracking instrument coordinate system W under the theory coordinate, and control tracking instrument points to this theory coordinate;Tracking instrument points to this theory coordinate after finding target ball.The tracking instrument steady-state measurement control method of the application, by accurately determining the mutual conversion relationship between each target ball coordinate system, tool coordinate system, robot base coordinate system, flange coordinate system and tracking instrument coordinate system, can calculate the theory coordinate of target ball under tracking instrument coordinate system first according to the position of given motion point when tracking instrument tracks target ball, tracking instrument points to this theory coordinate after finding target ball, even if there is light break phenomenon, tracking instrument will not lose target ball, will not affect measurement progress.

Description

Technical Field

[0001] This invention belongs to the field of robot control technology, specifically, it relates to a steady-state measurement and control method for a tracker. Background Technology

[0002] With the development of science and technology, the application fields of industrial robots are constantly expanding, and the current market potential of industrial robots in my country is enormous. In the process of using robots, if high-precision extraction of the robot's positional information is required, then laser trackers and target balls will be indispensable equipment.

[0003] Specifically, the target ball is fixed to the robot and moves with it. The laser tracker positions the target ball by emitting a laser beam and receiving the reflected light. The current problem is that during the robot's end effector flange movement, light blockage or the incident laser angle exceeding the target ball's acceptable angle can occur, leading to light interruptions and hindering automatic target ball measurement and positioning. This impacts the measurement progress, and measurements cannot be completed at locations where laser blockage occurs.

[0004] When a light outage occurs, manual light restoration is required. Due to the high intensity of the laser, this process poses a certain risk to workers. Moving the target ball requires ensuring its position and angle are correct to guarantee successful laser reflection, making the operation challenging and resulting in low measurement efficiency. For some highly difficult points, manual light restoration may not be sufficient in a single attempt.

[0005] In addition, the current method of setting a target ball is generally insufficient because it cannot measure the posture information of the points, which can no longer meet the needs of scenarios for obtaining posture information of industrial robots, and the measurement efficiency is low.

[0006] The information disclosed in this background section is only intended to enhance the understanding of the background technology of this application, and therefore may include prior art that is not known to those skilled in the art. Summary of the Invention

[0007] This invention addresses the technical problem in existing robot tracking measurement and control methods where the positioning laser is blocked during robot positioning, causing the robot to lose track and affecting the measurement progress. It proposes a steady-state measurement and control method for a tracker that can solve the above-mentioned problem.

[0008] To achieve the above-mentioned objectives, the present invention employs the following technical solution:

[0009] A steady-state measurement and control method for a tracker, wherein the robot under test is connected to a flange, and multiple target balls are fixed to the end of the flange by a tool, the coordinate system of the tool and the coordinate system of each target ball are parallel to each other, and the origin of the tool coordinate system is located at the center of the origin of each target ball coordinate system.

[0010] Coordinate system calibration steps include:

[0011] Step 11, Flange coordinate system E calibration step, including obtaining the transformation matrix between flange coordinate system E and tracker coordinate system W. Obtain the transformation matrix between the robot's base coordinate system B and the tracker's coordinate system W.

[0012] Step 12: Tool coordinate system calibration step, obtain the transformation matrix between the tool coordinate system t and the tracker coordinate system W.

[0013] Step 13: Obtain the transformation matrix between the flange coordinate system E and the tool coordinate system t.

[0014] Step 14: Obtain the flange coordinate system E and the coordinate systems t of each target sphere. n Transformation matrix

[0015] Step 15: Control the robot to move to each measurement point and obtain the measurement data at measurement point K. j Transformation matrix between robot base coordinate system B and flange coordinate system E

[0016] Step 16: Calculate the measurement point K. j The coordinate system W of the time tracker and the coordinate systems t of each target sphere n Transformation matrix

[0017]

[0018] Steady-state measurement steps include:

[0019] Step 21: Given the robot's operating point K m ;

[0020] Step 22, according to Calculate the position K of each target ball at the running point. m The theoretical coordinates of the tracker in the coordinate system W, and control the tracker to point to these theoretical coordinates;

[0021] Step 23: After the tracker points to the theoretical coordinates, it searches for the target ball.

