CN112589786A - Control method and device for cooperative motion of robot and external shaft - Google Patents
Control method and device for cooperative motion of robot and external shaft Download PDFInfo
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- CN112589786A CN112589786A CN202011385108.9A CN202011385108A CN112589786A CN 112589786 A CN112589786 A CN 112589786A CN 202011385108 A CN202011385108 A CN 202011385108A CN 112589786 A CN112589786 A CN 112589786A
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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 application relates to a control method and device for robot and external axis coordinated movement, a three-dimensional scanning system, an electronic device and a storage medium. Wherein, the method comprises the following steps: acquiring integral path points in the scanning process of a three-dimensional scanner; taking the external axis as a joint of the robot, and establishing a kinematic model of the robot and the external axis according to parameters of all joints of the robot; calculating a joint value corresponding to each path point in the whole path points based on the kinematic model; and controlling the robot to cooperatively move with the external shaft according to the calculated joint value. Through the method and the device, the problem that the robot and the external shaft cannot move in a coordinated mode is solved, and the flexibility and the working efficiency of the movement of the robot carrying the three-dimensional scanner when large-size workpieces are scanned are improved.
Description
Technical Field
The present disclosure relates to the field of robotics, and in particular, to a method and an apparatus for controlling cooperative motion of a robot and an external axis, a three-dimensional scanning system, an electronic apparatus, and a storage medium.
Background
In industrial production, it is a common workpiece scanning method to scan a workpiece by using a robot to carry a scanner. However, when a large-size workpiece is faced, the robot is often difficult to meet the requirement of scanning the large-size workpiece due to the limitation of the self structure and the singular posture.
Therefore, in the prior art, an external axis is mostly selected to be introduced, and a teach pendant is manually operated in a teach mode to control the robot to move along a planned track and record a motion track. The mode can not realize that the robot body and the external shaft move simultaneously (namely the robot body and the external shaft move cooperatively), so that the continuity and the flexibility of the movement process of the robot are poor, and the time required by the completion of scanning work is long.
Disclosure of Invention
The embodiment of the application provides a method and a device for controlling cooperative motion of a robot and an external shaft, a three-dimensional scanning system, an electronic device and a storage medium, so as to at least solve the problem that a robot body and the external shaft cannot move cooperatively in the related art.
In a first aspect, an embodiment of the present application provides a method for controlling a robot and an external axis to move in a coordinated manner, where the method is used in a three-dimensional scanning system, the three-dimensional scanning system includes the robot and the external axis, the robot is mounted on the external axis, the robot can change position along with the movement of the external axis, a three-dimensional scanner is connected to an end of the robot, and the method includes the following steps:
acquiring integral path points in the scanning process of the three-dimensional scanner;
taking the external axis as a joint of the robot, and establishing a kinematic model of the robot and the external axis according to all joint parameters of the robot;
calculating a joint value of each joint when the robot corresponding to each path point in the whole path points reaches the point based on the kinematic model;
and controlling the robot to cooperatively move with the external shaft according to the calculated joint value.
In some embodiments, the acquiring the global path point during the scanning process of the three-dimensional scanner includes: acquiring a critical path point of the surface of a scanned workpiece; acquiring scanning process parameters of the three-dimensional scanner; and obtaining the integral path point of the three-dimensional scanner in the scanning process according to the key path point and the scanning process parameter.
In one embodiment, the acquiring critical path points of the scanned workpiece surface includes: the three-dimensional coordinates and pose of each critical path point of the surface of the scanned workpiece are determined from the profile of the scanned workpiece.
In one embodiment, the acquiring the scanning process parameters of the three-dimensional scanner includes: and determining the distance parameter and the angle parameter of the three-dimensional scanner from the critical path point in the scanning process according to the inherent parameters of the three-dimensional scanner.
