CN115284298A - Singularity avoidance method and device for robot, terminal and medium - Google Patents
Singularity avoidance method and device for robot, terminal and medium Download PDFInfo
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- CN115284298A CN115284298A CN202211063971.1A CN202211063971A CN115284298A CN 115284298 A CN115284298 A CN 115284298A CN 202211063971 A CN202211063971 A CN 202211063971A CN 115284298 A CN115284298 A CN 115284298A
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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
Abstract
The present application relates to the field of robotics, and in particular, to a robot control method, apparatus, terminal, and medium. The robot control method is applied to a robot provided with an additional axis, and comprises the following steps: acquiring a plurality of target points included in a processing path of the robot, wherein the processing path is a moving track of the tail end of the robot in the operation process, and the target points are stopping positions of the tail end of the robot in the operation process; calculating wrist axis joint angles respectively corresponding to the robot when traversing the target point at the first position of the additional axis; comparing the wrist shaft joint angle corresponding to the first position with a preset singular threshold range to obtain a first comparison result; and if the first comparison result shows that the wrist axis joint angle accords with the preset singular threshold range, controlling the robot to move to a second position on the additional axis, wherein the second position is positioned on the additional axis and is different from the first position, so that the robot avoids the wrist singular point of the processing path at the second position.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a singularity avoiding method, a singularity avoiding device, a singularity avoiding terminal and a singularity avoiding medium for a robot.
Background
With the progress of the robot technology and the upgrading of the intelligent manufacturing industry, more and more robots are applied to various industrial production scenes such as welding, gluing and the like, and complex trajectory planning needs to be performed on the robots in practical application so as to meet the production needs. In the trajectory planning for the robot, the avoidance of singular points is always a focus of attention, and if the singular points appear in the moving process of the robot, the joints of the robot are often overspeed, even the robot is stopped due to movement errors, so that the machining operation is seriously influenced.
The existing technical scheme for avoiding the singular point of the robot generally comprises the following two types: damping factors are added to a Jacobian matrix of the speed of the robot, so that the stability of a pseudo-inverse solution is ensured; or the tail end attitude of the robot is finely adjusted, so that the avoidance of the singular point is realized. However, the above prior art solutions all cause a certain loss of precision to the end precision of the robot.
Therefore, how to avoid singular points in the trajectory planning of the robot on the basis of ensuring the accuracy of the tail end of the robot is a difficult problem which needs to be solved urgently when the robot is applied to the technical field of industrial production at present.
Disclosure of Invention
The invention mainly aims to provide a singularity avoidance method, a singularity avoidance device, a singularity avoidance terminal and a singularity avoidance medium for a robot, and aims to realize singularity avoidance in the trajectory planning of the robot on the basis of ensuring the tail end precision of the robot by changing the position of the robot on an additional axis.
According to an aspect of an embodiment of the present application, a method for avoiding a singularity of a robot is disclosed, where the method for avoiding a singularity of a robot is applied to a robot provided with an additional axis, and the method includes:
acquiring a plurality of target points contained in a processing path of the robot, wherein the processing path is a moving track of the tail end of the robot in the operation process, the target points are stop positions of the tail end of the robot in the operation process, and the tail end of the robot is one end of the robot far away from the additional shaft;
calculating wrist axis joint angles respectively corresponding to the robot when traversing the target point at the first position of the additional axis;
comparing the wrist axis joint angle corresponding to the first position with a preset singular threshold range to obtain a first comparison result, wherein the preset singular threshold range is a judgment standard for judging whether a target point corresponding to the wrist axis joint angle is a wrist singular point;
and if the first comparison result shows that the wrist axis joint angle accords with the preset singular threshold range, controlling the robot to move to a second position on the additional axis, wherein the second position is positioned on the additional axis and is different from the first position, so that the robot avoids the wrist singular point of the processing path at the second position.
In some embodiments of the present application, based on the above technical solution, controlling the robot to move to the second position on the additional axis includes:
acquiring a tool coordinate system corresponding to the target point, wherein the tool coordinate system is established by taking a sharp point of a tool arranged at the tail end of the robot as an origin;
calculating a preset direction included angle between the tool coordinate system and a base coordinate system of the robot, wherein the preset direction included angle is an included angle which is formed by coordinate axis directions respectively corresponding to the tool coordinate system and the base coordinate system and can change along with the movement of the robot on the additional axis;
determining a first moving direction of the robot on the additional shaft according to the preset direction included angle;
controlling the robot to move on the additional axis to a second position in the first direction of movement.
In some embodiments of the present application, based on the above technical solution, controlling the robot to move to the second position on the additional axis along the first moving direction includes:
determining a first moving step length according to the size of a working range of the robot, wherein the working range is a space containing all the target points;
controlling the robot to move the first movement step to the second position on the additional axis according to the first movement direction.