[0022] In some embodiments, step 11 includes:

[0023] Step 111: Set an initial position P within the robot's range of motion;

[0024] Step 112: Control the robot to move the target ball several points along the X and Y directions of the flange coordinate system E. The tracker tracks one of the target balls and records the X-axis coordinate of the target ball at point i in the tracker coordinate system W. and Y-axis coordinates

[0025] Step 113: Use the least squares method to... and Linear fitting is performed to obtain the X and Y directions in the flange coordinate system E within the tracker coordinate system W;

[0026] Step 114: Obtain the Z direction of the flange coordinate system E in the tracker coordinate system W according to the right-hand rule:

[0027]

[0028] Step 115: The direction vector of the flange coordinate system E... Normalization yields vectors That is, the rotation matrix of the flange coordinate system E relative to the tracker coordinate system W.

[0029] Step 116: Control the robot to rotate around the X, Y, and Z axes of the flange coordinate system E. The tracker tracks one of the target balls and records the coordinates of the target ball in the tracker coordinate system W at different rotation angles. Use the least squares method to perform spherical fitting on the obtained coordinates. The position of the sphere center is the coordinate of the origin of the flange coordinate system E in the tracker coordinate system W.

[0030] Step 117: Based on the rotation matrix Calculate the transformation matrix between the flange coordinate system E and the tracker coordinate system W.

[0031]

[0032] Step 118: Read the transformation matrix between the robot base coordinate system B and the flange coordinate system E. Calculate the transformation matrix between the robot's base coordinate system B and the tracker's coordinate system W.

[0033]

[0034] In some embodiments, step 114 further includes a step of correcting the Y-direction vector of the flange coordinate system E, after which it becomes...

[0035]

[0036] In step 115, the direction vector of the flange coordinate system E is... Normalization yields vectors

[0037] In some embodiments, step 12 includes:

[0038] Step 121: The tracker measures the position information of each target ball:

[0039] Step 122, with point to The direction is taken as the X direction of the tool coordinate system, with point to The direction of the Y-axis can be used as the Y-axis, and the Z-axis of the tool coordinate system can be obtained by the right-hand rule.

[0040] Step 123: Normalize the direction vector of the tool coordinate system to obtain the rotation matrix of the tool coordinate system relative to the tracker coordinate system.

[0041] Step 124, take The center of the three points serves as the origin of the tool coordinate system.

[0042] Step 125: Calculate the transformation matrix between the tool coordinate system and the tracker coordinate system:

[0043]

[0044] In some embodiments, step 13 includes:

[0045] Step 131: Obtain the transformation matrix between each target sphere coordinate system and the tracker coordinate system W. The axes of each target sphere coordinate system are parallel to the axes of the tool coordinate system. The position information of each target ball was measured. We can obtain:

[0046]

[0047] Step 132: Calculate the transformation matrix between the flange coordinate system E and the tool coordinate system:

[0048]

[0049] Calculate the transformation matrices between the flange coordinate system E and each target sphere coordinate system:

[0050]

[0051] In some embodiments, step 23 further includes obtaining the actual coordinates of each target ball after it has been located.

[0052] Step 24, based on the actual coordinates of each target ball Calculate the position K of each target ball at the running point. m Attitude information at time

[0053] In some embodiments, in step 24, the position K of each target ball at the running point is calculated. m Attitude information at time The methods include:

[0054] Step 241: The tracker measures the position K of each target ball at the running point. m Location information at time:

[0055] Step 242, with point to The direction is used as the running point K m The tool's coordinate system X direction, with point to The direction is used as the running point K m The tool's coordinate system in the Y direction can be used to obtain the position K at the running point by the right-hand rule. m The tool's coordinate system is in the Z direction;

[0056] Step 243, at the running point K m Normalize the direction vector of the tool coordinate system to obtain the coordinate system t of each target sphere. n At point K m The rotation matrix relative to the tracker coordinate system W, that is, the rotation matrix of each target ball at its running point K. m Attitude information at time