In one embodiment, the calculating, based on the kinematic model, a joint value of each joint when the robot corresponding to each path point in the overall path points reaches the point includes: and solving the three-dimensional coordinates and the postures of each path point in the whole path points through inverse kinematics based on the kinematics model to obtain the corresponding joint values when the robot and the external axis reach the three-dimensional coordinates and the postures of each path point.
In one embodiment, the calculating, based on the kinematic model, a joint value corresponding to each of the overall path points further includes: and re-interpolating and solving the path points which are not successfully solved through the inverse kinematics until each path point in the whole path points can be solved to obtain a corresponding joint value.
In a second aspect, an embodiment of the present application provides a control apparatus for a robot to move in coordination with an external axis, the control apparatus being used in a three-dimensional scanning system, the three-dimensional scanning system including the robot and the external axis, the robot being mounted on the external axis, the robot being capable of changing position along with the movement of the external axis, a three-dimensional scanner being connected to an end of the robot, the apparatus including:
the scanning path acquisition module is used for acquiring integral path points in the scanning process of the three-dimensional scanner;
the model establishing module is used for taking the external axis as a joint of the robot and establishing a kinematic model of the robot and the external axis according to all joint parameters of the robot;
the joint value calculation module is used for calculating the joint value of each joint when the robot corresponding to each path point in the whole path points reaches the point on the basis of the kinematic model; and
and the control module is used for controlling the robot to move in coordination with the external shaft according to the calculated joint value.
In a third aspect, an embodiment of the present application provides a three-dimensional scanning system, which includes a robot and an external axis, wherein the robot is mounted on the external axis, the robot can change position along with the movement of the external axis, a three-dimensional scanner is connected to a terminal of the robot, and the system further includes a control device for the robot and the external axis to move in coordination as described in the second aspect.
In a fourth aspect, the present application provides an electronic apparatus, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the method for controlling the robot to move in coordination with the external axis according to the first aspect.
In a fifth aspect, the present application provides a storage medium, on which a computer program is stored, where the program is executed by a processor to implement the control method for the robot to move in coordination with the external axis according to the first aspect.
According to the method and the device, the whole path points of the scanning process of the three-dimensional scanner at the tail end of the robot are obtained by obtaining the key path points on the surface of the scanned workpiece and the scanning technological parameters of the three-dimensional scanner at the tail end of the robot, the joint values of all the path points are obtained in an inverse kinematics solving mode through a kinematics model established by the robot and an external shaft, the robot and the external shaft are controlled to move according to the joint values obtained through calculation, the cooperative motion of the robot and the external shaft is realized, and therefore the flexibility and the working efficiency of the motion of the robot carrying the three-dimensional scanner during the scanning of the large-size workpiece are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a diagram of an application environment of a control method for a robot and an external axis to move in coordination according to an embodiment of the present application;
FIG. 2 is a flow chart of a method of controlling coordinated movement of a robot and an external axis according to an embodiment of the application;
FIG. 3 is a flowchart of the steps for obtaining critical path points for a scanned workpiece surface according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a control device for coordinated movement of a robot and an external shaft according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a computer device according to an embodiment of the present application;
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
FIG. 1 is a diagram of an exemplary embodiment of a method for controlling the coordinated movement of a robot and an external axis. Referring to fig. 1, the control method is applied to a control system in which a robot moves in cooperation with an external axis. The control system includes a robot 101, a controller 102, an external axis 103, and a three-dimensional scanner 104. The robot 101 is mounted on the outer shaft 103, and the controller 102 is connected to the outer shaft 103 through a dedicated cable for transmitting a signal to the outer shaft 103 and controlling the movement of the robot 101 and the outer shaft 103. The three-dimensional scanner 104 is mounted at the end of the robot 101, and moves in accordance with the movement of the robot 101 to scan the workpiece 105 to be scanned. The robot 101 may specifically be an industrial robot or a cooperative robot.
