CN106502095A - A kind of cooperative control method of many industrial robots - Google Patents
A kind of cooperative control method of many industrial robots Download PDFInfo
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- CN106502095A CN106502095A CN201610955203.5A CN201610955203A CN106502095A CN 106502095 A CN106502095 A CN 106502095A CN 201610955203 A CN201610955203 A CN 201610955203A CN 106502095 A CN106502095 A CN 106502095A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
Abstract
The present invention relates to a kind of cooperative control method of many industrial robots, comprises the following steps：Design communication interface modules, the industrial robot of different brands and its original controller are integrated in general controls station；The configuration element of design industrial robot；Develop the Logical Configuration program of many industrial robot Collaborative Control algorithms；Exploitation man machine interface configuration program；Industrial robot control configuration program is sent to general controls station, by the calculating of general controls station configuration processor, drives each joint of industrial robot to execute corresponding action by original controller of industrial robot；Collection industrial robot running status, tests to the Collaborative Control effect of many industrial robots；Runtime, tests the control effect of industrial robot online programming.The present invention solves that existing many industrial robot control system poor expandabilities, information exchange capacity be poor, Collaborative Control difficult, flexible in programming is not enough, cannot online programming, the technical problem such as control effect is undesirable.
Description
Technical field
The present invention relates to a kind of cooperative control method of many industrial robots.
Background technology
Traditional manufacture is being faced with industrial upgrading and intellectualized reconstruction, and in industrial robot exactly intellectualized reconstruction
An important step.The series of problems such as shorten in the face of the production process that becomes increasingly complex and factory's line update cycle, current make
Making industry urgently needs a kind of standard, quick, simple robotic programming and control method.Meanwhile, robot be also required to by with
The individuality of front autonomous working, progressively becomes mutually coordinated cooperation, can realize the total system of control based on network.
The Collaborative Control of existing at present many industrial robots there is a problem of several main：One is generally to adopt phase homotype
Number industrial robot, for the Collaborative Control of isomery industrial robot is studied seldom；Two is different robot building factories
Generally using different machine language programming languages and software tool, its system is more closed, different machines for the robot of business's production
Intercommunity between people is poor, and for the Collaborative Control of isomery industrial robot be generally all again will through off-line programing in advance
Control instruction is transferred to the controller of robot, basically can not support the online programming of multirobot Collaborative Control algorithm；Three
Be current multirobot integrated approach not simple enough, in existing research, major part is used to the original controller of robot
Transformed, and reforming mode is complicated, improved set expandability is poor.Therefore, heterogeneous computers in current industrial production system
The cost of Collaborative Control design, exploitation and application between device people or between robot and other control devices is very high, and technology is difficult
Degree is also very big.
At present in terms of multirobot Collaborative Control, document【Chen Shengguo, Liu Zhi, Liang Shaofang, etc. spray robot is certainly
The design [J] of main programming comprehensive platform. industrial control computer, 2010,23 (6):45-46.】Propose using replacing control
The mode of device, is controlled device transformation to PUMA robots：Replaced using this kind of controllers with Open architecture of PMAC former
There is controller, it is achieved that networking is operated, its programmed method to robot uses built-in function, and it is right that this method is related to
The transformation of controller, transformation process are complex.In the case of not structural control device, document【Jiang Wenhui. it is based on
Multi-robot coordination control method research [D] of Internet. South China Science ＆ Engineering University, 2012.】Propose to be based on " computer+machine
The control mode of device people ", using Web_control Robot, but the communication of computer and robot is often just for simple
Switching value, for example, start/stop the signals such as robot, does not have enough motilities, computer not responsible robot fortune
The computings such as the dynamic solution that learns, trajectory planning, and robot can control that degree is also very limited, and the coordination control of robot is also required to
Control system possesses enough information exchange capacities.Document【Ou Yangfan. the research [D] of Dual-robot coordination movement technique. China
Southern Polytechnics, 2013.】And document【In Guangdong. the research [D] of the robot coordinated technology of duplexing industry. Harbin industry is big
Learn, 2014.】In two articles, Dual-robot coordination system uses industrial computer two industrial robots of connection, industry control
Machine is responsible for carrying out trajectory planning, and the original controller of robot is then responsible for executing the control instruction that industrial computer sends, but which is main
Off-line programing calculating is carried out using MATLAB and generates motion path point and motor control file, for operator
Programming mode is not directly perceived.Patent CN201510419180.1 is at present closest to the prior art of the inventive method, the patent
Propose a kind of method that dual robot carries out double slit welding.Main control stations of the PLC as dual robot, by industrial bus with
The controller of robot is communicated.But in the patent, the master controller of robot or the switch board for itself being carried,
PLC is only to play a part of to coordinate whole system, and such as start machine people receives robot feedback information etc., and is not involved in
The computings such as the solution of robot kinematics, trajectory planning.The system is not had and realizes that dual robot is assisted without programing system yet
Ability with algorithm.
