CN107186715B - Method and device for controlling movement of mechanical arm, storage medium and computer - Google Patents
Method and device for controlling movement of mechanical arm, storage medium and computer Download PDFInfo
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- CN107186715B CN107186715B CN201710380577.3A CN201710380577A CN107186715B CN 107186715 B CN107186715 B CN 107186715B CN 201710380577 A CN201710380577 A CN 201710380577A CN 107186715 B CN107186715 B CN 107186715B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/30—Arrangements for executing machine instructions, e.g. instruction decode
- G06F9/30094—Condition code generation, e.g. Carry, Zero flag
Abstract
The embodiment of the invention discloses a motion control method of a mechanical arm, which is used for solving the problem that interface keys in an application interface cannot be intuitively corresponding to the rotation direction of a rotating shaft of the mechanical arm. The method provided by the embodiment of the invention comprises the following steps: monitoring trigger events of a first trigger component and a second trigger component on control equipment; if a first trigger event of the first trigger part is monitored, generating a first rotation control instruction, and sending the first rotation control instruction to the mechanical arm so as to drive a target rotation shaft of the mechanical arm to rotate along a first rotation direction at a preset first rotation speed according to the first rotation control instruction; if a second trigger event of a second trigger component is monitored, generating a second rotation control instruction, and sending the second rotation control instruction to the mechanical arm so as to drive the target rotating shaft to rotate according to the second rotation control instruction; the first rotational direction is opposite to the second rotational direction. The embodiment of the invention also provides a motion control device of the mechanical arm, a storage medium and a computer.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a device for controlling the motion of a mechanical arm, a storage medium and a computer.
Background
With the rapid industrial upgrading and the rapid technical progress of enterprises, the mechanical arm becomes an automated mechanical device widely applied in the technical field of robots, and the mechanical arm has multiple degrees of freedom, allows movement in two-dimensional or three-dimensional space, and receives control instructions to complete various operations.
As shown in fig. 1a, 1b, 1c and 1d, in order to improve the degree of freedom of the movement of the robot arm, a rotation shaft is often disposed on the robot arm, and the robot arm can rotate around the rotation shaft within a certain range through the rotation shaft. The mechanical arm with the type shown in fig. 1 a-1 c is a mechanical arm with a large arm and a small arm moving on a horizontal plane around a rotating shaft 01, fig. 1a is a front view of the mechanical arm, and fig. 1b and 1c are top views of the mechanical arm in two postures; a robot arm of the type shown in figure 1d is one in which the large and small arms move in a vertical plane about an axis of rotation 01.
At present, the motion control of the mechanical arm rotating shaft is mainly realized through human-computer interaction, and in the prior art, the most common motion control mode includes control at a PC end or a mobile end through an application interface. For example, if a user wants to control the rotation direction of the rotation shaft of the mechanical arm to rotate about 45 °, the user needs to find a first control button for controlling the rotation direction of the rotation shaft of the mechanical arm and a second control button for controlling the rotation angle of the rotation shaft of the mechanical arm on the application interface, then the user triggers the first control button to set the rotation direction to be the positive direction and triggers the second control button to set the rotation angle to be 45 °, and finally, a control command is generated and sent according to the set parameters, so that the control of the rotation angle and the rotation direction of the rotation shaft of the mechanical arm is realized. It can be seen that the following disadvantages mainly exist in this motion control method: the user indirectly controls the mechanical arm through an application interface on the PC end or the mobile end, which reduces the motion control efficiency of the user on the rotation shaft of the mechanical arm to a certain extent.
Disclosure of Invention
The embodiment of the invention provides a motion control method and device of a mechanical arm, a storage medium and a computer, wherein the motion control of a rotating shaft of the mechanical arm is mainly realized through human-computer interaction, a user does not need to click a control key representing a corresponding control instruction on an application interface to trigger the control instruction, the control of the rotating angle and the rotating direction of the rotating shaft of the mechanical arm can be realized, the intuitive connection between a first trigger part and a second trigger part on control equipment and the rotation of a target rotating shaft on the mechanical arm can be established, and the motion control efficiency of the rotating shaft of the mechanical arm is improved.
The motion control method for the mechanical arm provided by the embodiment of the invention comprises the following steps:
monitoring trigger events of a first trigger component and a second trigger component on control equipment;
if a first trigger event of the first trigger part is monitored, generating a first rotation control instruction, and sending the first rotation control instruction to the mechanical arm so as to drive a target rotation shaft of the mechanical arm to rotate along a first rotation direction at a preset first rotation speed according to the first rotation control instruction;
if a second trigger event of the second trigger component is monitored, generating a second rotation control instruction, and sending the second rotation control instruction to the mechanical arm so as to drive the target rotating shaft to rotate at a preset second rotation speed along a second rotation direction according to the second rotation control instruction;
the first rotational direction is opposite the second rotational direction.
