CN112157645A - Seven-degree-of-freedom cooperative robot intelligent controller - Google Patents
Seven-degree-of-freedom cooperative robot intelligent controller Download PDFInfo
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- CN112157645A CN112157645A CN202010787803.1A CN202010787803A CN112157645A CN 112157645 A CN112157645 A CN 112157645A CN 202010787803 A CN202010787803 A CN 202010787803A CN 112157645 A CN112157645 A CN 112157645A
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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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- 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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention discloses a seven-degree-of-freedom cooperative robot intelligent controller, which comprises an embedded hardware platform; the open control system running on the embedded hardware platform is connected with a demonstrator at the upper part and is connected with a seven-degree-of-freedom cooperative robot at the lower part. The controller establishes a controller architecture combining hardware and software, and the robot realizes the kinematics and dynamics control of the seven-degree-of-freedom robot based on an algorithm; in the moving process, the motion state of the robot is controlled through the five functional modules, the motion control is realized by selecting a rapid planning algorithm according to a planning environment, and the obstacle avoidance is carried out through the robot configuration file and the environment obstacle leading-in setting, so that the safety of the robot to products and users in the operation process is ensured. The invention solves the problems of modularization and universality of the existing robot intelligent controller through the establishment of a universal hardware platform and the design of an integrated software system.
Description
Technical Field
The invention belongs to the field of intelligent control, and particularly relates to an intelligent controller of a seven-degree-of-freedom cooperative robot.
Background
Robots are widely used in industrial manufacturing as the manufacturing industry's demands for flexibility, speed, productivity, and quality of manufacturing systems are further upgraded. The introduction of the interconnection interaction between the human and the machine can effectively improve the manufacturing speed and the manufacturing efficiency and greatly improve the large-scale customization level. At present, the control level and the interconnection perception capability of the traditional industrial robot cannot meet the manufacturing requirement at present, and the requirement of a user on a cooperative robot which can cooperate with and learn human beings is becoming more and more urgent.
In the current collaborative robot market, enterprises can provide own collaborative robot products for different loads and application occasions on the basis of reaching the standard reliability, safety and easy operation level. However, the cooperative robot and the controller thereof are developed by a robot manufacturer at the present stage, the interface is closed, and the universalization and standardization cannot be realized, so that the use flexibility of the cooperative robot is weakened, the period and the workload of the robot deployment process are increased, and the cost is raised. As a core component product for determining the performance of a robot, an intelligent controller is customized and limited, and cannot efficiently adapt to new tasks of a new environment when meeting different industry requirements. Taking aerospace manufacturing as an example, the production in the field has the characteristics of multiple varieties, small batch, high performance index precision, load bearing capacity, high environmental cleanliness, special materials and the like, and the requirements for improving quality, reducing cost and realizing rapid reaction are obviously different from those of other industries. In order to meet the more diverse demands in the market, the independent and universal modular development direction of the cooperative robot is emphasized, and a robot intelligent controller with strong universality and modularization needs to be developed.
Disclosure of Invention
The invention discloses a seven-degree-of-freedom cooperative robot intelligent controller, which solves the modularization problem of the current cooperative robot controller.
An intelligent controller of a seven-degree-of-freedom cooperative robot comprises an embedded hardware platform; the open control system running on the embedded hardware platform is connected with a demonstrator at the upper part and is connected with a seven-degree-of-freedom cooperative robot at the lower part.
Preferably, the embedded hardware platform comprises:
an integrated heat dissipation housing;
the power isolation conversion assembly is used for supplying power to the intelligent controller, carrying out voltage conversion simultaneously and outputting a power supply to supply power to the robot;
the main control assembly is used for controlling the motion state of the robot;
the working state control assembly is used for controlling the working state of the intelligent controller;
and the bus interface component is used for transmitting information and instructions between the seven-degree-of-freedom cooperative robot and the open type working system.
Preferably, the power isolation conversion assembly does not need an external radiator when working.