Content of the invention
In view of this, it is an object of the invention to provide a kind of cooperative control method of many industrial robots, for solving
Existing many industrial robot control system poor expandabilities, information exchange capacity are poor, Collaborative Control difficult, flexible in programming is not enough,
Cannot online programming, the technical problem such as control effect is undesirable.
For achieving the above object, the present invention is adopted the following technical scheme that：A kind of cooperative control method of many industrial robots,
Characterized in that, comprising the following steps：
Step S1：Design and develop communication interface modules, the industrial robot of different brands and its original controller are integrated into
In general controls station；
Step S2：Design and the configuration element of exploitation industrial robot；
Step S3：Develop the Logical Configuration program of many industrial robot Collaborative Control algorithms；
Step S4：Exploitation man machine interface configuration program；
Step S5：Industrial robot control configuration program is transmitted offline by Ethernet or is sent to general controls station online,
By the calculating of general controls station configuration processor, each joint of industrial robot is driven to execute phase by original controller of industrial robot
The action that answers；
Step S6：Collection industrial robot running status, tests to the Collaborative Control effect of many industrial robots；
Step S7：Runtime, tests the control effect of industrial robot online programming.
Further, in step S1, the communication interface modules can be in ethernet environment by calling industry
The API application programming interfaces of the original controller of robot, realize each industrial robot and its controller and general controls
The connection communication that stands；The general controls station can receive and program the first by graphical configuration of configuration software from industrial robot
The built-up control program of part, and the logical order of configuration program is converted to movement instruction, then by the movement instruction
Sent by Ethernet to original controller of industrial robot, while the original controller of industrial robot also can be by each work
The status data information transmission of industry robot goes back to general controls station.
Further, the concrete grammar of step S2 is：1st, determine the input/output interface of configuration element；2nd, by configuration
Element algorithm packaging is modularity function；3rd, configuration element algorithmic function is compiled in general controls station, additionally, according to
Different Collaborative Control mission requirements between multiple robots, customize different types of configuration element, and different configuration elements are adopted
Encoded with identical data structure, with good compatibility.
Further, in step S3, using the logic of many industrial robot Collaborative Control algorithms of configuration element exploitation
Configuration program, the various actions of industrial robot by the simple arrangement to configuration element, line and arrange simple parameter
It is controlled, the configuration element for being used mainly includes industrial robot configuration element, signal input output element, mathematical calculation
Element, logic control element, functional generator element, concrete grammar is：
A, the actual operation requirement according to industrial robot control system Collaborative Control, have planned the motion rail of industrial robot
Mark；
B, easy permutation and combination line and parameter setting is carried out from a series of configuration elements, complete the logical groups of control algolithm
State program is built.
Further, the movement locus are circular motion, and its mathematic(al) representation is：
Wherein,For the abscissa of the movement locus,For the vertical coordinate of the movement locus,For the radius of movement locus,For industrial robot be currently located a little with the line of zero withThe angle of axle positive direction.