[0057] Compared with the prior art, the advantages and positive effects of the present invention are:

[0058] The steady-state measurement and control method of the tracker of the present invention, by accurately determining the mutual transformation relationship between each target ball coordinate system, tool coordinate system, robot base coordinate system, flange coordinate system and tracker coordinate system, can first calculate the theoretical coordinates of the target ball in the tracker coordinate system based on the position of the given motion point when the tracker tracks the target ball. After the tracker points to the theoretical coordinates, it searches for the target ball. Even if the light is interrupted, the tracker will not lose track of the target ball and will not affect the measurement progress, thus achieving accurate positioning and efficient operation in the measurement process.

[0059] Other features and advantages of the present invention will become clearer after reading the detailed embodiments of the invention in conjunction with the accompanying drawings. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1 This is a schematic diagram of the robot structure in the tracking steady-state measurement and control method proposed in this invention;

[0062] Figure 2 yes Figure 1 A schematic diagram of the structure of the tools connected to the robot. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0064] It should be noted that in the description of this invention, terms such as "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating directional or positional relationships, are based on the directional or positional relationships shown in the accompanying drawings. These are merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0065] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0066] Example 1: This example proposes a steady-state measurement and control method for a tracker, such as... Figure 1 , Figure 2 As shown, the robot under test 1 is connected to a flange 2. Multiple target balls 4 are fixed to the end of the flange 2 via a tool 3. The coordinate system of the tool 3 is the tool coordinate system t, and the tool coordinate system t is parallel to the coordinate system t of each target ball. n They are parallel to each other, and the origin of the tool coordinate system t is located at the center of the origin of each target sphere coordinate system. n This refers to the coordinate system of the nth target ball, where n is a positive integer.

[0067] In some embodiments, three target balls are used, meaning that n can have a maximum value of 3. Of course, n is not limited to a maximum value of 3.

[0068] Tool coordinate system t and target ball coordinate systems t n Mutually parallel means that the X, Y, and Z axes of the tool coordinate system t are parallel to the X, Y, and Z axes of each target sphere coordinate system, respectively.

[0069] In the process of robot control, a tracker 5 is also set up to locate the robot. It uses laser transmission and reception to track and locate the target ball 4, thereby realizing the tracking and positioning of the robot.

[0070] Due to the system's complexity, multiple coordinate systems exist: the flange end has a flange coordinate system E, the tracker has a tracker coordinate system W, and the robot has a robot base coordinate system B, etc. Accurate transformation between these coordinate systems is a prerequisite for precise control. Therefore, this scheme obtains pairwise transformation relationships between coordinate systems through a coordinate system calibration process. This allows for the conversion of coordinate values ​​in any given coordinate system to coordinate values ​​in other coordinate systems, which is beneficial for robot control.

[0071] The robot's control methods include:

[0072] The coordinate system calibration procedure involves installing three target balls at the end of the robot flange, then unifying the robot's tool coordinate system, flange coordinate system, and tracker coordinate system. This process utilizes a laser tracker for calibration and includes:

[0073] Step 11, Flange coordinate system E calibration step, including obtaining the transformation matrix between flange coordinate system E and tracker coordinate system W. Obtain the transformation matrix between the robot's base coordinate system B and the tracker's coordinate system W.

[0074] Step 12: Tool coordinate system calibration step, obtain the transformation matrix between the tool coordinate system t and the tracker coordinate system W.

[0075] Step 13: Obtain the transformation matrix between the flange coordinate system E and the tool coordinate system t.

[0076] Step 14: Obtain the flange coordinate system E and the coordinate systems t of each target sphere. n Transformation matrix

[0077] Step 15: Control the robot to move to each measurement point and obtain the measurement data at measurement point K. j Transformation matrix between robot base coordinate system B and flange coordinate system E

[0078] During measurement, the transformation matrix between the flange coordinate system and the robot base coordinate system at each point is known. And point K... j The coordinate information in the robot's base coordinate system B can be directly read, and the transformation matrix can then be obtained.