The motion control device of the mechanical arm provided by the embodiment of the invention comprises:
the trigger event monitoring module is used for monitoring trigger events of a first trigger component and a second trigger component on the control equipment;
the first rotation instruction generating module is used for generating a first rotation control instruction if the trigger event monitoring module monitors a first trigger event of the first trigger part;
the first rotation instruction generating module is used for sending the first rotation control instruction generated by the first rotation instruction generating module to the mechanical arm so as to drive a target rotation shaft of the mechanical arm to rotate along a first rotation direction at a preset first rotation speed according to the first rotation control instruction;
the second rotation instruction generating module is used for generating a second rotation control instruction if the triggering event monitoring module monitors a second triggering event of the second triggering component;
the second rotation instruction generation module is used for sending the second rotation control instruction generated by the second rotation instruction generation module to the mechanical arm so as to drive the target rotating shaft to rotate along a second rotation direction at a preset second rotation speed according to the second rotation control instruction;
the first rotational direction is opposite the second rotational direction.
According to the technical scheme, the embodiment of the invention has the following advantages:
in the embodiment of the invention, firstly, the triggering events of a first triggering component and a second triggering component on the control equipment are monitored; if a first trigger event of the first trigger part is monitored, generating a first rotation control instruction, and sending the first rotation control instruction to the mechanical arm so as to drive a target rotation shaft of the mechanical arm to rotate along a first rotation direction at a preset first rotation speed according to the first rotation control instruction; if a second trigger event of the second trigger component is monitored, generating a second rotation control instruction, and sending the second rotation control instruction to the mechanical arm so as to drive the target rotating shaft to rotate at a preset second rotation speed along a second rotation direction according to the second rotation control instruction; wherein the first rotational direction is opposite the second rotational direction. In the embodiment of the invention, the conversion relation of the rotating coordinate systems between the first trigger component, the second trigger component and the target rotating shaft is established in advance, and the first trigger event and the second trigger event are converted into the control instructions of the first rotating direction and the second rotating direction of the target rotating shaft respectively, so that the intuitive relation of the rotation of the first trigger component and the second trigger component on the control equipment and the target rotating shaft on the mechanical arm is established, and the motion control efficiency of the rotating shaft of the mechanical arm is improved.
Drawings
FIG. 1a is a schematic front view of a first type of robotic arm;
FIGS. 1b and 1c are schematic top views of a first type of robot arm in two different poses;
FIG. 1d is a schematic view of a second type robot in front view;
FIG. 1e is a schematic perspective view of a robot arm with three-dimensional coordinates;
FIG. 1f is a block diagram of a robot arm motion control system according to an embodiment of the present invention;
FIG. 2a is a schematic perspective view of a conventional mouse with a plane coordinate system;
FIG. 2b is a schematic perspective view of a mouse with three-dimensional coordinates;
FIG. 2c is a top view of the mouse shown in FIG. 2 b;
FIG. 3 is a flowchart of an embodiment of a method for controlling the movement of a robot according to the present invention;
FIG. 4 is a flowchart illustrating a method for controlling the movement of a robot according to another embodiment of the present invention;
FIG. 5 is a flowchart illustrating a method for controlling the movement of the robot arm to control the movement of the actuator according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating an exemplary embodiment of a motion control apparatus for a robot according to the present invention;
fig. 7 is a schematic diagram of a computer according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a motion control method and device of a mechanical arm, a storage medium and a computer, which are used for solving the problem that interface keys in an application interface cannot be intuitively corresponding to the rotation direction of a rotating shaft of the mechanical arm.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
First, fig. 1f shows a block diagram of a robot arm motion control system according to an embodiment of the present invention, and for convenience of description, only the parts related to the embodiment are shown.
Referring to fig. 1f, in the embodiment of the present invention, the robot arm motion control system is composed of an upper computer subsystem and a lower computer subsystem, where the upper computer subsystem includes a computer and its peripherals for sending control instructions, and the computer collects rotation events, movement events and/or trigger events of the control device to obtain operation data of the control device, generates control instructions according to the operation data, and sends the control instructions to the lower computer subsystem. The lower computer subsystem comprises a mechanical arm body, a microcontroller and a drive expansion board, wherein the microcontroller can realize communication with the upper computer subsystem through a USB-to-serial port module, receives a control instruction sent by the upper computer subsystem, analyzes the control instruction to acquire motion data of the mechanical arm, sends the motion data to the drive expansion board, and drives the mechanical arm body to move according to the motion data through the drive expansion board, so that motion control of the mechanical arm is realized through control equipment. It will be appreciated that the upper and lower robotic subsystems may be integrated together, such as into a robotic arm, if desired. In this embodiment, the robot motion control system is divided into an upper computer subsystem and a lower computer subsystem, which are mainly used for facilitating understanding of the robot motion control system, and should not be considered as limiting the robot motion control system.
In addition, in the embodiment of the present invention, the control device may be specifically a mouse or a joystick controller. Wherein, the mouse can be a common mouse or a mouse.
