CN107553484A - A kind of robot manipulating task trajectory path planning method and system - Google Patents
A kind of robot manipulating task trajectory path planning method and system Download PDFInfo
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- CN107553484A CN107553484A CN201610499370.3A CN201610499370A CN107553484A CN 107553484 A CN107553484 A CN 107553484A CN 201610499370 A CN201610499370 A CN 201610499370A CN 107553484 A CN107553484 A CN 107553484A
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Abstract
The present invention provides a kind of robot manipulating task trajectory path planning method and system, first is calculated according to desired speed treat that the traveling time of setting stabs by master controller, if traveling time stamp is more than the first specific time value, and being less than the second specific time value, then controller control driver drives a motor shaft to be acted；If less than the first specific time value, then controller control driver maintains former working condition；If greater than the second specific time value, then controller control driver first after setting interpolation N number of second treat setting, to treat setting as first during next path planning, move the comparison of timestamp, the new setting of selection interpolation is still operated or remained stationary state, to be remedied to next path curve for treating setting again, step is simple, convenience of calculation, information and the feedback information received progress position closed loop curve calculating are soundd out without periodically sending, call duration time is saved, in real time correction more reasonably route.
Description
Technical field
The application is related to Industrial Robot Technology field, and in particular to a kind of robot manipulating task trajectory path planning method and
System.
Background technology
At present, automatic technology is fast-developing, and the robot system in the field is by robot and peripheral equipment and work
Has the automatization operation system of composition, robot particularly industrial robot is usually Multi-shaft mechanical arm, and its axle is mainly by gear
Case and servomotor composition, in addition to many parts for independently moving and rotating, robot control system is mainly by main control
Device and servo drive controller composition.
At present, domestic and international leading robot control system, particularly industrial robot control system are just towards control essence
Degree further improves, and the directions such as security is more preferable, input and output are more convenient are developed.Realize that robot completes assignment action
Purpose, it is necessary to establish the operation how to move to robot.Traditional mode be by teaching box, under teaching pattern,
Each joint motions are controlled, constantly record setting.After multiple settings of whole operation are recorded, operation can be set
Type of sports, movement velocity etc. between point.Instantly the teach-by-doing teaching technology researched and developed increasingly is popularized, and its principle is in machine
Device people end adds force snesor, and when opening teach-by-doing tutorial function, staff is gone to pull robot end with hand, and power passes
Sensor is sent to robot controller after collecting data, and controller calculates direction and the size of pulling force vector, drives machine
People moves so that robot end moves (including rotation) to direction of pull, that is, follows the hands movement of staff.In this process
In, controller records whole motion path, and after teaching is completed, the path of controller record is exactly teaching operation.
When performing teaching operation, generally there is two ways：A kind of is the reproduction of teach-by-doing teaching, i.e., controller will record
Sent after time interval is increased or reduced between the point in path as execution operation.When time interval does not become, robot is held
Act when capable operation is teach-by-doing teaching and reproduce completely, interval increases or acted when being teach-by-doing teaching after reducing
" slow play " or " putting soon "；Another kind is that the path of teaching operation is constant, but the speed in whole path is planned again, no longer
What when hand pulled during with reference to teaching is fast, and what is when pulled is slow.Under some application circumstances, for example weld, material filling
Deng being required for robot end at the uniform velocity, to ensure operation effectiveness, the teach-by-doing teaching operation under this special applications is needed by
Two kinds of modes perform, i.e., the speed in whole path are planned again.
, it is necessary to plan the type of sports and movement velocity between setting again in second of executive mode.A kind of letter
Single mode is the obvious point of feature in path selection, such as flex point, utilizes these point one paths of planning.This method can give up
Many acquired path points are abandoned, the reduction to path also has an impact.Another way is calculated using the path point of collection
Path curve, go to calculate new setting further according to desired speed, then anti-solution is joint values.The shortcomings that this method is to calculate
Amount is too big, influences operating efficiency.
The content of the invention
The present invention plans setting complicated technology realization again for existing, and amount of calculation is too big, influences operating efficiency etc. and asks
Topic, there is provided a kind of robot manipulating task trajectory path planning method and system, it is real to solve the existing technology of planning setting again
Existing complexity, amount of calculation is too big, call duration time length, and the problems such as influence operating efficiency.