Preferably, the open control system comprises:
the embedded operating system is used for computing the controller, managing peripheral resources, realizing communication interface, receiving a control instruction of the demonstrator through a network interface and providing a software package for the operation of the robot operating system;
the robot operating system is used for dragging the teaching control packet, the collision detection control packet, the following motion control packet, the path planning control packet and the driving software packet to perform operation scheduling and mutual communication management;
dragging the teaching control packet, receiving a dragging instruction, compensating gravity vectors of each joint of the robot in real time, recording dragging position information, and performing position reproduction motion according to the teaching instruction;
the collision detection control packet is used for monitoring the collision state of the robot and sending the collision state to the robot operating system so as to change the motion state of the robot in time;
the path planning control packet is used for receiving a motion instruction sent by the demonstrator, calculating the motion path of the robot according to the position to be reached and executing the motion control of the robot;
the following motion control packet is used for receiving a following motion instruction sent by the demonstrator, calculating the rotation angle of the joint of the robot, and sending a control instruction to the robot to realize the following motion of the tail end of the robot;
and the driving software package calls the required driving software when the robot operating system sends out a path planning and following motion instruction.
Preferably, the follow motion control packet includes the following modules:
(1) the keyboard control module has the function of keyboard response, responds to keyboard key input during working, generates following driving information and drives different degrees of freedom and movement directions according to the input;
(2) the integrated module is used for integrating a seven-degree-of-freedom robot analytic kinematics module, an S curve acceleration and deceleration control module, a robot joint space motion filtering module and a robot joint space motion filtering module;
(3) the seven-degree-of-freedom robot analysis kinematics module is used for constructing mapping from a Cartesian space at the tail end of the robot to a joint space, stably calculating the angles of 7 joint axes of the robot according to the appointed tail end space pose, and solving the joint angles of the returned robot in the appointed pose by inverse kinematics according to the position and the pose to be reached by the tail end when the robot analysis kinematics module works;
(4) the S-curve acceleration and deceleration control module has the functions of realizing the acceleration and deceleration control of the tail end of the robot in space, so that the motion process of the tail end of the robot is stable and continuous, and the module finishes the track planning of single degree of freedom at the tail end in stages of acceleration, deceleration and uniform speed during working and simultaneously ensures that the robot does not shake or impact in the starting and stopping stages;
(5) the Jacobian matrix resolving module is used for obtaining the execution speed of the robot joint under the appointed terminal speed and providing a basis for joint speed planning for the robot, and the module calculates the running speed of the joint according to the terminal speed and the current joint angle during working;
(6) the robot joint space motion filtering module has the function of constructing a filter for constraint limitation based on the dynamic constraint of the robot joint space, so that the joint motion of the robot when the tail end moves continuously is kept continuous, the filtering processing is carried out on the joint angles with 7 degrees of freedom during working, the running process is guaranteed to be flexible, and the generated track can meet the constraint of the maximum running speed and the acceleration of the joint.
A control method of an intelligent controller of a seven-degree-of-freedom cooperative robot comprises the following steps:
(1) receiving a control instruction of a demonstrator;
(2) acquiring state information of the seven-degree-of-freedom cooperative robot;
(3) generating a robot motion environment model;
(4) generating a motion track without collision with the environment;
(5) and controlling the robot to move and adjusting the pose of the robot.
Preferably, the step (2) is realized by the following steps: the CAN bus is adopted to carry out communication between the intelligent controller of the seven-degree-of-freedom cooperative robot and the robot, a data transmission mechanism is realized on the basis of a CAN bus protocol, interfaces for setting the working mode and the working parameters of the robot are transferred to a frame, and the motion state information of the robot is acquired.
Preferably, the implementation method of step (4) is: the intelligent controller displays and updates the actual working state of the robot in real time based on the robot data transmitted back by the bus interface component, and generates a motion track without collision with the environment by adopting a path planning algorithm.
