20 results about "Kinematic calibration" patented technology

Disclosed is a three-dimensional reconstruction method based on kinematic calibration of line structured light point set individualization, and the method includes the following steps: rigidly assembling an area-array camera and a line structured light emitter, and mounting the assembly on a motion platform; calibrating structural parameters of the motion platform of a measuring device by using a reference radius of a standard sphere and line structured light scanned data; registering a spatial position relationship of a line structured light point set by taking a calibrated spherical center position of the standard sphere and the reference radius of the standard sphere as constraints; controlling the five-axis motion platform to move and acquiring scanned data of a measured member under different poses; and completing high-quality three-dimensional model reconstruction of the measured member subjected to multi-pose scanning by using the scanned data and a real-time point cloud registration matrix.

Disclosed in the present invention is a three-dimensional reconstruction method based on kinematic calibration for the monomerization of a line-structured light point set. The method comprises: rigidly combining an area-array camera with a linear-line-structured light emitter, and mounting same on a motion platform; using a standard radius value of a standard sphere and line-structured light scanning data to calibrate structural parameters of the motion platform of a measurement apparatus; with the calibrated spherical center position of the standard sphere and the standard radius of the standard sphere as constraints, calibrating a spatial position relationship of a line-scanned point set; controlling the motion of the five-axis motion platform, and acquiring scanning data of a measured piece in different poses; and using the scanning data and a real-time point cloud calibration matrix to complete high-quality three-dimensional model reconstruction of the measured piece from its multi-pose scanning. The system comprises: an apparatus fixing module, a calibration module, a point cloud calibration module, a scanning module, and a point cloud reconstruction module. By means of using the present invention, the reconstruction accuracy of a line-structured light three-dimensional point cloud model can be improved. The present invention can be widely applied to the field of three-dimensional reconstruction.

Example methods and systems for kinematic calibration of a treatment couch for radiation therapy are described. In one example, a computer system may generate and send first instruction(s) to cause the treatment couch to move towards each of multiple calibration poses. The treatment couch may be associated with a kinematic model. The computer system may determine multiple measured poses that are associated with the respective multiple calibration poses. Next, the computer system may determine geometric correction data for updating the kinematic model based on the multiple measured poses. The computer system may then generate and send second instruction(s) to update the kinematic model associated with the treatment couch based on the geometric correction data.

The present application relates to the medical robot control and precision testing technical field, especially related to a kind of kinematics parameter closed-loop calibration method and device of surgical robot end effector.The method is first set up reflection unit on surgical robot end effector, and the motion data of driving unit and the light spot position data detected by photoelectric detection unit are collected;Control surgical robot end effector executes rotary scanning movement to carry out coordinate correction to light spot position data;Each independent motion axis of surgical robot end effector is driven respectively, and according to the mapping relationship of corrected light spot position data and motion data, the transmission parameter and hysteresis parameter of each independent motion axis are identified;Drive the motion axis with coupling relationship, identify inter-axis coupling coefficient, and configure kinematics calibration model to control system.The present application effectively eliminates steel wire transmission coupling and system geometric error through step-by-step optical feedback and geometric self-calibration, and improves the operation precision of end effector.

The invention provides a sub-closed-loop-containing robot kinematics calibration method and device based on constraint relaxation, and relates to the technical field of robot calibration, and the method comprises the steps: carrying out the decomposition of a main kinematic chain under the condition that there are multiple branches in the main kinematic chain of a robot, so as to generate multiple virtual kinematic chains; according to kinematic parameters and closed-loop geometric constraints of virtual joints in each virtual kinematic chain, the theoretical tail end pose of the robot is determined; parameter errors are determined according to the pose deviation between the theoretical tail end pose and the actual tail end pose of the robot; according to the parameter errors and the calibrated kinematics parameters, the corrected pose deviation is determined; and the active joint displacement is updated according to the corrected pose deviation until the corrected pose deviation or the active joint displacement meets the iteration termination condition, the robot is calibrated according to the determined active joint target displacement, and the calibration precision of the robot is improved.

