CN109676609A - Robot control system and Related product - Google Patents
Robot control system and Related product Download PDFInfo
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- CN109676609A CN109676609A CN201910070198.3A CN201910070198A CN109676609A CN 109676609 A CN109676609 A CN 109676609A CN 201910070198 A CN201910070198 A CN 201910070198A CN 109676609 A CN109676609 A CN 109676609A
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- 230000033001 locomotion Effects 0.000 claims abstract description 147
- 230000009471 action Effects 0.000 claims abstract description 26
- 238000004891 communication Methods 0.000 claims abstract description 26
- 238000012549 training Methods 0.000 claims description 11
- 210000000707 wrist Anatomy 0.000 claims description 9
- 238000013507 mapping Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000003062 neural network model Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
Abstract
The embodiment of the present application provides a kind of robot control system, the robot control system includes control subsystem and robot, wherein, the control subsystem includes that processor, communication module, movement generation module and acquisition module, the processor are of coupled connections with the communication module；The movement generation module is for generating target movement posture；The acquisition module is used to acquire the target movement posture that the movement generation module generates, and obtains target action information；The processor generates robot motion's instruction according to the target action information, and robot motion's instruction is used to indicate the robot and moves；Robot motion instruction is sent the robot by the communication module；The robot receives robot motion's instruction, and is moved according to robot motion instruction, therefore, is able to ascend convenience when robot control.
Description
Technical field
This application involves apparatus control technical fields, and in particular to a kind of robot control system and Related product.
Background technique
Currently, traditional robot joint control system realizes the shutdown of control steering engine robot by following two mode mostly
Movement: 1, single frames or multiframe protocol instructions data is directly issued by mobile phone, pc etc., passes through wired, infrared, bluetooth, WiFi etc.
Communication modes pass to robot processor, are converted into the control steering engine movement of PWM rudder machine control signal.2, straight by conventional handle etc.
Sending and receiving go out fixed action command number, pass to robot processor by the communication modes such as wired, infrared, bluetooth, WiFi, search
The fixed movement number for writing on robot processor, is then converted into corresponding PWM steering engine for the corresponding director data of the number
Control signal control steering engine movement.It when due to steering engine robot Manipulation of the machine people, only can be carried out people in terms of robot control
It is lower to result in the convenience in robot control for the fixed movement of work operation.
Summary of the invention
The embodiment of the present application provides a kind of robot control system and Related product, when being able to ascend robot control just
Victory.
The first aspect of the embodiment of the present application provides a kind of robot control system, and the robot control system includes
Control subsystem and robot, wherein the control subsystem includes processor, communication module, movement generation module and acquisition
Module, the processor are of coupled connections with the communication module；
The movement generation module is for generating target movement posture；
The acquisition module is used to acquire the target movement posture that the movement generation module generates, and obtains target action letter
Breath；
The processor generates robot motion's instruction according to the target action information, and the robot motion, which instructs, to be used
It is moved in the instruction robot；
Robot motion instruction is sent the robot by the communication module；
The robot receives robot motion's instruction, and is moved according to robot motion instruction.
Optionally, in conjunction with the embodiment of the present application in a first aspect, in the first possible implementation in first aspect
In, the acquisition module includes at least one potentiometer, and the movement generation module includes left mechanical arm and right mechanical arm, described
Left mechanical arm and the right mechanical arm include multiple joints, and the multiple joint includes left finesse, left arm, left shoulder, the right hand
Wrist, right arm and right shoulder, each potentiometer at least one described potentiometer are respectively arranged at a left side for the left mechanical arm
Wrist, left arm and left shoulder and the right finesse of the right mechanical arm, right arm and right shoulder, the target action information
It is the kinematic parameter of kinematic parameter, the left arm including at least one described potentiometer left finesse collected, described
The kinematic parameter of left shoulder, the kinematic parameter of the right finesse, the kinematic parameter of the right arm and right shoulder kinematic parameter.
Optionally, in conjunction with the first possible implementation of the first aspect of the embodiment of the present application, in first aspect
In second of possible implementation, robot motion instruction side is generated according to the target action information in the processor
Face, the processor are specifically used for:
According to the kinematic parameter of the left finesse, the kinematic parameter of the left arm, the kinematic parameter of the left shoulder, institute
The kinematic parameter of the kinematic parameter of right finesse, the kinematic parameter of the right arm and right shoulder is stated, training obtains three maintenance and operation of target
Movable model；
By the target three-dimensional motion model according to preset mapping mode, by the left finesse, left arm, described
The movement of left shoulder, the right finesse, the right arm and the right shoulder is mapped as plane motion, obtain the left finesse,
The plane motion parameter of the left arm, the left shoulder, the right finesse, the right arm and the right shoulder；
According to the left finesse, the left arm, the left shoulder, the right finesse, the right arm and the right shoulder
The plane motion parameter of wing, determines the kinematic parameter of the robot；
Robot motion's instruction is generated according to the kinematic parameter of the robot.
