Device for acquiring a position and orientation of an end effector of a robot

Patent metadata

Field	Value
Publication number	US-11554494-B2
Application number	US-201916594014-A
Country	US
Kind code	B2
Filing date	Oct 5, 2019
Priority date	Oct 5, 2018
Publication date	Jan 17, 2023
Grant date	Jan 17, 2023

Abstract

A device for acquiring a position and orientation of an end effector of a robot is provided. The robot has a robot arm with axes coupled to one another by joints. The end effector is arranged on an end of the robot arm, optical markers are arranged on first and second axes, and a number of joints between the end effector and the first axis is lower than a number of joints between the end effector and the second axis. An optical sensor acquires image data of the optical markers. A storage device stores a kinematic model of the robot arm. An evaluation device, in a first case, determines a first position of a first optical marker and the position and orientation of the end effector and, in a second case, a second position of a second optical marker and the position and orientation of the end effector.

First claim

What is claimed is:

1. A device for acquiring a position and an orientation of an end effector of a robot, the robot having a robot arm including a plurality of axes coupled to one another by a plurality of joints, the end effector being arranged on a first end of the robot arm, a first optical marker being arranged on a first axis of the plurality of axes, a second optical marker being arranged on a second axis of the plurality of axes, and a first number of the plurality of being arranged between the end effector and the first axis and a second number of the plurality of joints being arranged between the end effector and the second axis, the first number being lower than the second number, the device comprising:
an optical sensor configured to acquire image data of the first optical marker and/or of the second optical marker;
a storage device storing a kinematic model of the robot arm; and
an evaluation device configured to determine based on the image data whether the first optical marker and the second optical marker are visible to the optical sensor, and, if it is determined based on the image data that the first optical marker is visible to the optical sensor or that the first optical marker and the second optical marker are visible to the optical sensor, to determine a first position of the first optical marker based on the image data and to determine the position and the orientation of the end effector based on the first position, and, if it is determined based on the image data that the first optical marker is not visible to the optical sensor but the second optical marker is visible to the optical sensor, to determine a second position of the second optical marker based on the image data, to determine a relative position and a relative orientation of the end effector relative to the second position based on the kinematic model, and to determine the position and the orientation of the end effector based on the determined second position and the determined relative position and relative orientation of the end effector relative to the second position.

2. The device according to claim 1 , wherein:
the optical sensor is configured to acquire the image data of a third optical marker arranged on a third axis of the plurality of axes,
a third number of the plurality of joints is arranged between the end effector and the third axis,
the second number is lower than the third number,
the evaluation device is configured, in a third case in which both the first and the second optical marker are not visible to the optical sensor but the third optical marker is visible to the optical sensor, to determine a third position of the third optical marker based on the image data and to determine the position and the orientation of the end effector based on the third position and based on the kinematic model.

3. The device according to claim 1 , wherein the evaluation device is configured to determine a fourth position of the first optical marker based on the kinematic model, and to calibrate the kinematic model based on a comparison of the first position with the fourth position.

4. The device according to claim 1 , wherein the evaluation device is configured to determine a fifth position of the second optical marker based on the kinematic model, and to calibrate the kinematic model based on a comparison of the second position with the fifth position.

5. The device according to claim 1 , wherein the optical sensor includes a plurality of cameras.

6. The device according to claim 1 , wherein the evaluation device is further configured to receive control commands from a control device in order to control the robot arm and, in the second case, to determine the position and the orientation of the end effector based on the second position, based on the kinematic model and based on the control commands.

7. A position acquisition system comprising:
a robot including an end effector, a first optical marker, a second optical marker, and a robot arm, the robot arm including a plurality of axes coupled to one another by a plurality of joints, the end effector being arranged on a first end of the robot arm, the first optical marker being arranged on a first axis of the plurality of axes, the second optical marker being arranged on a second axis of the plurality of axes, a first number of the plurality of joints being arranged between the end effector and the first axis, a second number of the plurality of joints being arranged between the end effector and the second axis, and the first number being lower than the second number;
a device configured to acquire a position and an orientation of the end effector of the robot, the device including:
an optical sensor configured to acquire image data of the first optical marker and/or of the second optical marker;
a storage device storing a kinematic model of the robot arm; and
an evaluation device configured to determine based on the image data whether the first optical marker and the second optical marker are visible to the optical sensor, and, if it is determined based on the image data that the first optical marker is visible to the optical sensor or that the first optical marker and the second optical marker are visible to the optical sensor, to determine a first position of the first optical marker based on the image data and to determine the position and the orientation of the end effector based on the first position, and, if it is determined based on the image data that the first optical marker is not visible to the optical sensor but the second optical marker is visible to the optical sensor, to determine a second position of the second optical marker based on the image data, to determine a relative position and a relative orientation of the end effector relative to the second position based on the kinematic model, and to determine the position and the orientation of the end effector based on the determined second position and the determined relative position and relative orientation of the end effector relative to the second position.

8. The position acquisition system according to claim 7 , wherein the robot arm has six axes.

9. The position acquisition system according to claim 7 , wherein none of the plurality of joints is arranged between the end effector and the first axis.

10. The position acquisition system according to claim 9 , wherein at least one of the plurality of joints is arranged between the end effector and the second axis.

11. The position acquisition system according to claim 7 , wherein the first optical marker is arranged on the end effector.

12. The position acquisition system according to claim 7 , wherein the robot further includes a tactile and/or an optical measurement sensor arranged on the end effector.

13. A method for acquiring a position and an orientation of an end effector of a robot, the robot having a robot arm including a plurality of axes coupled to one another by a plurality of joints, the end effector being arranged on a first end of the robot arm, a first optical marker being arranged on a first axis of the plurality of axes, a second optical marker being arranged on a second axis of the plurality of axes, a first number of plurality of joints being arranged between the end effector and the first axis, a second number of the plurality of joints being arranged between the end effector and the second axis, the first number being lower than the second number, the method comprising:
acquiring image data of the first optical marker and/or of the second optical marker;
providing a kinematic model of the robot arm;
determining based on the image data whether the first optical marker and the second

Assignees

• Zeiss Carl Industrielle Messtechnik Gmbh

Inventors

• Goller Heiko
• Hofmann Peter
• Kausz Ivan
• Sattelmayer Gernot

Classifications

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• B25J9/1697 Primary

  Vision controlled systems · CPC title

• B25J9/1692

  Calibration of manipulator · CPC title

• B25J9/1653

  parameters identification, estimation, stiffness, accuracy, error analysis · CPC title

• G05B2219/40595

  Camera to monitor deviation of each joint, due to bending of link · CPC title