Preferably, the step (5) is realized by the following steps: the intelligent controller receives the instruction of the demonstrator, adopts a follow-up motion control algorithm, solves the joint angle of the robot under the designated pose according to the position and the pose to be reached by the tail end of the robot by inverse kinematics, converts the joint angle into joint speed and controls the motion of the robot; in the dragging teaching process, the intelligent controller compensates the gravity vector of each joint of the robot in real time, so that a user can drag the robot to complete the rapid configuration and programming of the terminal point location; and meanwhile, a dynamic control algorithm is adopted to monitor the collision state of the robot and stop the motion of the robot in time.
Preferably, the modeling in the inverse kinematics solution process adopts an arm angle constraint method.
The invention solves the problems of low generalization degree, large volume and high cost of the intelligent robot controller, and has the following specific beneficial effects:
1. various standard interfaces are integrated, and data of various sensors can be acquired under various conditions of different types of sensor hardware interfaces. A universal communication interface is constructed, and users and developers can realize the connection of the controller and the robot only by setting the type of communication and the content of the communication, so that the time required by the robot from deployment to starting is shortened.
2. The naming mode of the bottom layer communication interface is standardized, the coupling of different modules in a communication program is reduced, the state monitoring, fault diagnosis and error repair modules in the communication process are increased, and the fault tolerance of the communication program is improved.
3. In the invention, the core control and planning module of the robot is integrated on the control panel with the size of 200mm multiplied by 120mm multiplied by 50mm, and the miniaturization of the control panel can reduce the cost of a control system, so that the application range of the robot is wider.
4. The intelligent controller of the invention introduces the original seven-degree-of-freedom cooperative robot tail end following algorithm, the seven-degree-of-freedom robot dynamics control technology and the seven-degree-of-freedom robot motion planning algorithm, establishes a more accurate dynamics model, improves the motion efficiency and the motion precision of the robot, and compared with other cooperative robots, the intelligent controller realizes more accurate step control on the robot by establishing the more accurate robot dynamics model, thereby providing more friendly operation experience for users.
Drawings
FIG. 1 is a schematic structural diagram of a seven-degree-of-freedom cooperative robot intelligent controller;
FIG. 2 is a block diagram of an embedded hardware platform architecture;
FIG. 3 is a flow chart of the communication operation of the open control system;
FIG. 4 is a block diagram of the algorithm structure of the following control software;
FIG. 5 is a schematic diagram of an arm angle constraint method solution.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to the accompanying drawings and the detailed description. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention without making any creative effort, fall within the scope of the claimed invention.
Example one
The embodiment of the application discloses an intelligent controller of a seven-degree-of-freedom cooperative robot, which comprises an embedded hardware platform; the open type control system running on the embedded hardware platform is connected with the teaching indicator on the upper side and is connected with the 7-freedom-degree seven-freedom-degree cooperative robot on the lower side.
The CPU is a four-core processor with an ARM Cortex-A17 architecture, the highest frequency of the CPU can reach 1.8GHz, the graphics processing is embedded into Mali-T760 MP4, OpenGL ES1.1/2.0/3.0, OpenVG1.1, OpenCL and Directx11 are supported, and the hard decoding of H.264 and 10bits H.265 videos of 4Kx2K can be realized.
The CPU is configured with a 2GB DDr3 dual-channel memory and a 16GB eMMC high-speed flash memory, and supports 2.4GHz/5GHz dual-frequency Wi-Fi of the latest wireless 802.11ac protocol, as well as Bluetooth4.0 and gigabit Ethernet.
The CPU supports multiple display output interfaces of double MIPI, LVDS, HDMI, EDP and VGA, and supports expansion interfaces of PWM, SPI, UART, ADC, 12C, 12S, GPIO and the like.
The intelligent controller has a rectangular parallelepiped structure with dimensions of 160 × 117 × 67.5(mm), as shown in fig. 2.
The embedded hardware platform adopts an integrated fanless design, comprises an integrated radiating shell and a power supply isolation conversion component, is used for voltage conversion and supplies power for the robot; the main control assembly is used for controlling the motion state of the robot; the working state control assembly is used for controlling the working state of the open type control system; and the bus interface component is used for transmitting information and instructions between the seven-degree-of-freedom cooperative robot and the open type working system.