In some embodiments of the application, based on the above technical solution, after controlling the robot to move the first moving step to the second position on the additional axis according to the first moving direction, the method further includes:
calculating the shaft joint angles respectively corresponding to the robot when the robot is located at the second position and traverses the target point, wherein the shaft joint angles comprise wrist shaft joint angles;
comparing the shaft joint angle with a degree of freedom corresponding to the shaft joint angle, wherein the degree of freedom is a preset activity threshold of the shaft joint angle;
and if the shaft joint angle exceeds the degree of freedom, controlling the robot to move a second moving step length to a third position on the additional shaft according to a second moving direction, wherein the second moving direction is opposite to the first moving direction, and the second moving step length is smaller than the first moving step length.
In some embodiments of the present application, based on the above technical solutions, after comparing the axle joint angle with the degree of freedom corresponding to the axle joint angle, the method further includes:
if the shaft joint angle does not exceed the degree of freedom, comparing the wrist shaft joint angle respectively corresponding to the second position with the preset singular threshold range to obtain a second comparison result;
and if the second comparison result is that the second comparison result does not accord with the preset singular threshold range, determining that the second position is a working position, wherein the working position is a stop position of the robot on the additional shaft during operation.
In some embodiments of the application, based on the above technical solutions, after the wrist axis joint angles respectively corresponding to the second positions are compared with the preset singular threshold range to obtain a second comparison result, the method further includes:
and if the second comparison result accords with the preset singularity threshold range, controlling the robot to move to a fourth position on the additional shaft according to the first moving direction so that the robot avoids the wrist singularity point of the machining path at the fourth position.
In some embodiments of the present application, based on the above technical solution, before the comparing the wrist axis joint angle corresponding to the first position with a preset singular threshold range to obtain a first comparison result, the method further includes:
acquiring the moving speeds corresponding to the shaft joints when the robot reaches the target point;
and determining preset singular threshold ranges respectively corresponding to the target points according to the moving speed corresponding to the shaft joint.
According to an aspect of an embodiment of the present application, there is disclosed a robot control apparatus including:
the acquisition module is configured to acquire a plurality of target points included in a processing path of the robot, wherein the processing path is a moving track of the tail end of the robot in a working process, the target points are stop positions of the tail end of the robot in the working process, and the tail end of the robot is one end of the robot far away from the additional shaft;
a calculation module configured to calculate wrist axis joint angles respectively corresponding to the robot when traversing the target point at the first position of the additional axis;
the comparison module is configured to compare the wrist axis joint angle corresponding to the first position with a preset singular threshold range to obtain a first comparison result, wherein the preset singular threshold range is a judgment standard for judging whether a target point corresponding to the wrist axis joint angle is a wrist singular point;
and the moving module is configured to control the robot to move to a second position on the additional axis if the first comparison result shows that the wrist axis joint angle meets the preset singular threshold range, wherein the second position is on the additional axis and is different from the first position, so that the robot avoids the wrist singular point of the processing path at the second position.
According to an aspect of an embodiment of the present application, there is provided a computer program product or a computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the robot control method as in the above technical solution.
According to the robot control method, when all target points on a machining path of the robot are traversed, whether the wrist axis joint angle of the robot is within a preset singular threshold range is judged, whether the robot has a singular point at the target point is judged, and when the wrist axis joint angle is within the preset singular threshold range, the robot is controlled to move on an additional axis to change the position of the robot, so that the robot works at the moved position to avoid the singular point possibly encountered on the original machining path, and the feasibility of the machining path is ensured.
Therefore, the singularity avoidance method of the robot provided by the application has the advantages that the additional axis is used as the redundant degree of freedom in the motion of the robot, so that the singularity in the machining path can be avoided by changing the position of the robot on the additional axis on the premise of not changing the terminal pose of the robot, and the singularity avoidance is realized in the trajectory planning of the robot on the basis of ensuring the terminal accuracy of the robot.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 shows a flow chart of the steps of a robot control method in one embodiment of the application.
Fig. 2 shows a flowchart of the steps of determining the direction of movement of the robot in the additional axis in one embodiment of the application.
Fig. 3 is a schematic diagram illustrating the relationship between the robot base coordinate system, the world coordinate system, and the target point coordinate system according to an embodiment of the present application.
Fig. 4 shows a flow chart of an application of an embodiment of the present application.
Fig. 5 schematically shows a block diagram of a robot control apparatus according to an embodiment of the present application.
FIG. 6 schematically illustrates a block diagram of a computer system suitable for use in implementing an electronic device of an embodiment of the present application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the subject matter of the present application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the application.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
The following detailed description will be made of the technical solutions of the robot control method, the robot control device, the robot control terminal, the robot control medium, and the like according to the present application.
Fig. 1 is a flowchart illustrating steps of a robot control method in an embodiment of the present application, and as shown in fig. 1, the robot control method is applied to a robot provided with additional axes for providing a degree of freedom for the robot to move on a plane as a whole, and may mainly include the following steps S100 to S400.