As shown in fig. 2a, fig. 2a is a perspective view of a conventional mouse. When the control device is a common mouse, at least two buttons, namely a left mouse button and a right mouse button, are usually configured on the common mouse, and the left mouse button and the right mouse button can be used as a first trigger component and a second trigger component of the control device respectively. In addition, a mouse wheel is generally disposed on the ordinary mouse, and the mouse wheel can be used as a moving part of the control device in the vertical direction. As shown in fig. 2a, the normal mouse itself can also slide on a plane, and when the normal mouse itself slides, the normal mouse can output the moving direction and the moving distance during the sliding process, so the normal mouse itself can be used as a moving component of the control device in the horizontal direction. In addition, for some models of common mice, more than one key can be arranged on the mouse, and the keys can be used as trigger parts of control equipment.
Similarly, when the control device is a mouse, most of the control components are similar to those of a conventional mouse, as shown in fig. 2b and 2c, and the elastic structure 02 of the mouse can be lifted or pressed, so that the elastic structure 02 can be used as a moving component of the control device in the vertical direction.
When the control device is a rocker controller, a knob provided on the rocker controller or a rocker for performing a rocking operation around a circumference may be regarded as equivalent functional components of the first trigger member and the second trigger member of the control device. In addition, the elastic structure arranged on the part of the rocker controller can be lifted or pressed, so that the elastic structure can be used as a moving part of the control device in the vertical direction when being used for lifting or pressing. The rocker on the rocker controller can rock in all directions of a horizontal plane, and when the rocker rocks, the rocker controller can output the rocking direction and the rocking distance in the remote control process, so that the rocker of the rocker controller can be used as a moving part of the control equipment in the horizontal direction. In addition, for most joystick controllers, more than one button is provided which may act as a trigger for the control device.
As can be seen from the above, the control apparatus in the embodiment of the present invention has various options. In the following, for convenience of description, only a general mouse is exemplified as the control device.
Based on the system structure shown in fig. 1f, fig. 3 shows an implementation flow of the method for controlling the motion of the robot arm according to the embodiment of the present invention, which is detailed as follows:
301. monitoring trigger events of a first trigger component and a second trigger component on control equipment;
when the control device is a normal mouse, for the normal mouse, at least two buttons, namely a left mouse button and a right mouse button, are usually configured on the normal mouse. In this embodiment, the left mouse button may serve as a first trigger component, and the right mouse button may serve as a second trigger component. And monitoring the left mouse button and the right mouse button to judge whether the user presses the left mouse button or the right mouse button.
302. If a first trigger event of the first trigger part is monitored, generating a first rotation control instruction;
303. sending the first rotation control instruction to the mechanical arm so as to drive a target rotation shaft of the mechanical arm to rotate along a first rotation direction at a preset first rotation speed according to the first rotation control instruction;
with regard to the above steps 302 and 303, when it is monitored that the user presses the left mouse button, a first rotation control command is generated and sent to the lower computer system shown in fig. 1f, and the lower computer system analyzes the first rotation control command to analyze motion data about the target rotation axis of the mechanical arm, so as to drive the target rotation axis to rotate in the first rotation direction at the preset first rotation speed. It is understood that, in the present embodiment, the corresponding relationship between the first trigger event and the first rotation control command may be established in advance, and the corresponding relationship between the first rotation control command and the first rotation speed and the first rotation direction of the target rotation shaft may also be established in advance. For example, set: upon triggering of the first triggering event, the target rotating shaft rotates clockwise at a first rotational speed. Similarly, for the second trigger event, the following settings may be correspondingly set: the target axis of rotation rotates counterclockwise at a second rotational speed upon activation of a second triggering event. Wherein the first rotation speed and the second rotation speed can be preset and adjusted by a user.
304. If a second trigger event of the second trigger component is monitored, a second rotation control instruction is generated;
305. and sending the second rotation control instruction to the mechanical arm so as to drive the target rotating shaft to rotate in a second rotation direction at a preset second rotation speed according to the second rotation control instruction, wherein the first rotation direction is opposite to the second rotation direction.
For the above steps 304 and 305, when it is monitored that the user presses the right mouse button, a second rotation control command is generated and sent to the lower computer system shown in fig. 1f, and the lower computer system analyzes the motion data about the target rotation axis of the mechanical arm by analyzing the second rotation control command, so as to drive the target rotation axis to rotate in the second rotation direction at the preset second rotation speed. The principle of step 304 and step 305 is similar to that of step 302 and step 303 described above, and is not described here again. It should be noted that the first rotation direction is opposite to the second rotation direction, and when the first rotation direction is clockwise, the second rotation direction is counterclockwise; and when the first rotation direction is counterclockwise, the second rotation direction is clockwise.
As a preferable aspect of this embodiment, when two or more rotation axes are provided in the robot arm, one or more rotation axes may be determined as the target rotation axis from among the two or more rotation axes before the first turning control command or the second turning control command is transmitted to the robot arm. It can be understood that, as shown in fig. 1a to 1d, the robot arm is configured with two rotation shafts for controlling the movements of the large arm and the small arm, respectively. Therefore, before the rotation control of the rotation axis is required, the user can select one rotation axis as the target rotation axis for control. For example, when a user needs to control the mechanical arm to complete an action of drawing an arc, the prior art often needs to preset an instruction of drawing an arc in the application interface, and the user can control the mechanical arm to complete the action of drawing an arc through the preset instruction of drawing an arc. However, only common and standard circular arc drawing commands, such as drawing a quarter circular arc, drawing a half circular arc, drawing a complete circle, etc., are often preset on the application interface, and it is very difficult for a user to draw an unconventional round, for example, drawing seven-eighths of a circular arc. In this embodiment, through rotating control to a certain rotation axis alone, the user can confirm that a certain rotation axis is the target rotation axis on the arm, then control this target rotation axis and rotate, and pivoted angle and direction all can be by user's trigger part direct control on through the controlgear for when controlling the arm and carrying out the action of similar drawing the circular arc, can accomplish the effect of "what you see is what you get". In addition, two or more rotating shafts can be controlled simultaneously when necessary.