On the one hand, the present invention provides a kind of robot manipulating task trajectory path planning method, including：
Master controller calculates the first traveling time stamp for treating setting；
If the traveling time stamp is more than the first specific time value, and is less than the second specific time value, then the master control
Device control processed treats that setting one motor shaft of corresponding driver driving is acted with described first；Second specific time value
More than first specific time value；
If the traveling time stamp is less than first specific time value, the master controller control and described first
Treat that the driver maintains former working condition corresponding to setting；
If the traveling time stamp is more than second specific time value, the master controller control and described first
Treat driver corresponding to setting treat setting described first after interpolation N number of second treat setting, with described N number of second
Treat that setting treats setting as described first during next path planning, to plan that the operation of the robot is transported again
Dynamic path, wherein the N is the integer more than zero.
As an alternative embodiment, the master controller calculates the first traveling time stamp for treating setting, including：
Detected by sensor, M described first locus for treating setting during record sampling teaching
Point；Wherein, the M is the integer more than zero；
Calculate the two described first position spacing treated between setting corresponding to the adjacent activity duration；
Obtain the desired speed in the unit interval of setting；
The traveling time stamp is obtained according to the position spacing and the desired speed.
On the other hand, the present invention also provides a kind of robot manipulating task trajectory path planning system, including：
Master controller, for calculating the first traveling time stamp for treating setting；
The master controller, it is additionally operable to judge the traveling time stamp whether in first specific time value to described the
In the range of two specific time value；If the traveling time stamp is more than first specific time value, and special less than described second
Fix time value, then the master controller is additionally operable to control and treats the corresponding driver driving of setting with described first with for controlling
One motor shaft is acted；
The driver, for being controlled by the controller, one motor shaft of driving is acted；
If traveling time stamp is less than first specific time value, the master controller be additionally operable to control with it is described
First treats that the driver maintains former working condition corresponding to setting；
The traveling time stamp is more than second specific time value, the controller, is additionally operable to control and described first
Treat the driver corresponding to setting treat setting described first after interpolation N number of second treat setting, with described N number of
Second treats that setting treats setting as described first during next path planning, to plan the work of the robot again
Industry motion path；
The driver, when the traveling time for being additionally operable to be judged according to the controller stabs specific more than described second
Between the result that is worth, after being treated setting described first by the controller control interpolation N number of second treat setting, with described in handle
N number of second treats that setting treats setting as described first during next path planning, to plan the robot again
Working motion path, wherein the N is integer more than zero.
As an alternative embodiment, the system also includes sensor, for carrying out detection detection, record sampling
The M described first locus point for treating setting during teaching；Wherein, the M is the integer more than zero；
The master controller, it is additionally operable to calculate two described first positions treated between setting corresponding to the adjacent activity duration
Spacing is put, obtains the desired speed in the unit interval of setting, according to obtaining the position spacing and the desired speed
Traveling time stabs.
The present invention provides a kind of robot manipulating task trajectory path planning method and system, and calculating first by master controller treats
The traveling time stamp of setting；；If the traveling time stamp is more than the first specific time value, and is less than the second special time
Value, then the driver is controlled to drive a motor shaft to be acted；When second specific time value is specific more than described first
Between be worth；If the traveling time stamp is less than first specific time value, the driver is controlled to maintain former working condition；
If traveling time stamp is more than second specific time value, control the driver described first treat setting it
Setting is treated in interpolation N number of second afterwards, to treat setting as described first during next path planning described N number of second
Setting is treated, to plan the Working motion path of the robot again, according to the traveling time stamp and special time calculated
It is compared, the setting for selecting interpolation new still maintains original state, bent to be remedied to next path for treating setting again
Line, step is simple, convenience of calculation, and information and the feedback information received progress position closed loop curve are soundd out without periodically sending
Calculate to correct programme path, saved call duration time, can have been rectified in real time according to the comparison of desired translational speed and timestamp
Just more reasonably route.
Brief description of the drawings
Fig. 1 is a kind of robot manipulating task trajectory path planning method flow diagram provided in an embodiment of the present invention；
Fig. 2 is another robot manipulating task trajectory path planning method flow diagram provided in an embodiment of the present invention；
Fig. 3 is a kind of robot manipulating task trajectory path planning system construction drawing provided in an embodiment of the present invention.
Embodiment
Embodiments set forth below, which represents, allows those skilled in the art to put into practice the necessary information of the present invention, and shows reality
Trample the best mode of the present invention.Once having read following description with reference to the accompanying drawings, those skilled in the art just will be understood that the present invention
Conceive and will be recognized that these concepts not particularly addressed herein application.It should be appreciated that these designs and application are fallen into
The scope of disclosure and the accompanying claims book.With reference to embodiment, the present invention is further described.