Further, in step S4, using the animation elements of configuration software, the picture configuration journey of man machine interface is write
Sequence, and be attached with general controls station by Ethernet, real-time inputoutput data, the configuration is read from general controls station
Program can replace demonstrator well, realize the function of read-write and monitoring to robot data.
Further, in step S5, the function at the general controls station is the control journey to being made up of configuration element
Sequence is calculated, and when the program at general controls station executes certain configuration element in order, system can be by the configuration element institute
The data of carrying are sent in each functional treatment unit module, and the data include configuration element computation attribute parameter, configuration unit
The information of part algorithm and the operation result of last calculating cycle；The transmission of 7 types is supported in the online transmission, including online
Interpolation, deletion and the replacement of graphical configuration element during operation, the adjustment of relevant permutation relation and computation sequence, control algolithm and
The exchange of the online modification and Logical Configuration of control parameter, its operational effect are can not stop in industrial robot control system
In the case of only running, the configuration data changed before and after Logical Configuration modification in general controls station is updated；Described
General controls station can also be by the Program transformation for having processed into range of motion instruction, and according to corresponding communications protocol format
It is sent in the original controller of robot, by each motion process module in the original controller of robot according to corresponding instruction
Industrial robot joint is driven to complete a series of actions.
Further, in step S6, the sensor at industrial robot end can by the data of Real-time Collection pass through with
Too net is transferred in the data base at general controls station, and the real time status information of robot is visually displayed in the man machine interface of system
On, so as to monitor the synergy movement process of whole robot control system, it is ensured that all control stations of system are all in steady fortune
In row, the Collaborative Control measure of merit includes：Can each robot carry out track motion according to set route；Collaboration
The control performance of motion, specifically includes real-time, the precision of track of control.
Further, in step S7, many industrial robot control systems are run, is controlled by online modification robot
Program, the modification of parameter, logic including element, the increase and decrease of configuration element, the control effect of the online programming of test machine people.
The present invention is had the advantages that compared with prior art：
1st, the commercial production user of the inventive method is adopted independently to select different manufacturer's productions for the factory of oneself
Different types of industrial robot, it is only necessary to which the demand according to operation connects the quantity for neatly increasing robot i.e. by netting twine
Can, method is simple, application is flexible, extensibility is good；
2nd, the inventive method, user is used to carry out multimachine with a kind of unified standard programming language in unified control station
The programming of the motion planning of device people and related intelligent algorithm, and without the need for concern and rely on the programming of the original controller of each robot
Method；
3rd, the inventive method can realize robot online programming, and the motion that can change robot under non-stop-machine state is calculated
Method and parameter, substantially increase adaptability and machine task efficiency that robot changes for operation.
Description of the drawings
Fig. 1 is the control method flow chart of the present invention.
Fig. 2 is the schematic diagram of the control logic online modification with transmission of one embodiment of the invention.
Fig. 3 is the Human Machine Interface schematic diagram of one embodiment of the invention.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention will be further described.
Refer to Fig. 1, the present invention provides a kind of cooperative control method of many industrial robots, it is characterised in that include with
Lower step：
Step S1：Design and develop communication interface modules, the industrial robot of different brands and its original controller are integrated into
In general controls station；
The communication interface modules can be in ethernet environment by calling the API application journeys of the original controller of industrial robot
Sequence DLL, realizes the connection communication of each industrial robot and its controller and general controls station；Specifically, the communication
Interface module adopts typical C/S frameworks, wherein general controls station to make as client, industrial robot and its original controller
For server end.General controls station is by arranging IP address and port numbers linking objective server, and sends control to robot
Request, the request at machine talent conference response general controls station after successful connection.