Step S100, a plurality of target points included in a processing path of the robot are obtained, the processing path is a moving track of the tail end of the robot in a working process, the target points are stopping positions of the tail end of the robot in the working process, and the tail end of the robot is one end of the robot far away from the additional shaft.
Step S200, calculating wrist axis joint angles respectively corresponding to the robot when traversing the target point at the first position of the additional axis.
Step S300, comparing the wrist axis joint angle corresponding to the first position with a preset singular threshold range to obtain a first comparison result, wherein the preset singular threshold range is a judgment standard for judging whether a target point corresponding to the wrist axis joint angle is a wrist singular point.
Step S400, if the first comparison result shows that the wrist axis joint angle meets the preset singular threshold range, the robot is controlled to move to a second position on the additional axis, and the second position is located on the additional axis and is different from the first position, so that the robot avoids the wrist singular point of the machining path at the second position.
According to the robot control method, when all target points on a machining path of the robot are traversed, whether the wrist shaft joint angle of the robot is within a preset singular threshold range is judged, whether the robot generates a singular point at the target point is judged, and when the wrist shaft joint angle is within the preset singular threshold range, the robot is controlled to move on an additional shaft to change the position of the robot, so that the robot works at the moved position to avoid the singular point possibly encountered on the original machining path, and the feasibility of the machining path is ensured.
Therefore, the singularity avoidance method of the robot provided by the application has the advantages that the additional axis is used as the redundant degree of freedom in the motion of the robot, so that the singularity in the machining path can be avoided by changing the position of the robot on the additional axis on the premise of not changing the terminal pose of the robot, and the singularity avoidance is realized in the trajectory planning of the robot on the basis of ensuring the terminal accuracy of the robot.
The following describes each method step in the robot control method in detail.
Step S100, a plurality of target points included in a processing path of the robot are obtained, the processing path is a moving track of the tail end of the robot in a working process, the target points are stopping positions of the tail end of the robot in the working process, and the tail end of the robot is one end of the robot far away from the additional shaft.
Specifically, the tail end of the robot continuously moves in the operation process, and does not stay at each position for processing operation in different pose forms, wherein the formed movement track is a processing path, and the stay position is a target point in the processing path. The end of the robot is the end which is far away from the additional axis and performs the interactive operation with the workpiece to be machined, and in the present embodiment, taking a six-axis robot as an example, the end of the robot is the end of the sixth axis of the robot.
And step S200, calculating wrist axis joint angles respectively corresponding to the robot when traversing the target point at the first position of the additional axis.
Specifically, the initial position of the robot on the additional axis without moving is a first position, a processing path of the robot is generated on software before the robot is controlled to perform actual operation, and inverse motion solution calculation is performed on the processing path, so that wrist axis joint angles corresponding to target points of the robot on the processing path are obtained. In the present embodiment, taking a six-axis robot as an example, the wrist axis joint angle of the robot is the fifth axis joint angle.
Step S300, comparing the wrist axis joint angle corresponding to the first position with a preset singular threshold range to obtain a first comparison result, wherein the preset singular threshold range is a judgment standard for judging whether a target point corresponding to the wrist axis joint angle is a wrist singular point.
Specifically, after each wrist axis joint angle of the robot is obtained through motion inverse solution calculation, the wrist axis joint angle is compared with a preset singular threshold range serving as a judgment standard of a wrist singular point, and if the wrist axis joint angle corresponding to the target point falls within the preset singular threshold range, the target point is the wrist singular point. In this embodiment, taking a six-axis robot as an example, if there is a case that a fifth axis joint angle corresponding to a target point falls within the preset singular threshold range, it indicates that when the end of the robot reaches the target point, the fifth axis is close to 0 °, that is, the target point is a wrist singular point.
Step S400, if the first comparison result indicates that the wrist axis joint angle meets the preset singular threshold range, controlling the robot to move to a second position on the additional axis, where the second position is located on the additional axis and is different from the first position, so that the robot avoids a wrist singular point of the processing path at the second position.
Specifically, when it is determined that a target point on the machining path is a wrist singular point, the robot is controlled to move on the additional axis, and since the position of the robot is changed, when the tail end of the robot reaches the target point which is originally the wrist singular point, the wrist axis joint angle is also changed, and at the moment, the wrist axis joint angle does not fall into the preset singular threshold range any more, so that the singular point on the machining path is avoided. In this embodiment, the additional axis provides a guide rail for the robot as a whole with freedom to move in a plane. Taking a six-axis robot as an example, the robot is controlled to move to different positions on the guide rail, so that when the tail end of the sixth axis of the robot reaches the target point which is originally taken as the wrist singular point, the fifth axis joint angle is changed, the fifth axis joint angle does not fall within the preset singular threshold range, namely the fifth axis is not close to 0 degrees any more, and the robot can successfully avoid the wrist singular point.
Further, as shown in fig. 2, on the basis of the above embodiment, the control of the robot to move to the second position on the additional axis in the above step S400 includes the following steps S401 to S404.
Step S401, a tool coordinate system corresponding to the target point is obtained, and the tool coordinate system is a coordinate system established by taking a sharp point of a tool arranged at the tail end of the robot as an origin.