Specifically, the controller 102 acquires an overall path point in the scanning process of the three-dimensional scanner; taking the external axis 103 as a joint of the robot 101, and establishing a kinematic model of the robot and the external axis according to all joint parameters of the robot 101; based on the kinematic model, joint values corresponding to each of the overall path points are calculated.
In another embodiment, a method for controlling a robot to move in coordination with an external axis is provided, and fig. 2 is a flowchart of a method for controlling a robot to move in coordination with an external axis in fig. 1 according to an embodiment of the present disclosure, and as shown in fig. 2, the flowchart includes the following steps:
step S201, acquiring integral path points in the scanning process of the three-dimensional scanner.
Wherein, the three-dimensional scanner is connected at the tail end of the robot and is used for scanning the workpiece. The global path point here refers to the global path point where the scanner passes over the surface of the workpiece during the entire scan. The overall path point can be calculated from the condition of the scanner and the surface of the workpiece, or can be obtained in other ways, for example, the overall path point of the scanning process can be obtained from the controller of the robot.
And step S202, taking the external axis as a joint of the robot, and establishing a kinematic model of the robot and the external axis according to all joint parameters of the robot.
Wherein the robot is mounted on the outer shaft and can change position along with the movement of the outer shaft. In the present embodiment, the external axis is used as one joint of the robot, which means that the motion of the external axis is used as the motion of one joint of the robot, so that the motions of the external axis and the robot are integrated into the motion of the external axis and the robot as a whole. The joint parameter is a parameter calibration for robot joint motion, and specifically may be a DH parameter used to describe a geometric relationship between a link and a joint of the robot. The kinematic model is a model for describing the motion of an object, and may be a mathematical equation.
Specifically, the robot and external axis kinematic model is mainly established by taking some motion-related parameters of the robot and external axis, such as DH parameters of joints, as inputs, and combining mathematical equations. All joints of the robot in the embodiment comprise all joints of the robot body and the external axes, and the parameters of the joints can represent the motions of the robot and the external axes, so that the kinematics model of the robot and the external axes can be established through the parameters of all joints of the robot.
In step S203, joint values of each joint when the robot corresponding to each path point in the entire path points reaches the point are calculated based on the kinematic model.
The joint value refers to a position of each joint of the robot when the scanner reaches the path point, and specifically may be a joint angle of each joint of the robot. The joint value corresponding to each path point can be obtained according to the kinematic model established in step S202 and the global path points obtained in step S201.
It should be understood that the overall path points obtained in step S201 and the kinematic model established in step S202 may be used as input parameters for solving the joint values in this step, and generally, the solution of the joint values corresponding to the path points may be based on the kinematic model of the robot to reversely solve the joint values of each joint when the robot reaching the path points.
And step S204, controlling the robot to move in coordination with the external shaft according to the calculated joint value.
The cooperative motion refers to that the robot can keep moving with the external shaft simultaneously in the moving process, and the robot does not work after the external shaft moves to a designated area in the prior art. The way of realizing the cooperative motion of the robot and the external shaft in this embodiment is as follows: controlling the cooperative motion of the robot and the external axis according to the joint value of the path point obtained by the solution in the step S203 and by combining objective factors, such as hardware parameters of the scanner, and the cooperative motion specifically includes: the joint values corresponding to each of the path points constitute a series of joint value sequences, and each set of joint value data is transmitted to the robot controller at regular time intervals (which may be fixed intervals), and the robot and the external axis motion are controlled by the robot controller.
The method for controlling the cooperative motion of the robot and the external axis provided in the above embodiment includes obtaining a critical path point on the surface of the scanned workpiece and a scanning process parameter of the three-dimensional scanner at the end of the robot to obtain an entire path point of the three-dimensional scanner at the end of the robot during the scanning process, obtaining a joint value of each path point by using an inverse kinematics solution mode through a kinematics model established by the robot and the external axis, and controlling the robot and the external axis to move according to the joint value obtained through calculation. The robot and the external shaft move cooperatively, and the flexibility and the working efficiency of the movement of the robot carrying the three-dimensional scanner during scanning of large-size workpieces are improved.