Optionally, in conjunction with second of possible implementation of the first aspect of the embodiment of the present application to first aspect,
In the third possible implementation of first aspect, the robot includes multiple joints, and the multiple joint is moved with described
The joint for making generation module is corresponding, it is described it is described according to the robot motion instruction moved in terms of, the machine
People is specifically used for:
The current pose angle in each joint of the robot is obtained, and the movement instruction is parsed, is obtained
To the targeted attitude angle in each joint of the robot；
According to the targeted attitude angle of the current pose angle in each joint and each joint, determine described
The target trajectory in each joint；
The parameters of target motion in each joint are determined according to the target trajectory in each joint；
Each joint is moved according to the parameters of target motion in each joint.
Optionally, in conjunction with the third possible implementation of the first aspect of the embodiment of the present application, in first aspect
In 4th kind of possible implementation, in the mesh of the current pose angle according to each joint and each joint
Attitude angle is marked, in terms of the target trajectory for determining each joint, the robot is specifically used for:
Calculate the angle between the current pose angle in each joint and the targeted attitude angle in each joint
It is poor to spend, and obtains the reference angle in each joint；
The reference angle in each joint is divided into N number of son with reference to angle；
Angle is referred to according to N number of son, determines the target trajectory in each joint.
Optionally, in conjunction with the third possible implementation of the first aspect of the embodiment of the present application, in first aspect
It is described in terms of the current pose angle in each joint for obtaining the robot in 5th kind of possible implementation
Robot is specifically used for:
Read the PWM position signal of the steering engine in each joint；
The current pose angle in each joint is determined according to the PWM position signal.
Optionally, in conjunction with the of the 4th kind of possible implementation of the first aspect of the embodiment of the present application and first aspect
Five kinds of possible implementations, in the sixth possible implementation of the first aspect, in the communication module by the machine
In terms of device people's movement instruction is sent to the robot, the communication module is specifically used for:
The robot motion is instructed and is encrypted using preset Encryption Algorithm, encrypted robot motion is obtained
Instruction；
The robot is sent by encrypted robot motion's instruction.
Optionally, in conjunction with the first possible implementation of the first aspect of the embodiment of the present application, in first aspect
In 7th kind of possible implementation, the kinematic parameter of the left finesse includes the movement Eulerian angles of left finesse.
The second aspect of the embodiment of the present application provides a kind of Apery manipulator arm, and the Apery manipulator arm includes processing
Device, power circuit and robot control system described in any of the above embodiments.
The third aspect of the embodiment of the present application provides a kind of imitative arm robot system, which is characterized in that the robot
Apery manipulator arm described in second aspect including shell and the embodiment of the present application.
Implement the embodiment of the present application, at least has the following beneficial effects:
In the embodiment of the present application, by movement generation module for generating target movement posture, the acquisition module is used for
The target movement posture that the movement generation module generates is acquired, obtains target action information, the processor is according to the mesh
It marks action message and generates robot motion's instruction, robot motion's instruction is used to indicate the robot and moves, institute
It states communication module and sends the robot for robot motion instruction, the robot receives the robot motion and refers to
Enable, and according to the robot motion instruction move, therefore, can relative in existing scheme pass through manual operation rudder
The anchor of machine robot controls the movement of robot, can generate target movement posture by movement generation module,
Robot is controlled by the target movement posture, can to a certain extent hoisting machine people control when convenience.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Figure 1A provides a kind of schematic diagram of robot control system for the embodiment of the present application；
Figure 1B provides a kind of structural schematic diagram for acting generation module for the embodiment of the present application；
Fig. 1 C provides a kind of mapping schematic diagram of plane coordinate system for the embodiment of the present application；
Fig. 1 D provides a kind of possible structural schematic diagram of robot for the embodiment of the present application；
Fig. 2A provides the schematic diagram of another robot control system for the embodiment of the present application；
Fig. 2 B provides a kind of schematic diagram of potentiometer setting for the embodiment of the present application；
Fig. 2 C provides the processing schematic of a kind of pair of potentiometer output signal for the embodiment of the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
The description and claims of this application and term " first " in above-mentioned attached drawing, " second " etc. are for distinguishing
Different objects, are not use to describe a particular order.In addition, term " includes " and " having " and their any deformations, it is intended that
It is to cover and non-exclusive includes.Such as the process, method, system, product or equipment for containing a series of steps or units do not have
It is defined in listed step or unit, but optionally further comprising the step of not listing or unit, or optionally also wrap
Include other step or units intrinsic for these process, methods, product or equipment.