In the production operation process, the robot needs to process a workpiece through a tool arranged at the tail end, so that when the robot is controlled to operate, a tool coordinate system established by taking a sharp point of the tool as an origin can accurately reflect the pose form of the robot.
Step S402, calculating a preset direction included angle between the tool coordinate system and the base coordinate system of the robot, wherein the preset direction included angle is an included angle which is formed by coordinate axis directions respectively corresponding to the tool coordinate system and the base coordinate system and can change along with the movement of the robot on the additional axis.
Specifically, in this embodiment, since the position of the robot is changed by controlling the robot to move on the additional axis, so as to change the wrist axis joint angle corresponding to the robot when touching each target point, the moving direction on the additional axis needs to be determined in advance, so as to reduce the computation cost of the robot in the simulation iteration process. Wherein the moving direction of the robot on the additional axis can be determined by calculating a direction angle formed by coordinate axes between the tool coordinate system and the base coordinate system, and the direction angle is an angle changed by the robot moving on the additional axis.
And S403, determining a first moving direction of the robot on the additional shaft according to the preset direction included angle.
Specifically, the change direction of the wrist axis joint angle of the robot is judged according to the change direction of the direction included angle, and then the moving direction of the robot on the additional axis for adjusting the wrist axis joint angle is judged.
Step S404, controlling the robot to move on the additional axis to a second position along the first moving direction.
And controlling the robot to move on the additional axis to the second position according to the moving direction determined by the direction included angle, so that the wrist singular point existing on the processing path at the initial position can be avoided when the robot performs work at the second position of the additional axis.
As an alternative embodiment, the direction of movement of the robot in the additional axes may be determined by calculating the angle theta between the Z-axis of the tool coordinate system and the Y-axis of the base coordinate system.
As shown in FIG. 3, the six-axis robot is mounted on an additional axis available for planar movement, which moves in the same directionThe direction is the positive direction of the y axis of the basic coordinate system of the robot. The coordinate system B is a robot base coordinate system, the coordinate system W is a world coordinate system, the direction is consistent with the coordinate system B, and the coordinate system P is a target point coordinate system, namely a tool coordinate system corresponding to the target point reached by the robot in the operation process. The relative relationship between the robot base coordinate system B and the world coordinate system W is
Which varies as the robot moves on the additional axis; the relationship between the coordinate system P and the world coordinate system W is
Which is a fixed constant matrix.
Setting a preset singular threshold corresponding to a fifth joint angle J5 of the six-axis robot as a numerical value c, wherein the singular threshold range of the existing J5 is as follows:
-c≤J5≤c；
that is, when the six-axis robot traverses a target point of the processing path and is located at the target point P, if the fifth axis joint angle J5 falls within the singular threshold range, it indicates that the fifth axis angle of the six-axis robot at the target point P is close to or equal to 0 °, that is, the target point P is a wrist singular point of the six-axis robot, and at this time, the robot needs to be controlled to move on the additional axis to change the fifth axis joint angle J5 corresponding to the target point P of the six-axis robot. On the basis, an included angle theta between the Z axis of the target point coordinate system and the basic coordinate system Y of the six-axis robot is calculated, if the theta is smaller than 90 degrees, the robot is controlled to move on the additional axis along the negative direction, so that the fifth axis joint angle J5 does not fall into the singular threshold range any more on the basis of increasing the theta; it will be appreciated that when theta is greater than 90 deg., the six-axis robot is controlled to move in the negative direction on the additional axis such that the fifth axis joint angle J5 no longer falls within the singular threshold range on the basis of decreasing theta.
In this way, in this embodiment, by calculating the direction included angle between the target point coordinate system and the base coordinate system of the robot, the moving direction of the robot on the additional axis is determined according to the direction included angle to avoid the wrist singular point, and the calculation cost in the simulation iteration process can be reduced on the basis that the robot is controlled to accurately avoid the wrist singular point on the processing path.
Further, on the basis of the above embodiment, the controlling of the robot to move to the second position on the additional axis along the first moving direction in the above step S404 includes the following steps S4041 and S4042.
Step S4041, a first moving step length is determined according to the size of the working range of the robot, and the working range is a space including all the target points.
Step S4042, controlling the robot to move the first movement step to the second position on the additional axis according to the first movement direction.
Specifically, the robot is controlled to move on the additional axis to change the position of the robot, so as to change the wrist axis joint angle corresponding to the robot when touching each target point, and therefore the distance of the robot moving on the additional axis each time needs to be determined, so that the operation cost of the simulation iteration process is reduced on the basis that the robot can accurately avoid the wrist singular point. It can be understood that when the moving step length is too small, the robot needs to move on the additional axis for multiple times to enable the fifth joint angle not to fall into the singular threshold range, that is, the number of iterations of the robot is too large at this time, which causes higher operation cost and overlong operation time; when the moving step is too large, the position of the robot moving on the additional axis may not touch the target point due to a large moving amplitude, so that the robot cannot process the workpiece located at the target point at the position. In the embodiment, according to the size of the space involved in the working range of the robot, the working range includes all the target points that the robot needs to contact during the working process, so as to determine the moving step length of the robot moving on the additional axis. Namely, the larger the operation range is, the larger the moving step length of the robot is; the smaller the working range, the smaller the moving step length of the robot. In addition, it should be noted that, according to actual tests, the moving step length of the robot generally adopts an empirical value of 1/10 of the working radius of the robot.