The general controls station can be received from industrial robot programming configuration software by graphical configuration element structure
The control program that builds, and the logical order of configuration program is converted to movement instruction, then the movement instruction is passed through
Ethernet is sent to original controller of industrial robot, while the original controller of industrial robot also can be by each industrial machine
The status data information transmission of device people goes back to general controls station；Specifically, the content of movement instruction includes that the XYZ of object pose sits
Mark, each axle movement velocity, motor pulses etc.；Communication between the original controller of robot and general controls station is with standard
Based on TCP/IP socket storehouses, it then follows socket Principles of Communication；Status data information include each joint of robot position,
The real time data of angle, I/O values and each sensor.
Step S2：Design and the configuration element of exploitation industrial robot.Concrete grammar is：1st, determine the input of configuration element
Output interface；2nd, by configuration element algorithm packaging be modularity function；3rd, to configuration element algorithmic function in general controls station
It is compiled, additionally, according to different Collaborative Control mission requirements between multiple robots, customizing different types of configuration unit
Part, different configuration elements are encoded using identical data structure, with good compatibility.
By taking the matrix inversion element used in certain multirobot Collaborative Control algorithm as an example, its development approach is：1st, design
The control parameter of matrix inversion element input/output interface, the initial memory address of the original matrix including being input into, the dimension of matrix
Start memory location with the inverse matrix of output.2nd, adopt and show a C language matrix inversion algorithm, and be encapsulated as modularity letter
Number；3rd, matrix inversion algorithmic function is compiled in general controls station, is called for system.
Step S3：Develop the Logical Configuration program of many industrial robot Collaborative Control algorithms；Developed using configuration element many
The Logical Configuration program of industrial robot Collaborative Control algorithm, the various actions of industrial robot are by the simple of configuration element
Arrangement, line and the simple parameter of setting are controlled, and the configuration element for being used mainly includes industrial robot configuration unit
Part, signal input output element, mathematical calculation element, logic control element, functional generator element, concrete grammar is：
A, the actual operation requirement according to industrial robot control system Collaborative Control, have planned the motion rail of industrial robot
Mark；
B, easy permutation and combination line and parameter setting is carried out from a series of configuration elements, complete the logical groups of control algolithm
State program is built.
In the present embodiment, the movement locus are circular motion, and its mathematic(al) representation is：
Wherein, X is the abscissa of the movement locus, and Y is the vertical coordinate of the movement locus, radiuses of the R for movement locus, θ
Angle a little with the line of zero and X-axis positive direction is currently located for industrial robot.
The elements such as constant generator element SG, multiplication element MUL, Sin function, middle analog quantity can be selected, using letter
The mode of single-row builds Collaborative Control logic.Specifically, element SG is a constant generator, and the parameter of SG is set to half
Footpath R；Element MUL is multiplication, and the value for drawing that SG elements and Sin functional units are multiplied is assigned to analog quantity element in the middle of LA, you can
The X-axis that the value of LA is directly assigned to robot end's coordinate control（X variables i.e. in formula）.Using cartesian space coordinate
These instructions related to motor control, by arranging suitable movement velocity, are passed to general controls by Ethernet by mode
The calculating that robot end executes circular motion is completed by standing.
Step S4：Exploitation man machine interface configuration program；Using the animation elements of configuration software, the picture of man machine interface is write
Configuration program, and be attached with general controls station by Ethernet, real-time inputoutput data is read from general controls station,
The configuration program can replace demonstrator well, realize the function of read-write and monitoring to robot data；Refer to Fig. 3,
The content that the man machine interface can be monitored mainly includes：The position of robot tool end, the angular displacement in each joint of robot,
The angular velocity in each joint, warning etc..