It is understood that there are various ways to determine the target rotation axis from among these rotation axes, for example, the target rotation axis may be automatically selected by a preset algorithm or manually selected by a user, and is not limited in detail herein.
Fig. 3 illustrates an embodiment of the present invention, which illustrates a scheme for controlling a motion of a rotation axis of a robot arm, and further, an embodiment of the present invention may further implement a motion control of the robot arm through a control device, as shown in fig. 4, the motion control method according to the embodiment of the present invention further includes:
in this embodiment, the control device is a normal mouse, the acquisition of motion data of the normal mouse is realized, and the computer operating system acquires the moving direction of the moving part of the normal mouse and the moving distance of the moving part in the moving direction by monitoring events of the normal mouse. The moving component may be a common mouse body or a mouse wheel, and if the moving component is the common mouse body, since the common mouse body can move in the X-axis direction and the Y-axis direction as shown in fig. 2a on the horizontal plane, the moving distances of the common mouse body in the two axial directions need to be obtained respectively; if the moving member is a mouse wheel, since the mouse wheel can only perform a moving operation of rolling forward or backward on a straight line, it is necessary to acquire a straight line moving distance of the mouse wheel in the front-back direction.
with regard to the above steps 402 and 403, in the embodiment of the present invention, it is necessary to generate a control command for the robot arm according to the operation data of the ordinary mouse collected in step 401, and therefore, the operation data of the ordinary mouse needs to be converted into the motion data of the robot arm, which is involved therein; the moving direction of a moving part of a common mouse is converted into the moving direction of the mechanical arm, and the moving distance of the moving part in the moving direction is converted into the moving speed of the mechanical arm in the moving direction. In order to control the motion of the mechanical arm in the three-dimensional space, it is necessary to determine the corresponding motion speeds of the mechanical arm in the three axial directions of the three-dimensional motion coordinate system, namely the X axis, the Y axis and the Z axis. Specifically, as an embodiment of the present invention, the converting the moving direction of the moving part into the moving direction of the robot arm includes:
if the moving part is a common mouse body, mapping the moving direction of the common mouse body on a horizontal plane to be the moving direction of the mechanical arm on the horizontal plane;
and if the moving part is a mouse roller, converting the moving direction of the mouse roller into the moving direction of the mechanical arm in the vertical direction.
Specifically, corresponding to the planar coordinate system shown in fig. 2a, a three-dimensional motion coordinate system shown in fig. 1e may be established with the initial motion position or the base fixing position of the robot arm as the origin, the motion of the general mouse body in the X-axis axial direction of fig. 2a may be mapped to the motion of the robot arm in the 1e X-axis axial direction of fig. 1, the motion of the general mouse body in the Y-axis axial direction of fig. 2a may be mapped to the motion of the robot arm in the 1e Y-axis axial direction of fig. 1, and the linear motion of the mouse wheel may be mapped to the motion of the robot arm in the 1e Z-axis axial direction of fig. 1. Obviously, it is easy to think that the mapping relationship of the motion dimensions of the ordinary mouse and the mechanical arm may not be limited to the above manner, in the embodiment of the present invention, the ordinary mouse provides motion data of three different dimensions, and only one-to-one correspondence needs to be established between the three different dimensions and three axial directions of the movement of the mechanical arm, and the specific dimensions in each set of correspondence are not limited herein.
Except for the need for moving said moving partsBesides the conversion of the moving direction into the moving direction of the robot arm, in the embodiment of the present invention, the moving speed of the robot arm in the moving direction needs to be determined according to the moving distance of the moving part. The correspondence between the moving distance of the moving member and the moving speed of the robot arm can be established in advance. For example, if the moving distance of the normal mouse body in the X-axis direction is D and the moving time is t, the average moving speed of the normal mouse body in the X-axis direction is D/t, and thus the moving speed of the mechanical arm in the X-axis direction is determined to be D/t. For another example, if the moving distance of the mouse body in the X-axis direction is D and the moving time is t, the average acceleration of the mouse body in the X-axis direction is 2D/t2So that the average acceleration of the mechanical arm moving on the X axis is 2D/t2And performs an acceleration motion with the acceleration from 0.