Fig. 1 is referred to, Fig. 1 is a kind of robot manipulating task trajectory path planning method flow provided in an embodiment of the present invention
Figure.As shown in figure 1, the robot manipulating task trajectory path planning method that the present embodiment provides includes：
110th, master controller calculates the first traveling time stamp t for treating setting；
120th, traveling time stamp t and the first specific time value T1 and the second specific time value T2 size are judged；
If traveling time stamp t is more than the first specific time value T1, and is less than the second specific time value T2, then perform following
Step 130；
130th, driver is controlled to drive a motor shaft to be acted；Second specific time value T2 is more than the first specific time value
T1；
If traveling time stamp t is less than the first specific time value T1, following step 140 is performed；
140th, driver is controlled to maintain former working condition；
If traveling time stamp t is more than the second specific time value T2, following step 150 is performed；
150th, setting is treated in interpolation N number of second after control driver treats setting first, to treat operation N number of second
Point treats setting as first during next path planning, with the Working motion path of planning robot again；Wherein N is
Integer more than zero.In the present embodiment, while controller control driver, the key value for treating setting can be issued, with
Just driver carries out key operations according to the key value.
As an alternative embodiment, referring to Fig. 2, Fig. 2 is another robot provided in an embodiment of the present invention
Working motion paths planning method flow chart, as shown in Fig. 2 further comprised the steps based on the step 110 shown in Fig. 1,
I.e. master controller calculates the first traveling time stamp t for treating setting, including：
111st, detected by sensor, M first locus for treating setting during record sampling teaching
Point；Wherein, M is the integer more than zero；
112nd, the two first position spacing treated between setting corresponding to the adjacent activity duration are calculated；
113rd, the desired speed in the unit interval of setting is obtained；
114th, traveling time stamp t is obtained according to position spacing and desired speed.
On the other hand, the embodiment of the present invention also provides a kind of robot manipulating task trajectory path planning system, refers to Fig. 3.
Fig. 3 is a kind of robot manipulating task trajectory path planning system construction drawing provided in an embodiment of the present invention.As shown in figure 3, this implementation
The robot manipulating task trajectory path planning system 100 that example provides includes master controller 310, driver 320, and master controller 310 is used
Treat that the traveling time of setting stabs t in calculating first；Master controller 310 is used to judge whether traveling time stamp t is specific first
In the range of time value T1 to the second specific time value T2；The master controller 310, it is additionally operable to whether judge the traveling time stamp
In the range of first specific time value to second specific time value；If the traveling time stamp is more than described first
Specific time value, and be less than second specific time value, then the master controller 310 is additionally operable to control and waits to make with described first
Driver 320 corresponding to industry point drives a motor shaft to be acted；Driver 320 is additionally operable to what is judged according to master controller 310
If traveling time stamp t is more than the first specific time value T1, and is less than the second specific time value T2, then it is used to drive a motor shaft
Acted；If traveling time stamp is less than first specific time value, the master controller 310 be additionally operable to control and
Described first treats that the driver 320 maintains former working condition corresponding to setting；Driver 320 is additionally operable to according to master controller
The 310 traveling time stamp t judged are less than the first specific time value T1 result, maintain former working condition；If when described mobile
Between stamp be more than second specific time value, the master controller 310, be additionally operable to control and treat that setting is corresponding with described first
Setting is treated in interpolation N number of second after the driver 320 treats setting described first, to treat operation described N number of second
Point treats setting as described first during next path planning, to plan the Working motion road of the robot again
Footpath；The traveling time stamp t that driver 320 is additionally operable to be judged according to master controller 310 is more than the second specific time value T2 result,
Setting is treated in interpolation N number of second after then treating setting first, to treat setting as next path planning mistake N number of second
First in journey treats setting, and with the Working motion path of planning robot again, wherein N is the integer more than zero.
As an alternative embodiment, the robot manipulating task trajectory path planning system 100 that present embodiment provides
Also include sensor, for being detected, the M first locus point for treating setting during record sampling teaching；Its
In, M is the integer more than zero；Master controller 310 be additionally operable to calculate corresponding to the adjacent activity duration two first treat setting it
Between position spacing, the desired speed in the unit interval of setting is obtained, when obtaining mobile according to position spacing and desired speed
Between stab t.