In this way, the embodiment determines the moving step of the robot on the additional axis according to the working space of the robot, and enables the robot to move on the additional axis according to the appropriate moving step, thereby avoiding the wrist singularity on the working path on the basis of less iteration times, and ensuring that the actual working process of the robot is not hindered or negatively affected.
Further, on the basis of the above embodiment, after controlling the robot to move the first moving step on the additional axis to the second position according to the first moving direction in step S4042 described above, the robot control method further includes steps S4043 to S4045 as follows.
Step S4043, calculating the axis joint angles respectively corresponding to the robot when the robot is located at the second position and traverses the target point, wherein the axis joint angles include wrist axis joint angles.
After the robot moves to the second position on the additional axis, the position of the robot is changed, and therefore, motion parameters of the robot traversing all axes corresponding to all target points in the original processing path, namely, axis joint angles of the axes, need to be calculated through a motion inverse solution based on the fact that the robot is located at the second position, so as to determine the pose relations of the robot corresponding to all the target points.
Step S4044, comparing the shaft joint angle with a degree of freedom corresponding to the shaft joint angle, wherein the degree of freedom is a preset movement threshold value of the shaft joint angle.
Under the condition that the robot is located at the second position, after the robot traverses all the axis joint angles corresponding to the target points through the inverse motion solution, the axis joint angles are compared with the degrees of freedom corresponding to the axis joint angles, for example, the robot is compared with the degrees of freedom corresponding to the second axis joint angles J2 and the fourth axis joint angles J4 and the fourth axis joint angles are compared with the degrees of freedom corresponding to the target points P2 and the degrees of freedom are equivalent, and the degrees of freedom are preset motion thresholds of the axis joint angles of the robot and are used for limiting the maximum motion amplitude/the maximum motion range of each axis of the robot.
Step S4045, if the axis joint angle exceeds the degree of freedom, the robot is controlled to move a second moving step length to a third position on the additional axis according to a second moving direction, wherein the second moving direction is opposite to the first moving direction, and the second moving step length is smaller than the first moving step length.
When the robot is located at the second position and traverses the target point of the processing path, and at least one axis joint angle exceeds the degree of freedom corresponding to the axis joint angle, for example, based on that the second axis joint angle J2 corresponding to the target point P1 exceeds the degree of freedom corresponding to the second axis joint angle J2, it indicates that the second axis movement amplitude corresponding to the operation posture of the robot with respect to the target point P1 exceeds the maximum movement amplitude/maximum movement range at this time, the target point P1 is considered to be an unreachable state for the robot, and at this time, the position of the robot on the additional axis needs to be further adjusted. In this embodiment, the robot is controlled to move on the additional axis in the direction opposite to the first movement direction, so that the target point P1 becomes reachable again for the robot, and in order to avoid the robot encountering the wrist singular point again after the second movement, i.e. after the position is retracted, the corresponding movement step of the robot during the second movement should be smaller than the movement step during the first movement, so as to ensure that all target points on the processing path are reachable for the robot and there is no wrist singular point when the robot reaches the new position after the second movement.
Therefore, the embodiment provides a specific implementation step for ensuring that the robot can smoothly operate the workpiece at the target point by controlling the robot to perform the readjustment movement with a smaller movement step compared with the first movement when the robot moves the additional axis for the first time and then the target point is unreachable, and the practicability of the robot control method is improved.
Further, in the above embodiment, after the degrees of freedom corresponding to the axis joint angle and the axis joint angle are compared in step S4044, the robot control method further includes step S4046 and step S4047 as follows.
Step S4046, if the shaft joint angle does not exceed the degree of freedom, the wrist shaft joint angle corresponding to the second position is compared with the preset singular threshold range to obtain a second comparison result.
Step S4047, if the second comparison result is that the second comparison result does not meet the preset singular threshold range, determining that the second position is a working position, and the working position is a stop position of the robot on the additional shaft during operation.
Specifically, after the robot is controlled to move to the second position on the additional axis, if the axis joint angles do not exceed the degree of freedom when the robot traverses all the target points based on the second position, that is, if the robot can touch all the target points within the maximum motion amplitude/maximum motion range of each axis, all the target points are still in a reachable state with respect to the robot, the wrist axis joint angles when the robot traverses all the target points are compared with the singular threshold range again, and if the wrist axis joint angles do not enter the singular threshold range at this time, so as to indicate that the robot can avoid the wrist singular points on the original processing path by moving to the second position on the additional axis, the second position is used as the working position of the robot, so that the robot can process the workpiece based on the working position subsequently.