In addition, it should be noted that, after determining the moving speed of the mechanical arm in the moving direction, when the mechanical arm stops moving in the moving direction can be controlled in various ways. For example, it may be default that the movement time of the robot arm in the movement direction is equal to the movement time of the moving part, that is, the robot arm "follows" the moving part to perform corresponding movement, and when the moving part moves, the robot arm moves; on the contrary, when the moving part stops, the mechanical arm correspondingly stops moving. Alternatively, it may be set that stopping the movement of the robot arm requires the user to additionally input a command for controlling the stopping of the movement of the robot arm. For example, after the movement speed of the mechanical arm on the X axis is determined to be D/t, the mechanical arm performs uniform movement on the X axis at the movement speed of D/t, and before the user additionally inputs a "stop" control command, the mechanical arm may maintain the movement state until the mechanical arm reaches a physical limit state or the user inputs a "stop" control command, and the mechanical arm does not stop moving. It can be seen that, in this embodiment, when to control the stopping of the robot arm after the robot arm moves in the moving direction may be set according to actual use conditions, and is not particularly limited herein.
And generating a first motion control command for the mechanical arm based on the conversion results of the step 402 and the step 403, wherein the first motion control command is used for controlling the mechanical arm to move along the converted motion direction at the motion speed, and sending the first motion control command to the lower computer system shown in fig. 1f, so that the mechanical arm can be driven to move according to the first motion control command, and the motion control of the mechanical arm by the ordinary mouse can be completed.
It is understood that, after the robot arm is controlled to move in the converted movement direction at the movement speed, the robot arm stops moving when a stop movement command is received; or when another first motion control command is received, controlling the motion of the mechanical arm according to the other first motion control command.
Illustratively, by the scheme shown in the embodiment of fig. 4, the following motion control effects can be achieved:
1. when the common mouse moves along the positive X-axis direction shown in FIG. 2a, the mechanical arm is driven to move along the positive X-axis direction shown in FIG. 1 e; when the common mouse moves along the X-axis negative direction shown in FIG. 2a, the mechanical arm is driven to move along the X-axis negative direction shown in FIG. 1 e;
2. when the common mouse moves along the positive Y-axis direction shown in FIG. 2a, the mechanical arm is driven to move along the positive Y-axis direction shown in FIG. 1 e; when the common mouse moves along the Y-axis negative direction shown in FIG. 2a, the mechanical arm is driven to move along the Y-axis negative direction shown in FIG. 1 e;
3. when the ordinary mouse moves along the directions forming a certain angle with the X-axis and the Y-axis shown in FIG. 2a, the mechanical arm is driven to move along the directions forming a certain angle with the X-axis and the Y-axis shown in FIG. 1 e.
Further, for the motion control scheme of the embodiment corresponding to fig. 4, in order to better implement the motion control of the robot arm, before step 401, a trigger condition for performing the motion control on the robot arm is added. As a preferred embodiment, a third trigger event of a third trigger component on the control device may be monitored, and if the third trigger event is monitored, the step 401 is executed. Specifically, it may be monitored whether the third trigger component is in a pressed state, and if so, the step 401 is executed to implement the motion control of the mechanical arm. Furthermore, when the third trigger part is in a released state, a second motion control command can be generated, and the mechanical arm can be controlled to stop moving through the second motion control command.
By way of example, with the third trigger event described above as the trigger condition for the robot arm motion control, the following motion control effects can be achieved: when one or two keys of the mouse are pressed, the mouse is moved, and the mechanical arm is driven to move along the movement direction of the mouse at the average movement speed of the mouse. At this time, the robot arm is always moved in the moving direction at the average moving speed as long as the user does not release the key. When the user thinks that the robot arm has moved to the desired position, the user releases the button and the robot arm stops moving. It can be understood that, by using the third trigger event as a trigger condition for controlling the motion of the robot arm, multiple motion control modes of the robot arm can be distinguished on the user operation level. For example, if the robot arm includes a conventional follow-up motion and a non-follow-up motion used in special cases. The following movement mode means that the movement state of the mechanical arm follows the movement state of the mouse, and when the mouse moves, the mechanical arm moves; when the mouse stops, the mechanical arm stops. The non-following movement means the movement described in the above steps 401 to 405. Therefore, the third trigger event can be used as a trigger condition of the non-following movement mode, so that the following movement mode is distinguished from the non-following movement mode. When a user controls the mechanical arm, if the user needs to control the mechanical arm in a following motion mode, the user can directly move the mouse for control; if the user needs to control the mechanical arm in the non-following motion mode, the user may trigger the third trigger event, for example, by pressing a button of the mouse without moving the mouse, so as to control the mechanical arm to move in the non-following motion mode.
Fig. 4 illustrates a scheme for performing motion control on a robot arm, and further, in an embodiment of the present invention, motion control on an actuator connected to a tail end of the robot arm may also be implemented by using a control device, as shown in fig. 5, a motion control method according to an embodiment of the present invention further includes:
for a mouse, at least one key may be provided thereon as a fourth trigger element for controlling the device. In this embodiment, the touch time of the button of the mouse may be monitored to determine whether the user has performed a touch operation on the mouse.
and 503, sending the mechanism control instruction to the mechanical arm so as to drive an execution mechanism connected with the tail end of the mechanical arm to move according to the mechanism control instruction.
