CN107553484B - Robot operation motion path planning method and system - Google Patents
Robot operation motion path planning method and system Download PDFInfo
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- CN107553484B CN107553484B CN201610499370.3A CN201610499370A CN107553484B CN 107553484 B CN107553484 B CN 107553484B CN 201610499370 A CN201610499370 A CN 201610499370A CN 107553484 B CN107553484 B CN 107553484B
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Abstract
The invention provides a robot operation motion path planning method and a system, a master controller calculates a moving time stamp of a first point to be operated according to an expected speed, and if the moving time stamp is larger than a first specific time value and smaller than a second specific time value, the controller controls a driver to drive a motor shaft to act; if the time value is less than the first specific time value, the controller controls the driver to maintain the original working state; if the time value is larger than the second specific time value, the controller controls the driver to interpolate N second to-be-operated points behind the first to-be-operated point to serve as the first to-be-operated point in the next path planning process, comparison of moving time stamps is carried out, whether interpolation of a new operation point is carried out or operation is carried out or the original state is maintained, so that a path curve of the next to-be-operated point is corrected again.
Description
Technical Field
The application relates to the technical field of industrial robots, in particular to a robot operation motion path planning method and system.
Background
At present, automation technology is rapidly developed, in the field, a robot system is an automatic operation system composed of a robot, peripheral equipment and tools, the robot, particularly an industrial robot, is generally a multi-axis mechanical arm, an axis of the robot is mainly composed of a gear box and a servo motor, the robot system also comprises a plurality of parts which move and rotate independently, and a robot control system is mainly composed of a main controller and a servo drive controller.
At present, leading robot control systems at home and abroad, particularly industrial robot control systems, are developing towards the directions of further improving control precision, having better safety, being more convenient for input and output, and the like. In order to achieve the purpose that the robot completes the designated operation, the robot needs to be established with the operation of how to move. The traditional mode is through the teaching box, under the teaching mode, control every joint motion, the continuous recording operation point. After recording a plurality of work points of the entire job, the type of movement between the work points, the movement speed, and the like may be set. The hand teaching technology developed at present is more and more popular, the principle is that a force sensor is added at the tail end of a robot, when the hand teaching function is started, a worker pulls the tail end of the robot by using a hand, the force sensor collects data and then sends the data to a robot controller, the controller calculates the direction and the size of a tension vector and drives the robot to move, and the tail end of the robot moves (including rotates) in the tension direction, namely follows the hand movement of the worker. In the process, the controller records the whole motion path, and after the teaching is finished, the path recorded by the controller is the teaching task.
In general, teaching tasks are executed in two ways: one is reproduction of the hand grip teaching, i.e. the controller issues as a job to be executed after increasing or decreasing the time interval between the points of the recording path. When the time interval is not changed, the operation executed by the robot is completely reproduced when the hand is taught, and after the interval is increased or decreased, the operation is slowly released or quickly released when the hand is taught; the other is that the path of the teaching task is not changed, but the speed in the whole path is re-planned, and the teaching is not referred to when the hand pulls fast and when the hand pulls slow. In some special application environments, such as welding, material filling and the like, the tail end of the robot needs to be at a constant speed to ensure the operation effect, and the hand-held teaching operation in the special application needs to be executed according to a second mode, namely, the speed in the whole path is re-planned.
In the second implementation, the type of movement and speed of movement between the work points needs to be re-planned. A simple way is to pick distinctive points in the path, such as inflection points, and use these points to plan a path. The method can discard a plurality of collected path points and also has an influence on the restoration of the path. The other mode is that a path curve is calculated by utilizing the collected path points, a new operation point is calculated according to the expected speed, and then the operation point is reversely solved into a joint value. The disadvantage of this method is that the amount of calculation is too large, which affects the work efficiency.
Disclosure of Invention
The invention provides a robot operation motion path planning method and system aiming at the problems that the existing operation point re-planning technology is complex to realize, the calculated amount is too large, the working efficiency is influenced and the like, and solves the problems that the existing operation point re-planning technology is complex to realize, the calculated amount is too large, the communication time is long, the working efficiency is influenced and the like.
In one aspect, the present invention provides a robot work motion path planning method, including:
the master controller calculates a moving timestamp of a first point to be operated;
if the moving timestamp is greater than a first specific time value and less than a second specific time value, the master controller controls a driver corresponding to the first to-be-operated point to drive a motor shaft to act; the second specific time value is greater than the first specific time value;
if the moving timestamp is smaller than the first specific time value, the master controller controls the driver corresponding to the first to-be-operated point to maintain the original working state;
if the moving timestamp is greater than the second specific time value, the master controller controls a driver corresponding to the first point to be operated to interpolate N second points to be operated after the first point to be operated so as to take the N second points to be operated as the first point to be operated in the next path planning process to re-plan the operation movement path of the robot, wherein N is an integer greater than zero.