In an embodiment, as shown in fig. 3, the step S201 of acquiring an overall path point in a scanning process of the three-dimensional scanner specifically includes:
step 301, obtaining a critical path point of the surface of the scanned workpiece.
The critical path point refers to a point determined to represent the approximate direction of the scan path when the surface of the scanned workpiece is tasked, depending on the particular situation, e.g., the situation of the scanned workpiece.
Step 302, obtaining the scanning process parameters of the three-dimensional scanner.
And 303, obtaining the integral path point in the scanning process of the three-dimensional scanner according to the key path point and the scanning process parameter.
First, the position of the scanner corresponding to each critical path point in the scanning process may be calculated through the critical path points obtained in step 301 and the scanning process parameters obtained in step 302, and the whole path points in the scanning process may be obtained through a certain processing manner, for example, a manner of interpolating the critical path points. For example, the key path point of the scanned workpiece surface is obtained as (x1, x 2.. times.xn), the path point (y1, y 2.. times.yn) passed by the scanner during scanning is calculated according to the scanning process parameters of the scanner, and then the whole path point is obtained as (y1, y 2.. times.ym) in an interpolation mode, wherein m is larger than or equal to n.
Likewise, besides the whole path points obtained by adopting the key path points and the scanning process parameters in the process, the whole path points can also be obtained by the robot per se through other technical means.
Here, the order of the steps 301 and 302 may be changed or may be implemented simultaneously.
In an embodiment, the step S301 of acquiring the critical path points of the scanned workpiece surface further includes:
step S401, according to the shape of the scanned workpiece, determining the three-dimensional coordinates and the posture of each key path point on the surface of the scanned workpiece.
Specifically, the shape of the scanned workpiece refers to external features that the workpiece needs to be scanned, specifically, the external features may be surface areas, radians, angles between different surfaces, and the like, and the shapes of different workpieces are different, so that paths traveled during scanning are also inconsistent, and therefore, according to the shape of the scanned workpiece, an approximate path of the scanner moving along the surface of the scanned workpiece may be planned, that is, at least one critical path point exists in the scanned workpiece, and the scanned workpiece has at least one critical path point, which refers to path point information that has a limited number and can effectively show the shape characteristics of the scanned workpiece.
In an embodiment, the scanning process parameters in step S302 further include a distance parameter and an angle parameter, and the obtaining of the scanning process parameters of the three-dimensional scanner further includes:
step S501, according to the inherent parameters of the three-dimensional scanner, the distance parameter and the angle parameter of the three-dimensional scanner from the key path point in the scanning process are determined.
The intrinsic parameters of the three-dimensional scanner refer to some parameters representing the characteristics of the three-dimensional scanner itself, and may specifically be hardware parameters of the three-dimensional scanner, or other related parameters. The determination of the scanning process parameters is to consider the influence of the characteristics of the three-dimensional scanner on the scanning process in the scanning path planning process, so that the three-dimensional scanner can meet the scanning requirement on the workpiece. The scanning process parameters may include distance parameters and angle parameters, or may be other parameters capable of embodying the scanning process implemented by the scanner, such as the scanning rate, scanning resolution, the number of laser lines of the scanner, or the maximum scanning area of the scanner.
In one embodiment, calculating the joint value corresponding to each of the global path points based on the kinematic model further comprises:
step S601, based on the kinematics model, solving the three-dimensional coordinates and postures of each path point in the whole path points through inverse kinematics to obtain corresponding joint values when the robot and the external axis reach the three-dimensional coordinates and postures of each path point.
The three-dimensional coordinates and the posture of each path point in the whole path points can be specifically represented in a mode of a group of vectors or matrixes, and inverse kinematics solution is carried out by combining a kinematics model. The solving method may specifically be a method of solving a linear equation set by using a jacobian iterative algorithm to reversely derive the corresponding joint value. Wherein, the inverse kinematics solution of the robot joint value can also be realized by adopting a geometric method or an analytical method.