In the above steps 502 and 503, when the fourth trigger event is monitored, a mechanism control command for controlling the actuator connected to the end of the robot arm is generated and sent to the lower computer system shown in fig. 1f, and the lower computer system analyzes the mechanism control command to analyze the motion data of the actuator, so as to drive the actuator to move. In the embodiment of the present invention, the actuator connected to the end of the robot arm includes, but is not limited to, a rotating mechanism (e.g. a steering engine) at the end of the robot arm, or further includes a claw, a suction cup, and other devices connected to the rotating mechanism, the types of the mechanisms are different, and the functions that can be achieved by the mechanisms are also different, and in general, the actuator is used for achieving finer mechanical control of the robot arm, such as grasping an object, drawing, laser lettering, and the like.
The implementation of the embodiment of fig. 5 is explained in detail below by several embodiments:
as an embodiment of the present invention, step 502 may be specifically implemented by the following steps:
and if a double-click operation event related to the fourth trigger part is monitored, generating a first mechanism control instruction according to the double-click operation event, wherein the first mechanism control instruction is used for controlling the execution mechanism to be switched between an open state and a closed state. In this embodiment, the fourth triggering component may be a left mouse button, a right mouse button, or other physical buttons configured on the mouse. And when the fourth trigger part is monitored to be double-clicked, generating a first mechanism control instruction, and sending the first mechanism control instruction to the mechanical arm. If the executing mechanism of the mechanical arm is in an open state, when the mechanical arm receives the first mechanism control instruction, controlling the executing mechanism of the mechanical arm to be switched from the open state to a closed state; on the contrary, if the executing mechanism of the mechanical arm is in a closed state, when the mechanical arm receives the first mechanism control command, the executing mechanism of the mechanical arm is controlled to be switched from the closed state to an open state.
As another embodiment of the present invention, step 502 may be further specifically implemented by:
if the fourth trigger component is monitored to be in a pressed state, generating a second mechanism control instruction, wherein the second mechanism control instruction is used for opening the execution mechanism; and if the fourth trigger component is in a release state, generating a third mechanism control instruction, wherein the third mechanism control instruction is used for closing the executing mechanism. In this embodiment, the fourth triggering component may be a left mouse button, a right mouse button, or other physical buttons configured on the mouse. When the fourth trigger part is monitored to be in a pressed state, generating a second mechanism control instruction, sending the second mechanism control instruction to the mechanical arm, and controlling an execution mechanism of the mechanical arm to be opened; and when the fourth trigger component is in a released state, generating a third mechanism control instruction, sending the third mechanism control instruction to the mechanical arm, and controlling the execution mechanism of the mechanical arm to close. Illustratively, in an application scene, when a user presses a certain key, an actuating mechanism at the tail end of the mechanical arm is opened, started and carries out corresponding operation. The user keeps pressing the key, the executing mechanism continues to work until the user thinks the executing mechanism has finished the stage work, the user releases the key, the executing mechanism is closed, and the work is stopped.
The first trigger component, the second trigger component, the third trigger component and the fourth trigger component may be any component capable of inputting instructions, such as a key, a rocker, an elastic structure and a moving component on the control device. The control device may preset which component is the first trigger component, which component is the second trigger component, which component is the third trigger component, and which component is the fourth trigger component, and when the corresponding component is triggered (e.g., pressed, lifted, twisted, etc.), a corresponding trigger event, such as the first trigger event, the second trigger event, the third trigger event, or the fourth trigger event described above, is generated.
In the embodiment of the invention, the conversion relation of the rotating coordinate systems between the first trigger component, the second trigger component and the target rotating shaft is established in advance, and the first trigger event and the second trigger event are converted into the control instructions of the first rotating direction and the second rotating direction of the target rotating shaft respectively, so that the intuitive relation of the rotation of the first trigger component and the second trigger component on the control equipment and the target rotating shaft on the mechanical arm is established, and the motion control efficiency of the rotating shaft of the mechanical arm is improved.
Furthermore, the conversion relation of the motion coordinate system between the moving part of the control equipment and the mechanical arm is established in advance, the moving condition of the moving part is converted into the control instruction of the mechanical arm, so that the intuitive relation between the moving part of the control equipment and the motion of the mechanical arm is established, and the motion control efficiency of the mechanical arm is improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 6 shows a block diagram of a motion control device of a robot arm according to an embodiment of the present invention, where the motion control device of the robot arm may be a software module, a hardware module, or a software and hardware module embedded in the upper computer subsystem shown in fig. 1. For convenience of explanation, only the portions related to the present embodiment are shown.
In this embodiment, a motion control apparatus for a robot arm includes:
a trigger event monitoring module 601, configured to monitor trigger events of a first trigger component and a second trigger component on a control device;
a first rotation instruction generating module 602, configured to generate a first rotation control instruction if the trigger event monitoring module 601 monitors a first trigger event of the first trigger component;
a first rotation instruction generating module 603, configured to send the first rotation control instruction generated by the first rotation instruction generating module 602 to the mechanical arm, so as to drive a target rotation axis of the mechanical arm to rotate at a preset first rotation speed along a first rotation direction according to the first rotation control instruction;
a second rotation instruction generating module 604, configured to generate a second rotation control instruction if the triggering event monitoring module 601 monitors a second triggering event of the second triggering component;
a second rotation instruction generating module 605, configured to send the second rotation control instruction generated by the second rotation instruction generating module 604 to the mechanical arm, so as to drive the target rotation axis to rotate at a preset second rotation speed along a second rotation direction according to the second rotation control instruction;
the first rotational direction is opposite the second rotational direction.