Further, on the basis of the above embodiment, after the wrist axis joint angles corresponding to the second positions in step S4046 are compared with the preset singular threshold value range to obtain a second comparison result, the robot control method further includes step S4048 as follows.
Step S4048, if the second comparison result meets the preset singularity threshold range, controlling the robot to move to a fourth position on the additional shaft according to the first moving direction, so that the robot avoids the wrist singularity point of the machining path at the fourth position.
Specifically, if the robot is controlled to move to the second position on the additional axis, and there is a case where the wrist axis joint corner enters the singular threshold range when the robot traverses all the target points, it is described that the adjustment effect of the robot on the wrist axis joint angle by moving to the second position on the additional axis is small, and the wrist axis joint angle cannot be made to depart from the singular threshold range, so that the robot can be ensured to successfully avoid the wrist singular point.
Therefore, the embodiment provides the control process of continuously adjusting the position of the robot to avoid the wrist singular point after controlling the robot to move to the second position on the additional shaft, and the practicability of the robot control method is improved.
Further, on the basis of the above embodiment, before comparing the wrist axis joint angle corresponding to the first position with a preset singular threshold range in the above step S300 to obtain a first comparison result, the robot control method further includes steps S301 and S302 as follows.
And S301, acquiring the moving speeds corresponding to the shaft joints when the robot reaches the target point.
Step S302, determining preset singular threshold ranges respectively corresponding to the target points according to the moving speed corresponding to the shaft joint.
Specifically, since the wrist singular point related to the present application is a target point causing the robot joint to overspeed and even causing the motion to be stopped with errors, when the robot touches the target point, the wrist is close to or equal to 0 °, for example, a six-axis robot means that the fifth axis is close to or equal to 0 °, in order to avoid the above situation, the present application pre-determines whether the wrist of the robot is close to or equal to 0 ° according to whether the wrist axis joint angle of the robot falls within a singular threshold range, and since the robot continuously touches/reaches each target point along the operation path in the actual operation process, the motion speeds corresponding to each axis of the robot are different for each target point. For some target points, if the movement speed of each axis of the robot is higher, the singular threshold range set corresponding to the target point is larger; for other target points, if the motion speed of each axis of the robot is low, the singular threshold range set corresponding to the target point is small; the singularity threshold range set corresponding to each target point by the robot is determined according to the movement speed of each axis formed by the robot at each target point, so that the correction and adjustment degree of the robot for avoiding the wrist singularity is determined, the robot can be controlled to avoid the wrist singularity more accurately, and the implementation cost of correction and adjustment is lower.
Fig. 4 shows a flow chart of an application of an embodiment of the present application. As shown in fig. 4, the embodiment of the robot control method includes steps S405 to S411 as follows.
Step S405, modeling is carried out on the software control system according to the actual working environment of the robot, and a working model corresponding to the actual working environment of the robot is obtained.
In step S406, a processing path of the robot is generated for the operation model of the robot, the processing path is a moving track of the terminal of the robot during the actual operation, and the reachability determination is performed for a target point included in the moving track, that is, it is confirmed that the robot can perform the processing operation on the target point.
Step S407, when the target point of the processing path is determined to meet the accessibility, traversing all target points to judge singular threshold values, namely judging whether wrist singular points exist in the target points according to whether the robot has wrist axis joint corners in the singular threshold value range or not, if no wrist singular points exist, ending the adjustment correction process of the robot, and if no wrist singular points exist, continuing to execute the step S408.
Step S408, calculating a direction included angle formed by the base coordinate system and the target point coordinate system of the robot through the direction axis, and determining the moving direction of the robot when the robot moves and adjusts on the additional axis according to the direction included angle.
In step S409, the robot is controlled to move on the additional axis according to the moving direction, and thereby reach the second position on the additional axis.
In step S410, reachability determination is performed based on traversal of all target points while the robot is at the second position.
Step S411, if the robot is located at the second position and all target points are in a state of being reachable to the robot, ending the correction and adjustment process; and if the target point is unreachable to the robot, controlling the robot to perform callback movement from the second position to the initial position so as to enable the target point to be reachable to the robot again, and ending the correction and adjustment process.
Embodiments of the apparatus of the present application are described below, which may be used to implement the robot control methods of the above-described embodiments of the present application. Fig. 5 schematically shows a block diagram of a robot control device according to an embodiment of the present application. As shown in fig. 5, the robot controller includes:
the acquisition module is configured to acquire a plurality of target points included in a processing path of the robot, wherein the processing path is a moving track of the tail end of the robot in a working process, the target points are stop positions of the tail end of the robot in the working process, and the tail end of the robot is one end of the robot far away from the additional shaft;
a calculation module configured to calculate wrist axis joint angles respectively corresponding to the robot when traversing the target point at the first position of the additional axis;
the comparison module is configured to compare the wrist axis joint angle corresponding to the first position with a preset singular threshold range to obtain a first comparison result, wherein the preset singular threshold range is a judgment standard for judging whether a target point corresponding to the wrist axis joint angle is a wrist singular point;
a moving module configured to control the robot to move to a second position on the additional axis if the first comparison result indicates that the wrist axis joint angle meets the preset singular threshold range, wherein the second position is on the additional axis and is different from the first position, so that the robot avoids a wrist singular point of the processing path at the second position.