As an alternative embodiment, the general controller calculates the moving time stamp of the first point-to-be-operated, and includes:
detecting through a sensor, and recording spatial position points of the M first points to be operated in a sampling teaching process; wherein M is an integer greater than zero;
calculating the position distance between two first points to be operated corresponding to the adjacent operation time;
obtaining a set expected speed in unit time;
obtaining the movement timestamp from the position separation and the desired velocity.
In another aspect, the present invention further provides a system for planning a motion path of a robot operation, including:
the master controller is used for calculating the moving timestamp of the first point to be operated;
the master controller is further configured to determine whether the moving timestamp is within a range from the first specific time value to the second specific time value; if the moving timestamp is greater than the first specific time value and less than the second specific time value, the master controller is further used for controlling a driver corresponding to the first to-be-operated point to drive a motor shaft to act;
the driver is controlled by the controller to drive a motor shaft to act;
if the moving timestamp is smaller than the first specific time value, the master controller is further used for controlling the driver corresponding to the first to-be-operated point to maintain the original working state;
the moving timestamp is greater than the second specific time value, and the controller is further configured to control the driver corresponding to the first point to be operated to interpolate N second points to be operated after the first point to be operated, so that the N second points to be operated are used as the first points to be operated in the next path planning process, and the operation motion path of the robot is re-planned;
and the driver is further configured to interpolate, by the controller, N second points to be operated after the first point to be operated according to a result that the moving timestamp determined by the controller is greater than the second specific time value, so as to take the N second points to be operated as the first point to be operated in a next path planning process, and to re-plan an operation movement path of the robot, where N is an integer greater than zero.
As an optional implementation manner, the system further includes a sensor, configured to perform detection and record spatial position points of the M first to-be-operated points in a sampling teaching process; wherein M is an integer greater than zero;
the master controller is further configured to calculate a position distance between two first to-be-operated points corresponding to adjacent operation time, obtain an expected speed in a set unit time, and obtain the moving timestamp according to the position distance and the expected speed.
The invention provides a robot operation motion path planning method and a system, wherein a master controller is used for calculating a moving timestamp of a first point to be operated; (ii) a If the moving timestamp is greater than a first specific time value and less than a second specific time value, controlling the driver to drive a motor shaft to act; the second specific time value is greater than the first specific time value; if the moving timestamp is smaller than the first specific time value, controlling the driver to maintain the original working state; if the moving timestamp is greater than the second specific time value, controlling the driver to interpolate N second points to be operated after the first point to be operated so as to use the N second points to be operated as the first points to be operated in the next path planning process to re-plan the operation movement path of the robot, comparing the calculated moving timestamp with the specific time, selecting to interpolate a new point to maintain the original state to re-correct the path curve of the next point to be operated, and having the advantages of simple steps and convenient calculation.
Drawings
Fig. 1 is a flowchart of a method for planning a motion path of a robot operation according to an embodiment of the present invention;
fig. 2 is a flowchart of another robot work movement path planning method according to an embodiment of the present invention;
fig. 3 is a structural diagram of a robot operation movement path planning system according to an embodiment of the present invention.
Detailed Description
The embodiments set forth below represent the necessary information to enable those skilled in the art to practice the invention and illustrate the best mode of practicing the invention. Upon reading the following description in light of the accompanying drawing figures, those skilled in the art will understand the concepts of the invention and will recognize applications of these concepts not particularly addressed herein. It should be understood that these concepts and applications fall within the scope of the disclosure and the accompanying claims. The present invention will be further described with reference to the following examples.
Referring to fig. 1, fig. 1 is a flowchart of a robot operation movement path planning method according to an embodiment of the present invention. As shown in fig. 1, the method for planning the motion path of the robot work provided by this embodiment includes:
110. the master controller calculates a moving timestamp t of a first point to be operated;
120. judging the sizes of the moving timestamp T and the first and second specific time values T1 and T2;
if the moving timestamp T is greater than the first specific time value T1 and less than the second specific time value T2, performing the following step 130;
130. controlling the driver to drive a motor shaft to act; the second specific time value T2 is greater than the first specific time value T1;
if the moving timestamp T is less than the first specific time value T1, performing the following step 140;
140. controlling a driver to maintain the original working state;
if the moving timestamp T is greater than a second specific time value T2, performing the following step 150;
150. the driver is controlled to interpolate N second points to be operated after the first point to be operated so as to take the N second points to be operated as the first points to be operated in the next path planning process and plan the operation movement path of the robot again; wherein N is an integer greater than zero. In this embodiment, the controller, while controlling the driver, issues a key value of the standby operation point so that the driver performs a key action according to the key value.