Further, the robot arm is provided with two or more rotation axes, and the motion control device may further include:
and a rotation axis determining module for determining one or more rotation axes from the two or more rotation axes as the target rotation axis.
Further, the motion control apparatus may further include:
the movement detection module is used for detecting the movement condition of the control equipment and detecting the movement direction and the movement distance of a moving part of the control equipment in the movement direction;
the movement direction conversion module is used for converting the movement direction of the moving component into the movement direction of the mechanical arm;
the movement speed conversion module is used for determining the movement speed of the mechanical arm in the movement direction according to the movement distance of the moving part;
the first motion instruction generation module is used for generating a first motion control instruction, and the first motion control instruction is used for controlling the mechanical arm to move along the motion direction at the motion speed;
and the first motion instruction sending module is used for sending the first motion control instruction to the mechanical arm.
Further, the motion control apparatus may further include:
the third trigger event monitoring module is used for monitoring a third trigger event of a third trigger component on the control equipment;
and the monitoring triggering module is used for triggering the mobile detection module if the third triggering event monitoring module monitors the third triggering event.
Further, the motion control apparatus may further include:
the fourth touch pressure monitoring module is used for monitoring a fourth trigger event of a fourth trigger component on the control equipment;
a mechanism instruction generating module, configured to generate a mechanism control instruction according to the fourth trigger event if the fourth trigger event is monitored;
and the mechanism instruction sending module is used for sending the mechanism control instruction to the mechanical arm so as to drive the executing mechanism connected with the tail end of the mechanical arm to move according to the mechanism control instruction.
Further, the mechanism instruction generation module may include:
a first mechanism instruction generating unit, configured to generate a first mechanism control instruction according to a double-click operation event if a double-click operation event related to the fourth trigger component is monitored, where the first mechanism control instruction is used to control switching of the execution mechanism between an open state and a closed state;
and/or
A second mechanism instruction generating unit, configured to generate a second mechanism control instruction if it is monitored that the fourth trigger component is in a pressed state, where the second mechanism control instruction is used to turn on the execution mechanism;
and the third mechanism instruction generating unit is used for generating a third mechanism control instruction if the fourth trigger component is in a release state, wherein the third mechanism control instruction is used for closing the executing mechanism.
Fig. 7 is a schematic diagram of a computer provided by an embodiment of the invention. As shown in fig. 7, the computer 7 of this embodiment includes: a processor 70, a memory 71 and a computer program 72 stored in said memory 71 and executable on said processor 70, such as a motion control program for a robot arm. The processor 70, when executing the computer program 72, implements the steps in the above-described method embodiments of the motion control of the respective robot arms, such as the steps 301 to 305 shown in fig. 3. Alternatively, the processor 70, when executing the computer program 72, implements the functions of each module/unit in the above-mentioned device embodiments, such as the functions of the modules 601 to 605 shown in fig. 6.
Illustratively, the computer program 72 may be partitioned into one or more modules/units that are stored in the memory 71 and executed by the processor 70 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 72 in the computer 7.
The computer 7 may be a mobile terminal, a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The computer may include, but is not limited to, a processor 70, a memory 71. Those skilled in the art will appreciate that fig. 7 is only an example of a computer 7 and is not intended to limit the computer 7 and may include more or less components than those shown, or some components in combination, or different components, for example the computer may also include input output devices, network access devices, buses, etc.
The Processor 70 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 71 may be an internal storage unit of the computer 7, such as a hard disk or a memory of the computer 7. The memory 71 may also be an external storage device of the computer 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the computer 7. Further, the memory 71 may also include both an internal storage unit and an external storage device of the computer 7. The memory 71 is used for storing the computer program and other programs and data required by the computer. The memory 71 may also be used to temporarily store data that has been output or is to be output.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. A method for controlling the movement of a robot arm, comprising:
monitoring trigger events of a first trigger component, a second trigger component and a third trigger component on control equipment;
if a first trigger event of the first trigger part is monitored, generating a first rotation control instruction, and sending the first rotation control instruction to the mechanical arm so as to drive a target rotation shaft of the mechanical arm to rotate along a first rotation direction at a preset first rotation speed according to the first rotation control instruction;
if a second trigger event of the second trigger component is monitored, generating a second rotation control instruction, and sending the second rotation control instruction to the mechanical arm so as to drive the target rotating shaft to rotate at a preset second rotation speed along a second rotation direction according to the second rotation control instruction;
the first rotational direction is opposite the second rotational direction;
if a third trigger event of the third trigger component is monitored, detecting the moving condition of a moving component of the control equipment, and detecting the moving direction of the moving component of the control equipment and the moving distance of the moving component in the moving direction; the control equipment comprises a mouse or a remote sensing controller;
converting the moving direction of the moving part into the moving direction of the mechanical arm;
determining a moving speed of the mechanical arm in the moving direction according to the moving distance of the moving part;
generating a first motion control instruction, wherein the first motion control instruction is used for controlling the mechanical arm to move along the motion direction at the motion speed;
sending the first motion control instruction to the mechanical arm;
the determining a moving speed of the robot arm in the moving direction according to the moving distance of the moving part includes:
determining the movement distance and the movement time of the moving part;
dividing the moving distance by the moving time to obtain an average moving speed, and determining the average moving speed as the motion speed.