Similarly, for the obtained kinematic model and the whole path point, all joint values of the robot can be solved through other mathematical processing methods applicable to the technical field.
In one embodiment, calculating the joint value corresponding to each of the global path points based on the kinematic model further comprises:
and step S701, re-interpolating and solving the path points which are not successfully solved through the inverse kinematics until each path point in the whole path points can be solved to obtain a corresponding joint value.
The specific verification mode of the path point which is not successfully solved through the inverse kinematics may be that a group of joint values are not successfully solved, so that the robot can reach the path point. For example, the information of the path points may be specifically a three-dimensional coordinate and a posture, and the solution cannot be performed in various inverse kinematics manners, specifically, the solution may be performed by a jacobian iterative algorithm on the three-dimensional coordinate and the posture, so as to obtain a set of joint values of the robot that can reach the three-dimensional coordinate and the posture. Therefore, the joint value of the robot can be successfully solved, and the criterion is that whether the path point can be verified, and the verification criterion needs to be satisfied for the whole path point of the scanning process obtained by other methods.
In one embodiment, as shown in fig. 4, there is provided a control apparatus 400 for a robot to move in cooperation with an external axis, comprising: a scan path acquisition module 401, a model building module 402, a joint value calculation module 403, and a control module 404, wherein:
and a scanning path obtaining module 401, configured to obtain an overall path point in a scanning process of the three-dimensional scanner.
And a model establishing module 402, configured to use the external axis as a joint of the robot, and establish a kinematic model of the robot and the external axis according to all joint parameters of the robot.
And a joint value calculation module 403, configured to calculate, based on the kinematic model, a joint value of each joint when the robot corresponding to each path point in the overall path points reaches the point.
And the control module 404 is used for controlling the robot to move in coordination with the external axis according to the calculated joint value.
The embodiment provides a control device for cooperative motion of a robot and an external axis, which includes a scanning path acquisition module for acquiring a critical path point on the surface of a scanned workpiece and a scanning process parameter of a three-dimensional scanner at the tail end of the robot to obtain an integral path point of the three-dimensional scanner at the tail end of the robot in a scanning process, a model establishment module for establishing a kinematic model between the robot and the external axis, a joint value calculation module for obtaining a joint value of each path point by using an inverse kinematics solution mode, and a control module for controlling the robot and the external axis to move according to the calculated joint value. The control device realizes the cooperative motion of the robot and the external shaft, and improves the flexibility and the working efficiency of the motion of the robot carrying the three-dimensional scanner when scanning large-size workpieces.
In an embodiment, the scanning path obtaining module 401 is further configured to obtain a critical path point on the surface of the scanned workpiece, obtain a scanning process parameter of the three-dimensional scanner, and obtain an overall path point in the scanning process of the three-dimensional scanner according to the critical path point and the scanning process parameter.
In one embodiment, the scan path acquisition module 401 is further configured to determine the three-dimensional coordinates and pose of each critical path point on the surface of the scanned workpiece according to the shape of the scanned workpiece.
In an embodiment, the scan path obtaining module 401 is further configured to determine, according to the intrinsic parameter of the three-dimensional scanner, a distance parameter and an angle parameter of the three-dimensional scanner from the critical path point in the scanning process.
In one embodiment, the joint value calculation module 403 is further configured to solve the three-dimensional coordinates and postures of each path point in the overall path points through inverse kinematics based on the kinematics model to obtain joint values corresponding to the three-dimensional coordinates and postures of the robot and the external axes reaching each path point.
In one embodiment, the joint value calculation module 403 is further configured to re-interpolate and solve the path points that are not successfully solved through the inverse kinematics until each path point in the overall path points can be solved to obtain the corresponding joint value.