The power isolation transformation component is a power transformation board AP 1.
The power conversion board AP1 mainly functions as a 24V isolation conversion to 5V.
The main control assembly adopts an embedded control board AP 2.
The embedded control board AP2 adopts an embedded control board to expand the USB port, and simultaneously, the VGA interface, OPTICAL interface, DC interface 5V/2.5A interface, TFCARD interface and PHONE interface terminals are removed for use.
The bus interface component is a bus interface board AP3, and a USB-CAN bus conversion card is selected.
The power output connector for converting alternating current 220V into 24V is changed into a miniature aviation plug, the number GX16-4P plug and the rated current 15A.
The intelligent controller power input connector is a GX16-4P socket, the intelligent controller is provided with a power button switch, and the model is selected to be a LANBOO15A-22mm switch; an intelligent controller IO output connector adopts an EGG0B9 core socket, and a robot output connector adopts a GX16-6P male connector; the intelligent controller is connected with the robot by a cable with a roaming connector number GX16-6 core socket.
The power panel AP1 converts the 24V isolation to 5V to provide power for the control panel. The input terminal selects 4P binding post (interval 5.08mm), 5V output terminal selects 2P binding post (interval 5.08mm), 24V output terminal selects 2P binding post (interval 5.08 mm).
The positive end of the power panel AP1 at the inlet of the two ends of the bus is connected with an anti-reverse diode V2(1N5819) and a transient suppression diode V1(SMCJ40A) in parallel. The reverse withstand voltage of the reverse connection prevention diode 1N5819 is 40V, and the on-state average current is 1A, so that the use requirement is met; the transient suppression diode SMCJ40A clamps the voltage at 40V, absorbs the power at 1500W, and prevents the surge impact of a bus from damaging a rear-stage circuit; meanwhile, a filter capacitor is connected in parallel at the rear end of the diode, and 1 470uF and PH type aluminum electrolytic capacitor with the diameter of 10mm and the height of 10mm is selected.
The power module U1 selects a TDK 30W isolation power module CCG30-24-05S, the efficiency is 89%, the module volume is 25.4mm 9.9mm, when the circuit works at a rated load of 10W, the loss is 1.2W, and the generated 5V isolation electricity is directly connected to the power input end of the FR _ RK3288 embedded control panel through a connector.
The power isolation conversion component does not need to be externally connected with a radiator when working,
the open control system communication interface pair adopts an Ethernet interface and supports wireless and Internet of things control; various bus interfaces are adopted for the lower part, including CAN, RS485, Ethercat and the like, as shown in FIG. 3.
The open control system includes:
the embedded operating system is used for computing the controller, managing peripheral resources, realizing communication interface, receiving a control instruction of the demonstrator through a network interface and providing a software package for the operation of the robot operating system;
the robot operating system is used for dragging the teaching control packet, the collision detection control packet, the following motion control packet, the path planning control packet and the driving software packet to perform operation scheduling and mutual communication management;
dragging the teaching control packet, receiving a dragging instruction, compensating gravity vectors of each joint of the robot in real time, recording dragging position information, and performing position reproduction motion according to the teaching instruction;
the collision detection control packet is used for monitoring the collision state of the robot and sending the collision state to the robot operating system so as to change the motion state of the robot in time;
the path planning control packet is used for receiving a motion instruction sent by the demonstrator, calculating the motion path of the robot according to the position to be reached and executing the motion control of the robot;
the following motion control packet is used for receiving a following motion instruction sent by the demonstrator, calculating the rotation angle of the joint of the robot, and sending a control instruction to the robot to realize the following motion of the tail end of the robot;
and the driving software package calls the required driving software when the robot operating system sends out a path planning and following motion instruction.