" embodiment " mentioned in this application is it is meant that a particular feature, structure, or characteristic described can be in conjunction with the embodiments
Included at least one embodiment of the application.The phrase, which occurs, in each position in the description might not each mean phase
Same embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art are explicitly
Implicitly understand, embodiments described herein can be combined with other embodiments.
It is right first below in order to better understand a kind of Apery manipulator arm motion sensing control system provided by the embodiments of the present application
The system is briefly introduced.Figure 1A is please referred to, Figure 1A provides a kind of showing for robot control system for the embodiment of the present application
It is intended to.As shown in Figure 1A, control system includes control subsystem 101 and robot 102, and control subsystem 101 includes processor
1011, communication module 1012, movement generation module 1013 and acquisition module 1014, the processor 1011 and the communication module
1012 are of coupled connections, and movement generation module 1013 generates target movement posture, and target movement posture can be the movement appearance of user
Gesture, is also possible to the movement posture that the customized control action generation module of user generates, and 1014 acquisition of acquisition module movement generates
The target movement posture that module 1013 generates, obtains target action information, target action information can be Eulerian angles, processor
1011 generate robot motion's instruction according to target action information, robot motion instruction for control robot 102 into
Robot motion's instruction is sent robot 102 by row movement, communication module 1012, can be to robot motion when sending
Instruction is encrypted, with promoted transmission when safety, robot 102 receive robot movement instruction after, to instruct into
Row parsing obtains parsing content, is finally moved according to parsing content.
Optionally, acquisition module 1014 includes at least one potentiometer, the movement generation module include left mechanical arm with
Right mechanical arm, the left mechanical arm and the right mechanical arm include multiple joints, and as shown in Figure 1B, the multiple joint includes a left side
Wrist 03, left arm 02, left shoulder 01, right finesse 06, right arm 05 and right shoulder 04, it is every at least one described potentiometer
A potentiometer be respectively arranged at the left mechanical arm left finesse 03, left arm 02 and left shoulder 01 and the right mechanical arm
Right finesse 06, right arm 05 and right shoulder 04, the target action information includes that at least one described potentiometer is collected
The fortune of the kinematic parameter of the left finesse, the kinematic parameter of the left arm, the kinematic parameter of the left shoulder, the right finesse
The kinematic parameter of dynamic parameter, the kinematic parameter of the right arm and right shoulder, wherein kinematic parameter can be Eulerian angles.
Optionally, in terms of processor 1011 generates robot motion's instruction according to target action information, the processor
1011 can specifically be realized as follows, specifically include step A1-A4:
A1, joined according to the movement of the kinematic parameter of the left finesse, the kinematic parameter of the left arm, the left shoulder
The kinematic parameter of the kinematic parameter of several, the described right finesse, the kinematic parameter of the right arm and right shoulder, training obtain target three
Maintenance and operation movable model；
Wherein, it when carrying out three-dimensional motion model training, can be trained by the training method of neural network model,
It is specifically as follows: positive training and reverse train is carried out to above-mentioned data, the loss value of model converges to one admittedly after training
When fixed region, after which can be by repeatedly training, the fluctuation of loss value is in a section, then the section
Fixed area thus, three-dimensional motion model training are completed.
A2, by the target three-dimensional motion model according to preset mapping mode, by the left finesse, the left arm,
The movement of the left shoulder, the right finesse, the right arm and the right shoulder is mapped as plane motion, obtains the left hand
Wrist, the left arm, the plane motion parameter of the left shoulder, the right finesse, the right arm and the right shoulder；
Wherein, plane motion parameter includes: rotation angle, for example, the left rotation and right rotation angle and front and back rotation angle of left finesse
Degree, left and right can be understood as the positive left and right of movement generation module, and it is positive that front and back can be understood as movement generation module
Front and back.
Optionally, a kind of possible preset mapping mode are as follows: this is illustrated for sentencing right arm, such as Fig. 1 C institute
Show, using the joint of arm again as the center of circle, when the vertical placement that will act generation module and the straight line of horizontal plane is as y
Axis, the straight line that level crosses the center of circle are used as x-axis, and the face where acting generation module is abstracted as a plane, xoy plane be abstracted
Plane be overlapped.It then can be by the motion projection of right arm in the lateral direction to the plane；Using the joint of arm as the center of circle, with
The vertical plane of aforesaid plane, and the vertical plane is parallel with the movement front-rear direction of generation module (i.e. x with vertical), then may be used
The plane is projected to move forward and backward arm, so that the plane motion parameter of right arm is obtained, therefore, the plane motion parameter
It can be understood as the angle of rotation.