This invention discloses a method for determining the structural error during kinematic calibration simulation of a parallel mechanism, applicable to the calibration of industrial parallel robots. The method involves establishing structural constraint equations for the parallel mechanism to determine independent variables in the structural parameters; combining the structural constraint equations and independent variable values ​​to calculate the values ​​of non-independent variables in the structural parameters; calculating the motion of each prismatic joint under ideal structural parameter conditions with a given target pose, establishing the correlation between pose parameters and motion; given an initial structural error value, calculating the structural error value conforming to geometric constraints using constraint equations and nonlinear least squares method, and calculating the norm of the residuals. If the residuals meet the requirements, the structural error for kinematic calibration simulation of the parallel mechanism can be generated; if the residual value does not meet the requirements, the generated structural error is used as input, and a new structural error value is generated again using constraint equations and nonlinear least squares method, and the residual calculation is repeated until the residual value meets the requirements, thus generating a structural error that meets the requirements and accurately verifying the structural error identification accuracy of the error model.

Disclosed are a pose decoupling kinematics calibration method, device and apparatus, and a storage medium. The method includes the following steps: constructing a pose decoupling motion model based on an equivalent rotation vector and a rigid body motion transformation rule; introducing a pose error, and carrying out pose space decomposition through the pose decoupling motion model to obtain an orientation error expression and a position equivalent expression; analyzing a coupling influence of an orientation change on a position according to the orientation error expression and the position equivalent expression to obtain a pose coupling increment; constructing a target decoupling calibration model according to the pose coupling increment and an initial decoupling calibration model; and solving geometric errors in different degrees of freedom for the target decoupling calibration model according to a preset axis pose error by a least square method to obtain a calibration error.

The present application relates to a robot kinematics calibration method based on truncated total least squares regularization, and a parallel robot is provided with a data acquisition system, including a moving platform, a base, a branch chain and a linear motor. The method comprises: obtaining the kinematics parameters of the parallel robot, inputting the inverse kinematics parameter error model, obtaining the conversion error between the coordinate systems and the mapping relationship between the kinematics parameter errors, obtaining the measurement data of the data acquisition system and the conversion relationship between the coordinate systems, making the measurement data uniform in the base coordinate system, identifying the parameter error through the truncated total least squares regularization method, optimizing the selection of the truncation factor, obtaining the best regularization parameter, and compensating according to the identified parameter error to update the controller kinematics parameters. The present application designs a complete low-cost and mature calibration scheme for most parallel robots, which can improve the kinematics calibration accuracy of the parallel robot.

A pose-decoupled kinematic calibration method, apparatus and device, and a storage medium. The method comprises: constructing a pose-decoupled motion model on the basis of an equivalent rotation vector and a rigid body motion transformation rule (101); introducing a pose error, and performing pose space decomposition by means of the pose-decoupled motion model to obtain an orientation error expression and a position equivalent expression (102); analyzing the coupling effect of an orientation change on a position on the basis of the orientation error expression and the position equivalent expression so as to obtain a pose coupling increment (103); constructing a target decoupled calibration model on the basis of the pose coupling increment and an initial decoupled calibration model, wherein the initial decoupled calibration model is constructed on the basis of the pose-decoupled motion model (104); and using the least squares method to perform geometric error calculation of different degrees of freedom on the target decoupled calibration model on the basis of preset axial pose errors, so as to obtain a calibration error (105). The method can solve the technical problem in the prior art that the influence of an orientation on a position in a multi-degree-of-freedom motion system is not considered, making it is difficult to eliminate an error difference between different degrees of freedom, and thus resulting in poor calibration and compensation effects.

The present application relates to a kind of error compensation methods, the purpose is to provide a kind of 2PRU-PSR parallel robot error compensation method, this method has the characteristics of low cost, high efficiency and real-time nature.The technical scheme is a kind of 2PRU-PSR parallel robot error compensation method, according to the following steps:step one: using closed loop vector method to establish the inverse kinematics model of 2PRU-PSR parallel robot and using Newton iteration formula to calculate to obtain complete forward kinematics model;Step two: set error parameter, utilize vector differential method to construct 2PRU-PSR parallel robot error mapping model;Step three: complete kinematic parameter identification and calibrate simulation to verify the correctness of the model built;Step four: using the nonparametric model based on neural network to the end of 2PRU-PSR parallel robot after kinematic calibration remaining error is predicted, using nonparametric model to predict error to complete compensation.