The following motion control packet has a structure shown in fig. 4, and includes the following modules:
(1) the keyboard control module has the function of keyboard response, responds to keyboard key input during working, generates following driving information, and drives different degrees of freedom and movement directions according to input.
(2) And the integration module is used for integrating the seven-degree-of-freedom robot analytic kinematics module, the S curve acceleration and deceleration control module, the robot joint space motion filtering module and the robot joint space motion filtering module.
(3) The seven-degree-of-freedom robot analysis kinematics module is used for constructing mapping from a Cartesian space at the tail end of the robot to a joint space, stably calculating angles of 7 joint axes of the robot according to a specified tail end space pose, and solving and returning joint angles of the robot in the specified pose through inverse kinematics according to a position and a pose to be reached by the tail end during working;
(4) the S-curve acceleration and deceleration control module has the functions of realizing the acceleration and deceleration control of the tail end of the robot in space, so that the motion process of the tail end of the robot is stable and continuous, and the module finishes the track planning of single degree of freedom at the tail end in stages of acceleration, deceleration and uniform speed during working and simultaneously ensures that the robot does not shake or impact in the starting and stopping stages;
(5) the function of the Jacobian matrix resolving module is to obtain the execution speed of the robot joint at the appointed terminal speed and provide the basis for planning the joint speed for the robot, and the module calculates the running speed of the joint according to the terminal speed and the current joint angle when in work;
(6) the robot joint space motion filtering module has the functions of constructing a filter for constraint limitation based on the dynamic constraint of the robot joint space, so that the joint motion of the robot when the tail end moves continuously is kept continuous, filtering processing is carried out on 7-degree-of-freedom joint angles during working, the running process is guaranteed to be flexible, and the generated track can meet the constraint of the maximum running speed and the acceleration of the joint;
the functional module is provided with specific functions by a software unit, and the program unit comprises:
(1) and the function of the general function design unit is to define basic pose change and matrix operation functions.
(2) And a kinematic settlement unit having a function of calculating the joint angle of the robot at the specified position and posture.
(3) And the Jacobian matrix resolving unit has the function of calculating a Jacobian matrix and converting the terminal velocity into the joint velocity.
(4) And the robot joint motion filtering/interpolation unit is used for filtering the joint track in a dynamic limit manner.
(5) And the S-curve acceleration and deceleration control unit at the tail end of the robot has the function of acceleration and deceleration control of the tail end in the processes of starting, running and stopping.
(6) And the integrated unit has the functions of integrating acceleration and deceleration, filtering, Jacobian calculation, inverse kinematics calculation and the like.
(7) And the keyboard control unit has the functions of monitoring keyboard input and generating a follow-up motion driving message.
The software functions realized by the modules mainly comprise five parts:
(1) and setting a virtual scene, generating a working scene for the robot to execute shooting, and loading the three-dimensional model of the obstacle into a virtual working space as a reference for robot motion planning.
(2) And (4) autonomous path planning, namely planning a collision-free motion path from the current pose to the target pose of the robot according to the working scene information of the robot.
(3) And remote movement fine adjustment is performed, an upper computer instruction is received, the movement of the robot is remotely controlled by a user, and the terminal pose of the robot is adjusted.
(4) Dragging teaching, compensating gravity vectors of all joints of the robot in real time, and enabling a user to conveniently drag the robot to complete rapid configuration and programming of shooting points.
(5) And collision detection, namely monitoring the collision state of the robot and stopping the motion of the robot in time based on a robot dynamics model, so as to ensure the safety of the robot to products and users during operation.
The intelligent controller integrates the robot kinematics model, the dynamics model, the image processing and the ROS programming content, and the realization language is C + +.
Example two
The embodiment of the application discloses a control method of an intelligent controller of a seven-degree-of-freedom cooperative robot, the intelligent controller receives an instruction of upper computer software, converts the instruction into a motion path of the robot and executes the motion path, realizes control and planning of the motion process of the robot, monitors the motion process and the program running process of the robot, ensures stable and reliable running of the robot in a multimedia recording process, and enables the robot to accurately realize image acquisition, and the method mainly comprises the following steps:
(1) receiving a control instruction of a demonstrator;
(2) acquiring state information of the seven-degree-of-freedom cooperative robot;
(3) generating a robot motion environment model;
(4) generating a motion track without collision with the environment;
(5) and controlling the robot to move and adjusting the pose of the robot.