To sum up describe, robot manipulating task trajectory path planning method and system provided in an embodiment of the present invention, pass through master control
Device processed calculates the first traveling time stamp for treating setting；；If the traveling time stamp is more than the first specific time value, and is less than
Second specific time value, then the driver is controlled to drive a motor shaft to be acted；Second specific time value is more than institute
State the first specific time value；If the traveling time stamp is less than first specific time value, the driver is controlled to tie up
Hold former working condition；If the traveling time stamp is more than second specific time value, the driver is controlled described
First treat setting after interpolation N number of second treat setting, to treat setting as next path planning mistake described N number of second
Described first in journey treats setting, to plan the Working motion path of the robot again, according to calculate it is mobile when
Between stamp with special time compared with, the new setting of selection interpolation still maintains original state, to be remedied to next treat again
The path curve of setting, step is simple, convenience of calculation, enters without periodically sending the feedback information soundd out information and received
Row position closed loop curve is calculated to correct programme path, has saved call duration time, according to desired translational speed and timestamp
More reasonably route can be corrected in real time by comparing.
Obviously, above-described embodiment is only intended to clearly illustrate example of the present invention, and is not to the present invention
The restriction of embodiment.For those of ordinary skill in the field, it can also be made on the basis of the above description
Its various forms of changes or variation.There is no necessity and possibility to exhaust all the enbodiments.And these belong to this hair
Among the obvious changes or variations that bright spirit is extended out is still in protection scope of the present invention.
Claims (4)
- A kind of 1. robot manipulating task trajectory path planning method, it is characterised in that including：Master controller calculates the first traveling time stamp for treating setting；If the traveling time stamp is more than the first specific time value, and is less than the second specific time value, then the master controller Control treats that setting one motor shaft of corresponding driver driving is acted with described first；Second specific time value is more than First specific time value；If the traveling time stamp is less than first specific time value, the master controller control is waited to make with described first The driver maintains former working condition corresponding to industry point；If the traveling time stamp is more than second specific time value, the master controller control is waited to make with described first Setting is treated in interpolation N number of second after driver corresponding to industry point treats setting described first, to wait to make described N number of second Industry point treats setting as described first during next path planning, to plan the Working motion road of the robot again Footpath, wherein the N is the integer more than zero.
- 2. robot manipulating task trajectory path planning method as claimed in claim 1, it is characterised in that the master controller calculates First treats the traveling time stamp of setting, including：Detected by sensor, the M described first locus point for treating setting during record sampling teaching；Its In, the M is the integer more than zero；Calculate the two described first position spacing treated between setting corresponding to the adjacent activity duration；Obtain the desired speed in the unit interval of setting；The traveling time stamp is obtained according to the position spacing and the desired speed.
- A kind of 3. robot manipulating task trajectory path planning system, it is characterised in that including：Master controller, for calculating the first traveling time stamp for treating setting；The master controller, it is additionally operable to judge the traveling time stamp whether in first specific time value to the described second spy In the range of value of fixing time；If traveling time stamp is more than first specific time value, and be less than described second it is specific when Between be worth, then the master controller is additionally operable to control and treats that the corresponding driver of setting drives a motor shaft to enter to take action with described first Make；The driver, for being controlled by the controller, one motor shaft of driving is acted；If the traveling time stamp is less than first specific time value, the master controller is additionally operable to control and described first Treat that the driver maintains former working condition corresponding to setting；If traveling time stamp is more than second specific time value, the master controller, control and described the are additionally operable to One treat the driver corresponding to setting treat setting described first after interpolation N number of second treat setting, with the N Individual second treats that setting treats setting as described first during next path planning, to plan the robot again Working motion path；The driver, the traveling time stamp for being additionally operable to be judged according to the controller are more than second specific time value Result, by the controller control treat setting described first after interpolation N number of second treat setting, with described N number of Second treats that setting treats setting as described first during next path planning, to plan the work of the robot again Industry motion path, wherein the N is the integer more than zero.
- 4. robot manipulating task trajectory path planning system as claimed in claim 3, it is characterised in that also including sensor, use In being detected, the M individual described first during record sampling teaching treats the locus point of setting；Wherein, the M is big In zero integer；The master controller, it is additionally operable to calculate corresponding to the adjacent activity duration two described first and treats between the position between setting Away from obtaining the desired speed in the unit interval of setting, the movement obtained according to the position spacing and the desired speed Timestamp.
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