The application provides a kinematic calibration method and system for a redundant drive over-constrained parallel robot, comprising: constructing a companion error model of each branch of the ROPR by using an exponential product method; describing motion deviation of a redundant joint angle in the error model, and treating deviation of a non-redundant active joint angle as zero; establishing an error feasible space based on a configuration constraint equation; eliminating joint motion error by using a projection method, and establishing an error matrix of the ROPR; measuring end position and posture error of the robot by using a laser tracker; identifying error parameters of the ROPR by using a least square method; and determining drive input of the ROPR according to the identified parameters and performing error compensation. The kinematic calibration method has universality and is easy to be popularized to other redundant drive parallel robots. The kinematic calibration method starts from inherent characteristics of the redundant drive over-constrained parallel robot, and ensures rationality of the error model.

This invention relates to the field of force-position coordinated impedance control technology, and particularly to a force-position coordinated control method for compliant assembly of aircraft fuselage frames. The method includes steps such as kinematic calibration of a CNC positioner, calibration of the installation direction of the force sensor at the positioner's end effector, dynamic modeling of the fuselage bulkhead and linear response analysis of the fuselage web, trajectory planning for the fuselage bulkhead attitude adjustment and positioning process, design of the positioner control law for the fuselage bulkhead attitude adjustment and positioning process, and design of the positioner control law for the fuselage bulkhead and web mating process. Compared to traditional kinematic accuracy compensation strategies based on error differential transformation, this invention establishes a positioner kinematic model based on fitting the CNC positioner axis and hinge joint zero position using spatially measured points. This model requires no design information from the positioner, is applicable to any geometric error of the positioner, and achieves coordinated optimization of the positioning accuracy of the fuselage bulkhead during fine-tuning and the contact force between it and the fuselage web, possessing the ability to perform comprehensive optimal control of force and position.

This invention discloses a dynamic task scheduling system for robotic arms in a flexible shoe manufacturing production line, aiming to solve the problems of low equipment utilization, easy line-wide shutdown due to single-point failures, and insufficient adaptability to shoe manufacturing processes caused by the fixed binding of robotic arms to workstations in existing shoe manufacturing production lines. This system includes a process-homogeneous adaptation hardware unit, a global status perception unit, and a core dynamic task scheduling engine. Through a unified quick-change standard and kinematic calibration, it enables robotic arms to perform cross-workstation operations within the same process. Combined with real-time status perception across the entire production line, it completes dynamic task scheduling and uninterrupted fault takeover. It is equipped with modules specific to shoe manufacturing processes, such as dynamic calibration, time-series coupled scheduling, and quality closed-loop feedback. This invention can significantly improve the overall utilization rate of robotic arms and the fault tolerance of the production line, adapting to mixed production lines of multiple shoe styles and small-batch customized production, significantly improving the flexibility, production efficiency, and product yield of shoe manufacturing production lines.

The invention belongs to the technical field of industrial robot precision measurement and kinematics calibration, and particularly relates to a mobile robot base elevation precision calibration method based on a tail end joint. According to the method, a laser tracker and a robot tail end short chain motion strategy are combined, and local high-rigidity motion of a fifth shaft and a sixth shaft of a robot tail end joint is utilized; according to the calibration method, tail end actual measurement pose data under a laser tracker coordinate system and nominal kinematics data under a robot base coordinate system are subjected to alignment resolving through a decentration singular value decomposition algorithm. According to the method, the requirements of efficient data acquisition speed, extremely high parameter identification stability and final positioning precision for base calibration in the field rapid deployment of the mobile robot are met, and the problems in traditional full-axis linkage calibration, especially in the traditional full-axis linkage calibration are solved. The problems of large data dispersion and low precision caused by substantial amplification of basic joint angle measurement error and geometric parameter deviation through a long kinematic chain are solved.

This invention relates to the field of robotics, and more particularly to a method, apparatus, electronic device, and readable storage medium for robot kinematic calibration. The method involves acquiring joint angle data of at least two kinematic chains of a robot to be calibrated, as well as observed pose data of a target calibration object. Based on the joint angle data and a pre-constructed kinematic model, the predicted pose of the target calibration object for each kinematic chain is determined. An optimization objective function is constructed based on the residual between the predicted target calibration object pose and the observed pose data, with the robot's pose in the base coordinate system added as an optimization variable to the objective function. The optimization objective function is solved to obtain the calibration error parameters of each joint and the pose of the target calibration object in the robot's base coordinate system, which are then used as the kinematic calibration results. By using the calibration error parameters of common joints as shared variables and simultaneously solving for the pose in the robot's base coordinate system as an optimization variable, the accuracy of robot kinematic calibration is improved.