The implementation method of the step (2) comprises the following steps: the CAN bus is adopted to carry out communication between the intelligent controller of the seven-degree-of-freedom cooperative robot and the robot, a data transmission mechanism is realized on the basis of a CAN bus protocol, interfaces for setting the working mode and the working parameters of the robot are transferred to a frame, and the motion state information of the robot is obtained.
The implementation method of the step (4) comprises the following steps: the intelligent controller displays and updates the actual working state of the robot in real time based on the robot data transmitted back by the bus interface component, and generates a motion track without collision with the environment by adopting a path planning algorithm.
The implementation method of the step (5) comprises the following steps: the intelligent controller receives the instruction of the demonstrator, adopts a following motion control algorithm, solves the joint angle of the robot under the designated pose according to the position and the pose to be reached by the tail end of the robot by inverse kinematics, converts the joint angle into joint speed and controls the motion of the robot; in the dragging teaching process, the intelligent controller compensates the gravity vector of each joint of the robot in real time, so that a user can drag the robot to complete the rapid configuration and programming of the tail end point; and meanwhile, a dynamic control algorithm is adopted to monitor the collision state of the robot and stop the motion of the robot in time.
In the inverse kinematics solving process, an arm angle constraint method is adopted for modeling, a formulaic accurate inverse kinematics inverse solution corresponding to the terminal pose form can be obtained, an arm angle constraint method is selected for the kinematics model in the analytic form, the arm angle constraint increases the constraint of the robot configuration in the space, 7-to-7 decoupling is realized, and the kinematics model in the analytic form can be obtained, as shown in fig. 5.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An intelligent controller of a seven-degree-of-freedom cooperative robot is characterized by comprising an embedded hardware platform; the open control system running on the embedded hardware platform is connected with a demonstrator at the upper part and is connected with a seven-degree-of-freedom cooperative robot at the lower part.
2. The seven degree-of-freedom cooperative robotic smart controller of claim 1, the embedded hardware platform comprising:
an integrated heat dissipation housing;
the power isolation conversion assembly is used for supplying power to the intelligent controller, carrying out voltage conversion simultaneously and outputting a power supply to supply power to the robot;
the main control assembly is used for controlling the motion state of the robot;
the working state control assembly is used for controlling the working state of the intelligent controller;
and the bus interface component is used for transmitting information and instructions between the seven-degree-of-freedom cooperative robot and the open type working system.
3. The intelligent controller of a seven-degree-of-freedom cooperative robot of claim 2, wherein the power isolation transformation component operates without an external heat sink.
4. The seven degree-of-freedom cooperative robotic smart controller of claim 1, wherein the open control system comprises:
the embedded operating system is used for computing the controller, managing peripheral resources, realizing communication interface, receiving a control instruction of the demonstrator through a network interface and providing a software package for the operation of the robot operating system;
the robot operating system is used for dragging the teaching control packet, the collision detection control packet, the following motion control packet, the path planning control packet and the driving software packet to perform operation scheduling and mutual communication management;
dragging the teaching control packet, receiving a dragging instruction, compensating gravity vectors of each joint of the robot in real time, recording dragging position information, and performing position reproduction motion according to the teaching instruction;
the collision detection control packet is used for monitoring the collision state of the robot and sending the collision state to the robot operating system so as to change the motion state of the robot in time;
the path planning control packet is used for receiving a motion instruction sent by the demonstrator, calculating a motion path of the robot according to a position to be reached and executing robot motion control;
the following motion control packet is used for receiving a following motion instruction sent by the demonstrator, calculating the rotation angle of the joint of the robot, and sending a control instruction to the robot to realize the following motion of the tail end of the robot;
and the driving software package calls the required driving software when the robot operating system sends out a path planning and following motion instruction.