In an embodiment of the present application, based on the above embodiment, the mobile module includes:
the included angle determining unit is configured to calculate a preset direction included angle between the tool coordinate system and a base coordinate system of the robot, wherein the preset direction included angle is an included angle which is formed by coordinate axis directions respectively corresponding to the tool coordinate system and the base coordinate system and can be changed along with the movement of the robot on the additional axis;
a direction determining unit configured to determine a first moving direction of the robot on the additional axis according to the preset direction included angle;
a movement control unit configured to control the robot to move to a second position on the additional axis in the first moving direction.
In one embodiment of the present application, based on the above embodiment, a mobile control unit includes:
a step length determining subunit, configured to determine a first moving step length according to a size of a working range of the robot, where the working range is a space including all the target points;
a first movement control subunit configured to control the robot to move the first movement step to the second position on the additional axis according to the first movement direction.
In an embodiment of the present application, based on the above embodiment, the robot control device further includes:
a degree of freedom comparison module configured to calculate respective corresponding axis joint angles when the robot is located at the second position and traverses the target point, the axis joint angles including a wrist axis joint angle; comparing the shaft joint angle with a degree of freedom corresponding to the shaft joint angle, wherein the degree of freedom is a preset activity threshold value of the shaft joint angle; and if the shaft joint angle exceeds the degree of freedom, controlling the robot to move a second moving step length to a third position on the additional shaft according to a second moving direction, wherein the second moving direction is opposite to the first moving direction, and the second moving step length is smaller than the first moving step length.
In an embodiment of the present application, based on the above embodiments, the degree of freedom comparison module includes:
a singular threshold comparison unit configured to compare the wrist axis joint angles corresponding to the second positions with the preset singular threshold range to obtain a second comparison result if the axis joint angle does not exceed the degree of freedom;
the second movement control subunit is configured to determine that the second position is a working position if the second comparison result is that the second position does not meet the preset singular threshold range, and the working position is a stopping position on the additional shaft when the robot works; and if the second comparison result meets the preset singularity threshold range, controlling the robot to move to a fourth position on the additional shaft according to the first moving direction, so that the robot avoids the wrist singularity point of the machining path at the fourth position.
In an embodiment of the present application, based on the above embodiment, the robot control device further includes:
a singular threshold setting module configured to acquire moving speeds corresponding to the axis joints respectively when the robot reaches the target point; and determining preset singular threshold ranges respectively corresponding to the target points according to the moving speed corresponding to the shaft joint.
Fig. 6 schematically shows a structural block diagram of a computer system of an electronic device for implementing the embodiment of the present application.
It should be noted that the computer system 600 of the electronic device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the application scope of the embodiments of the present application.
As shown in fig. 6, the computer system 600 includes a Central Processing Unit 601 (CPU) that can perform various appropriate actions and processes according to a program stored in a Read-Only Memory 602 (ROM) or a program loaded from a storage section 608 into a Random Access Memory 603 (RAM). In the random access memory 603, various programs and data necessary for system operation are also stored. The cpu 601, the rom 602 and the ram 603 are connected to each other via a bus 604. An Input/Output interface 605 (Input/Output interface, i.e., I/O interface) is also connected to the bus 604.
The following components are connected to the input/output interface 605: an input portion 606 including a keyboard, a mouse, and the like; an output section 607 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a local area network card, modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The driver 610 is also connected to the input/output interface 605 as needed. A removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 610 as necessary, so that the computer program read out therefrom is mounted in the storage section 608 as necessary.
In particular, the processes described in the method flow diagrams may be implemented as computer software programs, according to embodiments of the application. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 609 and/or installed from the removable medium 611. The computer program, when executed by the central processor 601, performs various functions defined in the system of the present application.
It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, and may also be implemented by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present application.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A robot control method applied to a robot provided with additional axes for providing a degree of freedom for moving on a plane to the robot as a whole, comprising:
acquiring a plurality of target points contained in a processing path of the robot, wherein the processing path is a moving track of the tail end of the robot in the operation process, the target points are stop positions of the tail end of the robot in the operation process, and the tail end of the robot is one end of the robot far away from the additional shaft;
calculating wrist axis joint angles respectively corresponding to the robot when traversing the target point at the first position of the additional axis;
comparing the wrist axis joint angle corresponding to the first position with a preset singular threshold range to obtain a first comparison result, wherein the preset singular threshold range is a judgment standard for judging whether a target point corresponding to the wrist axis joint angle is a wrist singular point;
and if the first comparison result shows that the wrist axis joint angle accords with the preset singular threshold range, controlling the robot to move to a second position on the additional axis, wherein the second position is positioned on the additional axis and is different from the first position, so that the robot avoids the wrist singular point of the processing path at the second position.