2. The motion control method according to claim 1, wherein when the robot arm is provided with two or more rotation axes, before the step of sending the first rotation control command to the robot arm or before the step of sending the second rotation control command to the robot arm, the method further comprises:
one or more rotation axes are determined from the two or more rotation axes as the target rotation axis.
3. The motion control method according to any one of claims 1 to 2, characterized by further comprising:
monitoring a fourth trigger event of a fourth trigger component on the control equipment;
if the fourth trigger event is monitored, generating a mechanism control instruction according to the fourth trigger event;
and sending the mechanism control instruction to the mechanical arm so as to drive an executing mechanism connected with the tail end of the mechanical arm to move according to the mechanism control instruction.
4. The motion control method according to claim 3, wherein the step of generating a mechanism control command according to the fourth trigger event if the fourth trigger event is monitored comprises:
if a double-click operation event related to the fourth trigger component is monitored, generating a first mechanism control instruction according to the double-click operation event, wherein the first mechanism control instruction is used for controlling the execution mechanism to be switched between an open state and a closed state;
and/or
If the fourth trigger component is monitored to be in a pressed state, generating a second mechanism control instruction, wherein the second mechanism control instruction is used for opening the execution mechanism;
and if the fourth trigger component is in a release state, generating a third mechanism control instruction, wherein the third mechanism control instruction is used for closing the executing mechanism.
5. A motion control apparatus for a robot arm, comprising:
the trigger event monitoring module is used for monitoring trigger events of a first trigger component, a second trigger component and a third trigger component on the control equipment;
the first rotation instruction generating module is used for generating a first rotation control instruction if the trigger event monitoring module monitors a first trigger event of the first trigger part;
a first rotation instruction sending module, configured to send the first rotation control instruction generated by the first rotation instruction generating module to the mechanical arm, so as to drive a target rotation axis of the mechanical arm to rotate at a preset first rotation speed along a first rotation direction according to the first rotation control instruction;
the second rotation instruction generating module is used for generating a second rotation control instruction if the triggering event monitoring module monitors a second triggering event of the second triggering component;
the second rotation instruction sending module is used for sending the second rotation control instruction generated by the second rotation instruction generating module to the mechanical arm so as to drive the target rotating shaft to rotate along a second rotation direction at a preset second rotation speed according to the second rotation control instruction;
the first rotational direction is opposite the second rotational direction;
a movement detection module, configured to detect a movement condition of the control device if a third trigger event of the third trigger component is monitored, and detect a movement direction of a movement component of the control device and a movement distance of the movement component in the movement direction; the control equipment comprises a mouse or a remote sensing controller;
the movement direction conversion module is used for converting the movement direction of the moving component into the movement direction of the mechanical arm;
the movement speed conversion module is used for determining the movement speed of the mechanical arm in the movement direction according to the movement distance of the moving part;
the first motion instruction generation module is used for generating a first motion control instruction, and the first motion control instruction is used for controlling the mechanical arm to move along the motion direction at the motion speed;
the first motion instruction sending module is used for sending the first motion control instruction to the mechanical arm;
the motion speed conversion module is specifically configured to:
determining the movement distance and the movement time of the moving part;
dividing the moving distance by the moving time to obtain an average moving speed, and determining the average moving speed as the motion speed.
6. A computer comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method for controlling the movement of a robot arm according to any of claims 1 to 4 when executing the computer program.
7. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method for controlling the movement of a robot arm according to any one of claims 1 to 4.
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| CN109822569B (en) * | 2019-01-30 | 2021-04-09 | 深圳镁伽科技有限公司 | Robot control method, system and storage medium |
| JP7396829B2 (en) * | 2019-07-31 | 2023-12-12 | ファナック株式会社 | Device, robot control device, robot system, and method for setting robot coordinate system |
| CN113059558B (en) * | 2020-01-02 | 2023-01-20 | 京东方科技集团股份有限公司 | Control method and terminal of medical mechanical arm and readable medium |
| CN114683273A (en) * | 2020-12-31 | 2022-07-01 | 美的集团(上海)有限公司 | Robot halt control method and device, robot and storage medium |
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Effective date of registration: 20210115 Address after: 276800 north of Shantou Road, west of Hangzhou Road, east of Luzhou Road, Rizhao Economic Development Zone, Shandong Province Patentee after: Rizhao Yuejiang Intelligent Technology Co.,Ltd. Address before: 518000 18 / F, building C2, Nanshan wisdom Park, 1001 Xueyuan Avenue, Xili University Town, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN YUEJIANG TECHNOLOGY Co.,Ltd. |