As an alternative implementation, referring to fig. 2, fig. 2 is a flowchart of another robot work motion path planning method provided in an embodiment of the present invention, and as shown in fig. 2, based on step 110 shown in fig. 1, the method further includes the following steps, that is, the step of calculating, by the overall controller, a moving time stamp t of the first point to be worked includes:
111. detecting through a sensor, and recording spatial position points of M first points to be operated in a sampling teaching process; wherein M is an integer greater than zero;
112. calculating the position distance between two first points to be operated corresponding to the adjacent operation time;
113. obtaining a set expected speed in unit time;
114. the movement time stamp t is obtained from the position separation and the desired velocity.
On the other hand, an embodiment of the present invention further provides a system for planning a motion path of a robot operation, please refer to fig. 3. Fig. 3 is a structural diagram of a robot operation movement path planning system according to an embodiment of the present invention. As shown in fig. 3, the robot working motion path planning system 100 provided by this embodiment includes an overall controller 310 and a driver 320, where the overall controller 310 is configured to calculate a moving time stamp t of a first point to be worked; the general controller 310 is configured to determine whether the moving timestamp T is within a range from a first specific time value T1 to a second specific time value T2; the overall controller 310 is further configured to determine whether the moving timestamp is within a range from the first specific time value to the second specific time value; if the moving timestamp is greater than the first specific time value and less than the second specific time value, the overall controller 310 is further configured to control the driver 320 corresponding to the first to-be-operated point to drive a motor shaft to act; the driver 320 is also used for driving a motor shaft to act if the moving time stamp T is greater than the first specific time value T1 and less than the second specific time value T2 according to the judgment of the overall controller 310; if the moving timestamp is less than the first specific time value, the general controller 310 is further configured to control the driver 320 corresponding to the first to-be-operated point to maintain an original operating state; the driver 320 is further configured to maintain the original working state according to the result that the moving timestamp T judged by the overall controller 310 is smaller than the first specific time value T1; if the moving timestamp is greater than the second specific time value, the overall controller 310 is further configured to control the driver 320 corresponding to the first point to be operated to interpolate N second points to be operated after the first point to be operated, so as to use the N second points to be operated as the first point to be operated in the next path planning process, so as to re-plan the operation motion path of the robot; the driver 320 is further configured to interpolate N second points to be operated after the first point to be operated according to the result that the moving timestamp T determined by the overall controller 310 is greater than the second specific time value T2, so as to use the N second points to be operated as the first points to be operated in the next path planning process, so as to re-plan the operation movement path of the robot, where N is an integer greater than zero.
As an optional implementation manner, the robot working motion path planning system 100 provided in this implementation manner further includes a sensor, configured to detect, and record spatial position points of the M first points to be worked in the sampling teaching process; wherein M is an integer greater than zero; the general controller 310 is further configured to calculate a position distance between two first to-be-operated points corresponding to adjacent operation times, obtain a desired speed in a set unit time, and obtain the moving timestamp t according to the position distance and the desired speed.
In summary, in the method and system for planning the operation movement path of the robot according to the embodiments of the present invention, the master controller calculates the moving timestamp of the first point to be operated; (ii) a If the moving timestamp is greater than a first specific time value and less than a second specific time value, controlling the driver to drive a motor shaft to act; the second specific time value is greater than the first specific time value; if the moving timestamp is smaller than the first specific time value, controlling the driver to maintain the original working state; if the moving timestamp is greater than the second specific time value, controlling the driver to interpolate N second points to be operated after the first point to be operated so as to use the N second points to be operated as the first points to be operated in the next path planning process to re-plan the operation movement path of the robot, comparing the calculated moving timestamp with the specific time, selecting to interpolate a new point to maintain the original state to re-correct the path curve of the next point to be operated, and having the advantages of simple steps and convenient calculation.
It should be understood that the above examples are only for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And such obvious variations or modifications which fall within the spirit of the invention are intended to be covered by the scope of the present invention.