2. A robot control method according to claim 1, wherein controlling the robot to move to a second position on the additional axis comprises:
acquiring a tool coordinate system corresponding to the target point, wherein the tool coordinate system is a coordinate system established by taking a sharp point of a tool arranged at the tail end of the robot as an origin;
calculating a preset direction included angle between the tool coordinate system and a base coordinate system of the robot, wherein the preset direction included angle is an included angle which is formed by coordinate axis directions respectively corresponding to the tool coordinate system and the base coordinate system and can change along with the movement of the robot on the additional axis;
determining a first moving direction of the robot on the additional shaft according to the preset direction included angle;
controlling the robot to move on the additional axis in the first direction of movement to a second position.
3. A robot control method according to claim 2, wherein controlling the robot to move to a second position on the additional axis in the first moving direction comprises:
determining a first moving step length according to the size of the working range of the robot, wherein the working range is a space containing all the target points;
controlling the robot to move the first movement step to the second position on the additional axis according to the first movement direction.
4. The robot control method of claim 3, wherein after controlling the robot to move the first movement step to the second position on the additional axis according to the first movement direction, the method further comprises:
calculating the shaft joint angles respectively corresponding to the robot when the robot is located at the second position and traverses the target point, wherein the shaft joint angles comprise wrist shaft joint angles;
comparing the shaft joint angle with a degree of freedom corresponding to the shaft joint angle, wherein the degree of freedom is a preset activity threshold of the shaft joint angle;
and if the shaft joint angle exceeds the degree of freedom, controlling the robot to move a second moving step length to a third position on the additional shaft according to a second moving direction, wherein the second moving direction is opposite to the first moving direction, and the second moving step length is smaller than the first moving step length.
5. The robot control method according to claim 4, wherein after comparing the axis joint angle with the degree of freedom corresponding to the axis joint angle, the method further comprises:
if the shaft joint angle does not exceed the degree of freedom, comparing the wrist shaft joint angle corresponding to the second position with the preset singular threshold range to obtain a second comparison result;
and if the second comparison result is that the second comparison result does not meet the preset singular threshold range, determining that the second position is a working position, wherein the working position is a stop position of the robot on the additional shaft during operation.
6. The robot control method according to claim 5, wherein after comparing the wrist axis joint angles respectively corresponding to the second positions with the preset singular threshold range to obtain a second comparison result, the method further comprises:
and if the second comparison result accords with the preset singularity threshold range, controlling the robot to move to a fourth position on the additional shaft according to the first moving direction, so that the robot avoids the wrist singularity point of the machining path at the fourth position.
7. The robot control method of claim 1, wherein before comparing the wrist axis joint angle corresponding to the first position to a preset singular threshold range to obtain a first comparison result, the method further comprises:
acquiring the moving speeds corresponding to the shaft joints when the robot reaches the target point;
and determining preset singular threshold ranges respectively corresponding to the target points according to the moving speed corresponding to the shaft joint.
8. A robot control apparatus, characterized by comprising:
the acquisition module is configured to acquire a plurality of target points included in a processing path of the robot, wherein the processing path is a moving track of the tail end of the robot in a working process, the target points are stop positions of the tail end of the robot in the working process, and the tail end of the robot is one end of the robot far away from the additional shaft;
a calculation module configured to calculate wrist axis joint angles respectively corresponding to the robot when traversing the target point at the first position of the additional axis;
the comparison module is configured to compare the wrist axis joint angle corresponding to the first position with a preset singular threshold range to obtain a first comparison result, wherein the preset singular threshold range is a judgment standard for judging whether a target point corresponding to the wrist axis joint angle is a wrist singular point;
and the moving module is configured to control the robot to move to a second position on the additional axis if the first comparison result shows that the wrist axis joint angle meets the preset singular threshold range, wherein the second position is on the additional axis and is different from the first position, so that the robot avoids the wrist singular point of the processing path at the second position.
9. A terminal device, characterized in that the terminal device comprises: a memory, a processor and a robot control program stored on the memory and executable on the processor, the robot control program, when executed by the processor, implementing the robot control method of any one of claims 1 to 7.
10. A storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, implements the robot control method according to any one of claims 1 to 7.
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| CN116749150A (en) * | 2023-08-21 | 2023-09-15 | 南京埃斯顿自动化股份有限公司 | Motion planning method for multi-axis robot system, electronic equipment and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116749150A (en) * | 2023-08-21 | 2023-09-15 | 南京埃斯顿自动化股份有限公司 | Motion planning method for multi-axis robot system, electronic equipment and medium |
| CN116749150B (en) * | 2023-08-21 | 2023-12-12 | 南京埃斯顿自动化股份有限公司 | Motion planning method for multi-axis robot system, electronic equipment and medium |
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