5. The seven-degree-of-freedom cooperative robotic smart controller of claim 4, wherein the follow motion control package comprises the following modules:
(1) the keyboard control module has the function of keyboard response, responds to keyboard key input during working, generates following driving information and drives different degrees of freedom and moving directions according to the input;
(2) the integrated module is used for integrating a seven-degree-of-freedom robot analytic kinematics module, an S curve acceleration and deceleration control module, a robot joint space motion filtering module and a robot joint space motion filtering module; (3) the seven-degree-of-freedom robot analysis kinematics module is used for constructing mapping from a Cartesian space at the tail end of the robot to a joint space, stably calculating the angles of 7 joint axes of the robot according to a specified tail end space pose, and solving and returning the joint angles of the robot in the specified pose through inverse kinematics according to the position and the pose to be reached by the tail end during working;
(4) the S-curve acceleration and deceleration control module has the functions of realizing the acceleration and deceleration control of the tail end of the robot in space, enabling the motion process of the tail end of the robot to be stable and continuous, finishing the track planning of single degree of freedom at the tail end in acceleration, deceleration and uniform speed stages during working, and simultaneously ensuring that the robot does not shake and impact in starting and stopping stages;
(5) the Jacobian matrix resolving module has the functions of obtaining the execution speed of the robot joint under the appointed terminal speed and providing a basis for planning the joint speed for the robot, and the module calculates the running speed of the joint according to the terminal speed and the current joint angle when in work;
(6) the robot joint space motion filtering module has the function of constructing a filter for constraint limitation based on the dynamic constraint of the robot joint space, so that the joint motion of the robot when the tail end moves continuously is kept continuous, the filtering processing is carried out on the joint angles with 7 degrees of freedom during working, the running process is guaranteed to be flexible, and the generated track can meet the constraint of the maximum running speed and the acceleration of the joint.
6. A control method of an intelligent controller of a seven-degree-of-freedom cooperative robot is characterized by comprising the following specific steps:
(1) receiving a control instruction of a demonstrator;
(2) acquiring state information of the seven-degree-of-freedom cooperative robot;
(3) generating a robot motion environment model;
(4) generating a motion track without collision with the environment;
(5) and controlling the robot to move and adjusting the pose of the robot.
7. The control method of the intelligent controller of the seven-degree-of-freedom cooperative robot according to claim 6, wherein the step (2) is realized by: the CAN bus is adopted to carry out communication between the intelligent controller of the seven-degree-of-freedom cooperative robot and the robot, a data transmission mechanism is realized on the basis of a CAN bus protocol, interfaces for setting the working mode and the working parameters of the robot are transferred to a frame, and the motion state information of the robot is acquired.
8. The control method of the intelligent controller of the seven-degree-of-freedom cooperative robot according to claim 6, wherein the step (4) is realized by: the intelligent controller displays and updates the actual working state of the robot in real time based on the robot data transmitted back by the bus interface component, and generates a motion track without collision with the environment by adopting a path planning algorithm.
9. The control method of the intelligent controller of the seven-degree-of-freedom cooperative robot according to claim 6, wherein the step (5) is realized by: the intelligent controller receives the instruction of the demonstrator, adopts a following motion control algorithm, solves the joint angle of the robot in the designated pose according to the position and the pose to be reached by the tail end of the robot by inverse kinematics, converts the joint angle into joint speed and controls the motion of the robot; in the dragging teaching process, the intelligent controller compensates the gravity vector of each joint of the robot in real time, so that a user can drag the robot to complete rapid configuration and programming of the end point location; and meanwhile, a dynamic control algorithm is adopted to monitor the collision state of the robot and stop the motion of the robot in time.
10. The control method of the intelligent controller of the seven-degree-of-freedom cooperative robot according to claim 9, wherein the arm angle constraint method is adopted for modeling in the inverse kinematics solution process.
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