Claims (4)
1. A robot work motion path planning method is characterized by comprising the following steps:
the master controller calculates a moving timestamp of a first point to be operated;
if the moving timestamp is greater than a first specific time value and less than a second specific time value, the master controller controls a driver corresponding to the first to-be-operated point to drive a motor shaft to act; the second specific time value is greater than the first specific time value;
if the moving timestamp is smaller than the first specific time value, the master controller controls the driver corresponding to the first to-be-operated point to maintain the original working state;
if the moving timestamp is greater than the second specific time value, the master controller controls a driver corresponding to the first point to be operated to interpolate N second points to be operated after the first point to be operated so as to take the N second points to be operated as the first point to be operated in the next path planning process to re-plan the operation movement path of the robot, wherein N is an integer greater than zero.
2. The method for planning a movement path for robot work according to claim 1, wherein the calculating the moving time stamp of the first point to be worked by the general controller comprises:
detecting through a sensor, and recording spatial position points of the M first points to be operated in a sampling teaching process; wherein M is an integer greater than zero;
calculating the position distance between two first points to be operated corresponding to the adjacent operation time;
obtaining a set expected speed in unit time;
obtaining the movement timestamp from the position separation and the desired velocity.
3. A robot work motion path planning system, comprising:
the master controller is used for calculating the moving timestamp of the first point to be operated;
the master controller is further used for judging whether the moving timestamp is in a range from a first specific time value to a second specific time value; if the moving timestamp is greater than the first specific time value and less than the second specific time value, the master controller is further configured to control a driver corresponding to the first to-be-operated point to drive a motor shaft to act;
the driver is controlled by the controller to drive a motor shaft to act;
if the moving timestamp is smaller than the first specific time value, the master controller is further used for controlling the driver corresponding to the first to-be-operated point to maintain the original working state;
if the moving timestamp is greater than the second specific time value, the general controller is further configured to control the driver corresponding to the first point to be operated to interpolate N second points to be operated after the first point to be operated, so that the N second points to be operated are used as the first point to be operated in the next path planning process, and the operation motion path of the robot is re-planned;
and the driver is further configured to interpolate, by the controller, N second points to be operated after the first point to be operated according to a result that the moving timestamp determined by the controller is greater than the second specific time value, so as to take the N second points to be operated as the first point to be operated in a next path planning process, and to re-plan an operation movement path of the robot, where N is an integer greater than zero.
4. The robot work motion path planning system according to claim 3, further comprising a sensor for detecting and recording spatial position points of the M first points to be worked during the sampling teaching; wherein M is an integer greater than zero;
the master controller is further configured to calculate a position distance between two first to-be-operated points corresponding to adjacent operation time, obtain an expected speed in a set unit time, and obtain the moving timestamp according to the position distance and the expected speed.
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| CN112556706B (en) * | 2019-09-10 | 2023-12-26 | 菜鸟智能物流控股有限公司 | Navigation method, device, equipment and machine-readable medium |
| CN110879571B (en) * | 2019-12-16 | 2021-03-02 | 华南理工大学广州学院 | Method for obtaining circular arc walking line segment of writing robot based on circular arc interpolation |
| CN111331596B (en) * | 2020-01-22 | 2021-05-18 | 深圳国信泰富科技有限公司 | Automatic track correction method and system for robot |
| CN111890154B (en) * | 2020-07-31 | 2021-08-31 | 广东博智林机器人有限公司 | Polishing method |
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| FI83175C (en) * | 1989-09-12 | 1991-06-10 | Aitec Oy | Procedure for path control of a robotic cell |
| US6182008B1 (en) * | 1999-06-25 | 2001-01-30 | Microsoft Corporation | Ordering destinations along a route using a shortest line approximation |
| CN101224576B (en) * | 2008-01-25 | 2010-09-29 | 北京邮电大学 | Teaching track optimized controlling method of magnetic-controlled spraying robot |
| CN103778843B (en) * | 2012-10-25 | 2017-02-15 | 西安航天精密机电研究所 | Industrial robot demonstration and reappearance method |
| CN204390096U (en) * | 2014-12-22 | 2015-06-10 | 库卡罗伯特有限公司 | Track stops the executor group of at least one executor conditionally |
| CN104772754B (en) * | 2015-03-26 | 2016-05-11 | 北京欣奕华科技有限公司 | A kind of robot teaching device and teaching method |
| CN104951918A (en) * | 2015-06-11 | 2015-09-30 | 上海德马物流技术有限公司 | Time window path planning method |
| CN105619409B (en) * | 2016-02-24 | 2017-07-14 | 佛山市科莱机器人有限公司 | Manual teaching robot's action optimized treatment method |
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