For the specific limitation of the control device for the robot and the external axis to move in coordination, reference may be made to the above limitation on the control method for the robot and the external axis to move in coordination, and details are not described here. The modules in the control device for the robot and the external shaft to move in coordination can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In an embodiment, there is provided a three-dimensional scanning system, including a robot and an external axis, where the robot is mounted on the external axis, and the robot may change position along with the movement of the external axis, and a three-dimensional scanner is connected to a terminal of the robot, and the system further includes a control device for the cooperative movement of the robot and the external axis, where specific limitations on the control device for the cooperative movement of the robot and the external axis may be referred to above, and details are not repeated here. The three-dimensional scanning system described above may be implemented in whole or in part by software, hardware, and combinations thereof. The system can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute the corresponding operation of the system.
In one embodiment, as shown in FIG. 5, an electronic device is provided that includes a memory and a processor. The memory has stored therein a computer program for providing computing and control capabilities to the processor of the electronic device. The memory of the electronic device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor, when executing the computer program, implements the following steps: acquiring integral path points in the scanning process of a three-dimensional scanner; taking the external axis as a joint of the robot, and establishing a kinematic model of the robot and the external axis according to all joint parameters of the robot; calculating a joint value of each joint when the robot corresponding to each path point in the whole path points reaches the point based on the kinematic model; and controlling the robot to cooperatively move with the external shaft according to the calculated joint value.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring a critical path point of the surface of a scanned workpiece; acquiring scanning process parameters of a three-dimensional scanner; and obtaining the integral path points of the three-dimensional scanner in the scanning process according to the key path points and the scanning process parameters.
In one embodiment, the processor, when executing the computer program, further performs the steps of: the three-dimensional coordinates and pose of each critical path point of the surface of the scanned workpiece are determined from the profile of the scanned workpiece.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and determining the distance parameter and the angle parameter of the three-dimensional scanner from the critical path point in the scanning process according to the inherent parameters of the three-dimensional scanner.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and based on the kinematic model, solving the three-dimensional coordinates and postures of each path point in the whole path points through inverse kinematics to obtain corresponding joint values when the robot and the external axis reach the three-dimensional coordinates and postures of each path point.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and re-interpolating and solving the path points which are not successfully solved through the inverse kinematics until each path point in the whole path points can be solved to obtain a corresponding joint value.
It should be noted that, for specific examples in this embodiment, reference may be made to examples described in the foregoing embodiments and optional implementations, and details of this embodiment are not described herein again.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 6. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing a preset configuration information set. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement the above-described method of controlling the robot to move in cooperation with the external axis.
It will be appreciated by those skilled in the art that the configurations shown in fig. 5 or fig. 6 are only block diagrams of some configurations relevant to the present application, and do not constitute a limitation on the computer apparatus to which the present application is applied, and a particular computer apparatus may include more or less components than those shown in the drawings, or may combine some components, or have a different arrangement of components.
There is also provided in one embodiment a storage medium having a computer program stored thereon, the computer program when executed by a processor implementing the steps of: acquiring integral path points in the scanning process of a three-dimensional scanner; taking the external axis as a joint of the robot, and establishing a kinematic model of the robot and the external axis according to all joint parameters of the robot; calculating a joint value of each joint when the robot corresponding to each path point in the whole path points reaches the point based on the kinematic model; and controlling the robot to cooperatively move with the external shaft according to the calculated joint value.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring a critical path point of the surface of a scanned workpiece; acquiring scanning process parameters of a three-dimensional scanner; and obtaining the integral path points of the three-dimensional scanner in the scanning process according to the key path points and the scanning process parameters.