[0079] Step 16: Calculate the measurement point K. j The coordinate system W of the time tracker and the coordinate systems t of each target sphere n Transformation matrix

[0080]

[0081] K j It refers to the j-th measurement point, where j is a positive integer.

[0082] Steady-state measurement steps include:

[0083] Step 21: Given the robot's operating point K m K m It refers to the m-th running point, where m is a positive integer.

[0084] Step 22, according to Calculate the position K of each target ball at the running point. m The theoretical coordinates of the tracker in the tracker's coordinate system W are determined, and the tracker is controlled to point to these theoretical coordinates.

[0085] Step 23: After the tracker points to the theoretical coordinates, it searches for the target ball.

[0086] The steady-state measurement and control method of the tracker in this embodiment accurately determines the mutual transformation relationship between the target ball coordinate system, tool coordinate system, robot base coordinate system, flange coordinate system and tracker coordinate system. When the tracker tracks the target ball, it first calculates the theoretical coordinates of the target ball in the tracker coordinate system based on the position of the given motion point. The tracker then searches for the target ball after pointing to the theoretical coordinates. Even if there is a light outage, the tracker will not lose track of the target ball and will not affect the measurement progress.

[0087] In some embodiments, step 11 includes:

[0088] Step 111: Set an initial position P within the robot's range of motion.

[0089] Step 112: Control the robot to move the target ball several points along the X and Y directions of the flange coordinate system E. The tracker tracks one of the target balls, for example, track target ball 1, and records the X-axis coordinate of the target ball at point i in the tracker coordinate system W. and Y-axis coordinates

[0090] Step 113: Use the least squares method to... and Linear fitting is performed to obtain the X and Y directions in the flange coordinate system E within the tracker coordinate system W.

[0091] Step 114: Obtain the Z direction of the flange coordinate system E in the tracker coordinate system W according to the right-hand rule:

[0092]

[0093] Step 115: The direction vector of the flange coordinate system E... Normalization yields vectors That is, the rotation matrix of the flange coordinate system E relative to the tracker coordinate system W.

[0094] Step 116: Control the robot to rotate around the X, Y, and Z axes of the flange coordinate system E. The tracker tracks one of the target balls and records the coordinates of the target ball in the tracker coordinate system W at different rotation angles. Use the least squares method to perform spherical fitting on the obtained coordinates. The position of the sphere center is the coordinate of the origin of the flange coordinate system E in the tracker coordinate system W.

[0095] Step 117: Based on the rotation matrix Calculate the transformation matrix between the flange coordinate system E and the tracker coordinate system W.

[0096]

[0097] Among them, the transformation matrix between the robot base coordinate system and the flange coordinate system The positional relationship between the robot's base coordinate system and the tracker's coordinate system can be obtained by reading the data from the robot.

[0098] Step 118: Read the transformation matrix between the robot base coordinate system B and the flange coordinate system E. Calculate the transformation matrix between the robot's base coordinate system B and the tracker's coordinate system W.

[0099]

[0100] To ensure the orthogonality of the tool coordinate system, the corrected Y-direction vector needs to be recalculated. In some embodiments, step 114 further includes a step of correcting the Y-direction vector of the flange coordinate system E, resulting in...

[0101]

[0102] In step 115, the direction vector of the flange coordinate system E is... Normalization yields vectors

[0103] In some embodiments, step 12 includes:

[0104] Step 121: The tracker measures the position information of each target ball:

[0105] Step 122, with point to The direction is taken as the X direction of the tool coordinate system, with point to The direction of the Y-axis can be used as the Y-axis, and the Z-axis of the tool coordinate system can be obtained by the right-hand rule.

[0106] Step 123: Normalize the direction vector of the tool coordinate system to obtain the rotation matrix of the tool coordinate system relative to the tracker coordinate system.

[0107] Step 124, take The center of the three points serves as the origin of the tool coordinate system.