The invention provides a kernel ridge regression-based kinematics calibration method and device for a sub-closed-loop-containing robot, and belongs to the technical field of robots. According to the method, splitting nodes are selected for any sub closed loop to split a closed loop kinematic chain into a plurality of virtual open loop kinematic chains; screening and determining an optimal observation pose set of the robot by utilizing the identification Jacobian matrix; the robot is controlled to move according to the optimal observation pose set, and the actual tail end pose of the robot is obtained; on the basis of the motion parameters of each virtual open-loop kinematic chain, the actual tail end pose and the closed-loop geometric constraint, iteratively calculating and updating a geometric parameter error, and obtaining a calibrated tail end pose; determining a non-geometric parameter residual error of the robot based on the calibrated tail end pose and the actual tail end pose by using a kernel ridge regression method; and performing motion calibration on the robot based on the non-geometric parameter residual error. In this way, the absolute positioning precision of the robot can be further improved, and the robot can adapt to various high-precision application scenes.

The application discloses a kind of kinematics calibration methods of industrial robot, comprising the following steps: S1, pre-calibration base coordinate system and tool coordinate system;S2, establish kinematics error model, solve the number of redundant parameters of interference model;S3, determine specific redundant parameter, eliminate specific redundant parameter;S4, iteration identification is carried out to the remaining to-be-identified geometric error parameter after eliminating redundant parameter;S5, the result of iteration identification is converted into actual geometric parameter error, and is compensated to robot controller.The application realizes the quick conversion of measuring coordinate system {w} And base coordinate system {b}, reduce calibration time, when identifying robot parameter error, the problem of being sensitive to initial parameter condition is overcome by MIEKF algorithm, the preset parameter error can be identified, with the characteristics of high identification precision, fast convergence speed and high robustness, effectively improve calibration precision.

The invention provides a kinematics calibration method and device for a mine rescue robot. The kinematics calibration method comprises the steps of obtaining multi-modal sensor data with the same timestamp; performing weighted fusion on the multi-modal sensor data through an adaptive data fusion algorithm to obtain multi-modal sensor fusion data; extracting core feature points by combining an SHOT descriptor and a PointNet + + network according to multi-modal sensor fusion data, performing nearest search on the core feature points to obtain matched adjacent point pairs, and inputting the core feature points and the adjacent points to a preset point cloud map model to obtain feature point matching pairs; and determining a target pose parameter of the mine rescue robot, and constructing a residual function according to the target pose parameter and the feature point matching pair to obtain a motion parameter. Through the feature point extraction and matching process, the data volume and the outlier influence are reduced; the SHOT descriptor and the Point Net + + network improve the feature point matching accuracy, and meet the real-time requirement of mine rescue.

The invention relates to a kinematics modeling and calibration method of a loader, which belongs to the technical field of unmanned operation, combines robot kinematics and a kinematics calibration method, establishes a robot connecting rod coordinate system of the loader, establishes an error compensation model, identifies error values of parameters in a kinematics model through external measurement, and finally determines the error values of the parameters in the kinematics model. And calibrating the kinematic model of the loader. According to the invention, the flexibility and the precision of unmanned operation of the loader are improved, the labor cost is reduced, the implementation cost is reduced, and the economic benefit is increased.

The invention provides a robot kinematics calibration system and method based on self-adaptive all-pose constraint, and belongs to the technical field of robot calibration and precision measurement. The system comprises a supporting platform, a positioning base and a gauge block, the positioning base is provided with three double-displacement sensor groups which are vertical in pairs, and the gauge block is provided with three orthogonal measured surfaces; the system supports a mode A and a mode B, a supporting platform of the mode A is provided with two fixed gauge blocks, a positioning base is connected with the tail end of the robot, a supporting platform of the mode B is provided with at least two sets of sliding grooves and one gauge block, and two sub-modes are included. The relative poses of the gauge blocks are obtained through the sensor array, and kinematics calibration with low cost, local high precision and all-pose excitation is realized. Dependence of external high-precision measurement equipment is avoided, and the problems of low calibration precision, high cost and poor robustness caused by the fact that traditional rigid geometric constraints are difficult to implement accurately are solved.