In one embodiment, the processor, when executing the computer program, further performs the steps of: the three-dimensional coordinates and pose of each critical path point of the surface of the scanned workpiece are determined from the profile of the scanned workpiece.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and determining the distance parameter and the angle parameter of the three-dimensional scanner from the critical path point in the scanning process according to the inherent parameters of the three-dimensional scanner.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and based on the kinematic model, solving the three-dimensional coordinates and postures of each path point in the whole path points through inverse kinematics to obtain corresponding joint values when the robot and the external axis reach the three-dimensional coordinates and postures of each path point.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and re-interpolating and solving the path points which are not successfully solved through the inverse kinematics until each path point in the whole path points can be solved to obtain a corresponding joint value.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for controlling a robot and an external axis to move in cooperation, the method being used in a three-dimensional scanning system, the three-dimensional scanning system comprising the robot and the external axis, the robot being mounted on the external axis, the robot being capable of changing position along with the movement of the external axis, the robot being connected to a three-dimensional scanner at an end thereof, the method comprising:
acquiring integral path points in the scanning process of the three-dimensional scanner;
taking the external axis as a joint of the robot, and establishing a kinematic model of the robot and the external axis according to all joint parameters of the robot;
calculating a joint value of each joint when the robot corresponding to each path point in the whole path points reaches the point based on the kinematic model;
and controlling the robot to cooperatively move with the external shaft according to the calculated joint value.
2. The method of claim 1, wherein the obtaining the global path points during the scanning process of the three-dimensional scanner comprises:
acquiring a critical path point of the surface of a scanned workpiece;
acquiring scanning process parameters of the three-dimensional scanner;
and obtaining the integral path point of the three-dimensional scanner in the scanning process according to the key path point and the scanning process parameter.
3. The method of claim 2, wherein said obtaining critical path points of the scanned workpiece surface comprises:
and determining the three-dimensional coordinates and the posture of each critical path point of the surface of the scanned workpiece according to the shape of the scanned workpiece.
4. The method of claim 2 or 3, wherein the scanning process parameters comprise a distance parameter and an angle parameter, and the obtaining the scanning process parameters of the three-dimensional scanner comprises:
and determining the distance parameter and the angle parameter of the three-dimensional scanner from the critical path point in the scanning process according to the inherent parameters of the three-dimensional scanner.
5. The method of claim 3, wherein calculating the joint value corresponding to each of the global path points based on the kinematic model comprises:
and solving the three-dimensional coordinates and the postures of each path point in the whole path points through inverse kinematics based on the kinematics model to obtain the corresponding joint values when the robot and the external axis reach the three-dimensional coordinates and the postures of each path point.
6. The method of claim 5, wherein calculating, based on the kinematic model, a joint value for each joint at which the robot reaches each of the global path points corresponding to that point further comprises:
and re-interpolating and solving the path points which are not successfully solved through the inverse kinematics until each path point in the whole path points can be solved to obtain a corresponding joint value.
7. A control device for the cooperative motion of a robot and an external shaft is used in a three-dimensional scanning system, the three-dimensional scanning system comprises the robot and the external shaft, the robot is installed on the external shaft, the position of the robot can be changed along with the motion of the external shaft, and the tail end of the robot is connected with a three-dimensional scanner;
the scanning path acquisition module is used for acquiring integral path points in the scanning process of the three-dimensional scanner;
the model establishing module is used for taking the external axis as a joint of the robot and establishing a kinematic model of the robot and the external axis according to all joint parameters of the robot;
the joint value calculation module is used for calculating the joint value of each joint when the robot corresponding to each path point in the whole path points reaches the point based on the kinematic model;
and the control module is used for controlling the robot and the external shaft to cooperatively move according to the calculated joint value.
8. A three-dimensional scanning system comprising a robot and an external axis, said robot being mounted on said external axis, said robot being capable of changing position in response to movement of said external axis, said robot being terminated by a three-dimensional scanner, characterized in that said system further comprises a control device according to claim 7 for co-operating movement of said robot with said external axis.
9. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and the processor is configured to execute the computer program to perform the method of controlling the coordinated movement of the robot and the external axis according to any one of claims 1 to 6.
10. A storage medium having a computer program stored thereon, wherein the computer program is arranged to execute the method of controlling the coordinated movement of a robot and an external axis according to any one of claims 1-6 when run.
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