Step S5：Industrial robot control configuration program is transmitted offline by Ethernet or is sent to general controls online
Stand, by the calculating of general controls station configuration processor, drive each joint of industrial robot to hold by original controller of industrial robot
The corresponding action of row；
The function at the general controls station is that the control program being made up of configuration element is calculated, when the journey at general controls station
When sequence executes certain configuration element in order, the data entrained by the configuration element can be sent to each function treatment list by system
In element module, the data include configuration element computation attribute parameter, the information of configuration element algorithm and last calculating cycle
Operation result；
The transmission of 7 types is supported in the online transmission, including the interpolation of graphical configuration element, deletion during on-line operation and is replaced
Change, the adjustment of relevant permutation relation and computation sequence, the friendship of the online modification and Logical Configuration of control algolithm and control parameter
Change, its operational effect is can be in the case where industrial robot control system be out of service, to logic in general controls station
The configuration data changed before and after configuration modification is updated；
Fig. 2 is refer to, in the present embodiment, certain Logical Configuration is made up of element A, element B, element C, which calculates sequential and is respectively
1、2、3.Now because system control or debugging need, carried out appropriate modification to this section of logic, amended logic by element A,
Element B, element C and element D are constituted, and which calculates sequential and is also adjusted to 1,2,4,3.The step can be by amended Logical Configuration
The part for changing is transmitted online, and general controls station also only needs to the configuration number of the calculating sequential to element C and element D
According to being updated.
The general controls station can also be by the Program transformation for having processed into range of motion instruction, and according to corresponding
Communications protocol format is sent in the original controller of robot, by each motion process module root in the original controller of robot
A series of actions is completed according to corresponding order-driven industrial robot joint.
Step S6：Collection industrial robot running status, tests to the Collaborative Control effect of many industrial robots；Work
The data of Real-time Collection can be transferred in the data base at general controls station by the sensor of industry robotic end by Ethernet, machine
The real time status information of device people is visually displayed in the man machine interface of system, so as to monitor the association of whole robot control system
In with motor process, it is ensured that during all control stations of system are all in even running, the Collaborative Control measure of merit includes：Respectively
Can individual robot carry out track motion according to set route；The control performance of synergy movement, specifically includes the reality of control
Shi Xing, precision of track etc..
Step S7：Runtime, tests the control effect of industrial robot online programming；Run many industrial robot controls
System, by online modification robot control program, the modification of parameter, logic including element, increase and decrease of configuration element etc., surveys
The control effect of the online programming of try engine people.
For example, under robot current operating conditions, when such as robot end carries out the motion of picture circumference, by end movement
The setting value of radius of a circle double.Amended control logic is sent to general controls by the function of transmitting online
Stand, can observer robot be transitted smoothly to new control instruction, that is, carry out the extreme circumferential motion that radius increased a times.
The foregoing is only presently preferred embodiments of the present invention, all impartial changes that is done according to scope of the present invention patent with
Modification, should all belong to the covering scope of the present invention.
Claims (9)
1. a kind of cooperative control method of many industrial robots, it is characterised in that comprise the following steps：
Step S1：Design and develop communication interface modules, the industrial robot of different brands and its original controller are integrated into
In general controls station；
Step S2：Design and the configuration element of exploitation industrial robot；
Step S3：Develop the Logical Configuration program of many industrial robot Collaborative Control algorithms；
Step S4：Exploitation man machine interface configuration program；
Step S5：Industrial robot control configuration program is transmitted offline by Ethernet or is sent to general controls station online,
By the calculating of general controls station configuration processor, each joint of industrial robot is driven to execute phase by original controller of industrial robot
The action that answers；
Step S6：Collection industrial robot running status, tests to the Collaborative Control effect of many industrial robots；
Step S7：Runtime, tests the control effect of industrial robot online programming.
2. the cooperative control method of many industrial robots according to claim 1, it is characterised in that：In step S1,
The communication interface modules can be compiled by calling the API application programs of the original controller of industrial robot in ethernet environment
Journey interface, realizes the connection communication of each industrial robot and its controller and general controls station；The general controls station can
Receive the control program built-up by graphical configuration element that configuration software is programmed from industrial robot, and by configuration journey
The logical order of sequence is converted to movement instruction, then sends the movement instruction by Ethernet original to industrial robot
Controller, at the same the original controller of industrial robot also can will the status data information transmission of each industrial robot return general
Control station.