[0108] Step 125: Calculate the transformation matrix between the tool coordinate system and the tracker coordinate system:

[0109]

[0110] In some embodiments, step 13 includes:

[0111] Step 131: Obtain the transformation matrix between each target sphere coordinate system and the tracker coordinate system W. The axes of each target sphere coordinate system are parallel to the axes of the tool coordinate system. The position information of each target ball was measured. We can obtain:

[0112]

[0113] When there are 3 target balls

[0114] Step 132: Calculate the transformation matrix between the flange coordinate system E and the tool coordinate system:

[0115]

[0116] Calculate the transformation matrices between the flange coordinate system E and each target sphere coordinate system:

[0117]

[0118] In some embodiments, step 23 further includes obtaining the actual coordinates of each target ball after it has been located.

[0119] Step 23 is followed by step 24, which involves determining the actual coordinates of each target ball. Calculate the position K of each target ball at the running point. m Attitude information at time

[0120] In this solution, multiple target balls are set up. After the tracker finds the target ball, the actual coordinates of each target ball are obtained, and the attitude information of the target ball is calculated based on the actual coordinates, which meets the needs of scenarios for obtaining attitude information of industrial robots.

[0121] In some embodiments, in step 24, the position K of each target ball at the running point is calculated. m Attitude information at time The methods include:

[0122] Step 241: The tracker measures the position K of each target ball at the running point. m Location information at time:

[0123] Step 242, with point to The direction is used as the running point K m The tool's coordinate system X direction, with point to The direction is used as the running point K mThe tool's coordinate system in the Y direction can be used to obtain the position K at the running point by the right-hand rule. m The tool's coordinate system is in the Z direction;

[0124] Step 243, at the running point K m Normalize the direction vector of the tool coordinate system to obtain the coordinate system t of each target sphere. n At point K m The rotation matrix relative to the tracker coordinate system W, that is, the rotation matrix of each target ball at its running point K. m Attitude information at time

[0125] The control method in this embodiment achieves precise positioning and efficient operation during the measurement process by accurately determining the mutual transformation relationships between each target ball, tool coordinate system, robot base coordinate system, flange coordinate system, and tracker coordinate system.

[0126] The coordinate system calibration method in this embodiment is based on advanced sensor technology and optimization algorithms, which can effectively eliminate errors and provide reliable coordinate system transformation parameters. Compared with the traditional single-target ball measurement method, this measurement method bypasses the process of manually controlling the robot and the single-point movement of the measurement system, and instead achieves measurement through steady-state measurement and the transformation relationship between coordinates. Mathematical models and algorithms are used in the process to achieve accurate steady-state measurement.

[0127] This not only improves production efficiency and product quality, but also reduces the risks of manual operation and the time cost of system debugging. Therefore, the steady-state measurement and control method for the tracker in this embodiment has broad application prospects.

[0128] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions claimed by the present invention.

Claims

1. A steady-state measurement and control method for a tracker, characterized in that, The robot under test is connected to a flange, and multiple target balls are fixed to the end of the flange by a tool. The coordinate system of the tool is parallel to the coordinate system of each target ball, and the origin of the tool coordinate system is located at the center of the origin of each target ball coordinate system. Coordinate system calibration steps include: Step 11, Flange coordinate system E calibration step, including obtaining the transformation matrix between flange coordinate system E and tracker coordinate system W. Obtain the transformation matrix between the robot's base coordinate system B and the tracker's coordinate system W. Step 12: Tool coordinate system calibration step, obtain the transformation matrix between the tool coordinate system t and the tracker coordinate system W. Step 13: Obtain the transformation matrix between the flange coordinate system E and the tool coordinate system t. Step 14: Obtain the flange coordinate system E and the coordinate systems t of each target sphere. n Transformation matrix Step 15: Control the robot to move to each measurement point and obtain the measurement data at measurement point K. j Transformation matrix between robot base coordinate system B and flange coordinate system E Step 16: Calculate the measurement point K. j The coordinate system W of the time tracker and the coordinate systems t of each target sphere n Transformation matrix Steady-state measurement steps include: Step 21: Given the robot's operating point K m ; Step 22, according to Calculate the position K of each target ball at the running point. m The theoretical coordinates of the tracker in the tracker's coordinate system W are determined, and the tracker is controlled to point to these theoretical coordinates. Step 23: After the tracker points to the theoretical coordinates, it searches for the target ball.