3. the cooperative control method of many industrial robots according to claim 1, it is characterised in that：The tool of step S2
Body method is：1st, determine the input/output interface of configuration element；2nd, by configuration element algorithm packaging be modularity function；3rd, logical
Configuration element algorithmic function is compiled with control station, additionally, being appointed according to different Collaborative Control between multiple robots
Business demand, customizes different types of configuration element, and different configuration elements are encoded using identical data structure, with very
Good compatibility.
4. the cooperative control method of many industrial robots according to claim 1, it is characterised in that：In step S3,
The Logical Configuration program that many industrial robot Collaborative Control algorithms are developed using configuration element, the various actions of industrial robot are led to
Cross the simple arrangement to configuration element, line and simple parameter is set and be controlled, the configuration element for being used mainly is wrapped
Include industrial robot configuration element, signal input output element, mathematical calculation element, logic control element, functional generator unit
Part, concrete grammar is：
A, the actual operation requirement according to industrial robot control system Collaborative Control, have planned the motion rail of industrial robot
Mark；
B, easy permutation and combination line and parameter setting is carried out from a series of configuration elements, complete the logical groups of control algolithm
State program is built.
5. the cooperative control method of many industrial robots according to claim 4, it is characterised in that：The movement locus are
Circular motion, its mathematic(al) representation is：
Wherein,For the abscissa of the movement locus,For the vertical coordinate of the movement locus,For the radius of movement locus,For industrial robot be currently located a little with the line of zero withThe angle of axle positive direction.
6. the cooperative control method of many industrial robots according to claim 1, it is characterised in that：In step S4,
Using the animation elements of configuration software, the picture configuration program of man machine interface is write, and is entered with general controls station by Ethernet
Row connection, reads real-time inputoutput data from general controls station, and the configuration program can replace demonstrator well, realizes
Function to the read-write and monitoring of robot data.
7. the cooperative control method of many industrial robots according to claim 1, it is characterised in that：In step S5,
The function at the general controls station is that the control program being made up of configuration element is calculated, when the program at general controls station is pressed
When executing certain configuration element according to order, the data entrained by the configuration element can be sent to each functional process unit mould by system
In block, the data include the fortune of configuration element computation attribute parameter, the information of configuration element algorithm and last calculating cycle
Calculate result；The transmission of 7 types is supported in the online transmission, including the interpolation of graphical configuration element, deletion during on-line operation
And the online modification and Logical Configuration of replacement, the adjustment of relevant permutation relation and computation sequence, control algolithm and control parameter
Exchange, its operational effect be can in the case where industrial robot control system is not out of service, to general controls station in
The configuration data changed before and after Logical Configuration modification is updated；The general controls station can also be by the program for having processed
Range of motion instruction is converted to, and is sent in the original controller of robot, by machine according to corresponding communications protocol format
Each motion process module in the original controller of device people completes a series of according to corresponding order-driven industrial robot joint
Action.
8. the cooperative control method of many industrial robots according to claim 1, it is characterised in that：In step S6,
The data of Real-time Collection can be transferred in the data base at general controls station by the sensor at industrial robot end by Ethernet,
The real time status information of robot is visually displayed in the man machine interface of system, so as to monitor whole robot control system
Synergy movement process, it is ensured that during all control stations of system are all in even running, the Collaborative Control measure of merit include：Respectively
Can individual robot carry out track motion according to set route；The control performance of synergy movement, specifically includes the reality of control
Shi Xing, the precision of track.
9. the cooperative control method of many industrial robots according to claim 1, it is characterised in that：In step S7,
Many industrial robot control systems are run, by online modification robot control program, the parameter, logic including element is repaiied
Change, the increase and decrease of configuration element, the control effect of the online programming of test machine people.
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