2. The steady-state measurement and control method for a tracker according to claim 1, characterized in that, Step 11 includes: Step 111: Set an initial position P within the robot's range of motion; Step 112: Control the robot to move the target ball several points along the X and Y directions of the flange coordinate system E. The tracker tracks one of the target balls and records the X-axis coordinate of the target ball at point i in the tracker coordinate system W. and Y-axis coordinates Step 113: Use the least squares method to... and Linear fitting is performed to obtain the X and Y directions in the flange coordinate system E within the tracker coordinate system W; Step 114: Obtain the Z direction of the flange coordinate system E in the tracker coordinate system W according to the right-hand rule: Step 115: The direction vector of the flange coordinate system E... Normalization yields vectors That is, the rotation matrix of the flange coordinate system E relative to the tracker coordinate system W. Step 116: Control the robot to rotate around the X, Y, and Z axes of the flange coordinate system E. The tracker tracks one of the target balls and records the coordinates of the target ball in the tracker coordinate system W at different rotation angles. Use the least squares method to perform spherical fitting on the obtained coordinates. The position of the sphere center is the coordinate of the origin of the flange coordinate system E in the tracker coordinate system W. Step 117: Based on the rotation matrix Calculate the transformation matrix between the flange coordinate system E and the tracker coordinate system W. Step 118: Read the transformation matrix between the robot base coordinate system B and the flange coordinate system E. Calculate the transformation matrix between the robot's base coordinate system B and the tracker's coordinate system W.

3. The steady-state measurement and control method for a tracker according to claim 2, characterized in that, Step 114 also includes a step of correcting the Y-direction vector of the flange coordinate system E, after which it becomes... In step 115, the direction vector of the flange coordinate system E is... Normalization yields vectors 4. The steady-state measurement and control method for a tracker according to claim 2, characterized in that, Step 12 includes: Step 121: The tracker measures the position information of each target ball: Step 122, with point to The direction is taken as the X direction of the tool coordinate system, with point to The direction of the Y-axis can be used as the Y-axis, and the Z-axis of the tool coordinate system can be obtained by the right-hand rule. Step 123: Normalize the direction vector of the tool coordinate system to obtain the rotation matrix of the tool coordinate system relative to the tracker coordinate system. Step 124, take The center of the three points serves as the origin of the tool coordinate system. Step 125: Calculate the transformation matrix between the tool coordinate system and the tracker coordinate system:

5. The steady-state measurement and control method for a tracker according to claim 4, characterized in that, Step 13 includes: Step 131: Obtain the transformation matrix between each target sphere coordinate system and the tracker coordinate system W. The axes of each target sphere coordinate system are parallel to the axes of the tool coordinate system. The position information of each target ball was measured. We can obtain: Step 132: Calculate the transformation matrix between the flange coordinate system E and the tool coordinate system: Calculate the transformation matrices between the flange coordinate system E and each target sphere coordinate system:

6. The steady-state measurement and control method for a tracker according to any one of claims 1-5, characterized in that, Step 23 also includes obtaining the actual coordinates of each target ball after it has been located. Step 24, based on the actual coordinates of each target ball Calculate the position K of each target ball at the running point. m Attitude information at time 7. The steady-state measurement and control method for a tracker according to claim 6, characterized in that, In step 24, calculate the position K of each target ball at the running point. m Attitude information at time The methods include: Step 241: The tracker measures the position K of each target ball at the running point. m Location information at time: Step 242, with point to The direction is used as the running point K m The tool's coordinate system X direction, with point to The direction is used as the running point K m The tool's coordinate system along the Y direction can be used to obtain the position K at the running point by the right-hand rule. m The tool's coordinate system is in the Z direction; Step 243, at the running point K m Normalize the direction vector of the tool coordinate system to obtain the coordinate system t of each target sphere. n At point K m The rotation matrix relative to the tracker coordinate system W, that is, the rotation matrix of each target ball at its running position K. m Attitude information at time

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