A3, according to the left finesse, the left arm, the left shoulder, the right finesse, the right arm and the right side
The plane motion parameter of shoulder, determines the kinematic parameter of the robot；
Wherein it is possible to using the plane motion parameter in the joint for acting generation module as corresponding with the joint in robot
The kinematic parameter in joint.
Optionally, plane motion parameter can also be mapped as to the kinematic parameter of user, then joined according to the movement of user
Count the kinematic parameter to determine robot.The kinematic parameter that plane motion parameter is mapped as user can be for by history number
According to or neural network model mapped to obtain, neural network model can by training obtain, trained method can join
It is obtained according to network model training method above-mentioned.
A4, robot motion's instruction is generated according to the kinematic parameter of the robot.
Optionally, alternatively possible processor 1011 can in terms of generating robot motion's instruction according to target action information
Think and handled by the following method, specifically includes step M1-M2, as follows:
M1, by the kinematic parameter of the left finesse in target action information, the kinematic parameter of the left arm, the left shoulder
Kinematic parameter, the kinematic parameter of the right finesse, the kinematic parameter of the right arm and right shoulder kinematic parameter, with machine
The joint of people carries out alignment processing, obtains the kinematic parameter in the corresponding joint of robot；
Wherein, the kinematic parameter in the corresponding joint of robot includes the fortune of the kinematic parameter of robot left finesse, left arm
Dynamic parameter, the kinematic parameter of the left shoulder, the kinematic parameter of the right finesse, the right arm kinematic parameter and right shoulder
Kinematic parameter, kinematic parameter is to act the kinematic parameter in corresponding joint in generation module personalize and to obtain after processing
Parameter.
Optionally, the processing that personalizes can be understood as to act the kinematic parameter of generation module by data processing, obtain
Meet the kinematic parameter of people, for example, the rotation angle of the left finesse of movement generation module can be to be revolved within the scope of 360 degree
Turn, but the rotation angle of the wrist of people cannot be the angle greater than A degree, A angle is the rotatable maximum angle of human wrist, A
Angle can be set by history experimental data, and the rotation angle that will act the left finesse of generation module is greater than A angle
Value is all substituted with A angle, to obtain the kinematic parameter for meeting people.
Optionally, as shown in figure iD, Fig. 1 D is a kind of possible structural schematic diagram of robot.Wherein, steering engine 1-8 distinguishes
For the steering engine for being set to robot difference joint, specifically: steering engine 1 is set to left finesse, and steering engine 2 is set to left arm, rudder
Machine 3 and steering engine 4 are set to left shoulder, and steering engine 5 and steering engine 6 are set to right shoulder, and steering engine 7 is set to right arm, and steering engine 8 is set to
Right finesse.Wherein, the angle that is rotated up to of steering engine 1 is 100 degree, and the maximum rotation angle of steering engine 2 is 170 degree, the maximum of steering engine 3
Rotating angle is 86 degree, and the maximum rotation angle of steering engine 4 is 170 degree, and the maximum rotation angle of steering engine 5 is 170 degree, steering engine 6
Maximum rotation angle is 86 degree, and the maximum rotation angle of steering engine 7 is 170 degree, and the maximum rotation angle of steering engine 8 is 100 degree.Its
In, can also have in the presence of the steering engine 9 with the waist of robot, the maximum rotation angle of steering engine 9 is 170 degree, and steering engine 1-9 is set respectively
Potentiometer corresponding thereto is set, the rotation angle of steering engine is acquired by potentiometer.Wherein, steering engine 1-9 is generated with movement respectively
The steering engine of the joint setting of module is corresponding, and the maximum rotation angle of steering engine 1-9 is that will act the rotation angle of generation module
Maximum rotation angle after treatment, the i.e. maximum rotation angle for the joint of people, such as the maximum rotation angle of human wrist
A。
M2, the kinematic parameter in the corresponding joint of the robot is packaged, obtains robot motion's instruction.
Wherein, when being packaged to the kinematic parameter in the corresponding joint of robot, kinematic parameter is packaged in the load of instruction
Lotus field obtains robot motion's instruction.
Optionally, the kinematic parameter is carried in robot motion's instruction, robot motion's instruction can be by the kinematic parameter
It is obtained after encapsulation.
Optionally, the robot 102 includes multiple joints, the joint in the multiple joint and the movement generation module
Corresponding, robot can execute step B1-B4 after receiving movement instruction, specific as follows:
B1, obtain the robot each joint current pose angle, and the movement instruction is parsed,
Obtain the targeted attitude angle in each joint of the robot；
Optionally, attitude angle can be understood as the current posture of robot, relative to the irrelevance of preset posture, example
Such as, default posture can be robot standing, the state of both hands arm horizontal stretching.
Optionally, a kind of method of the current pose angle in the possible each joint for obtaining robot includes step B11-
B12, specific as follows:
B11, read each joint steering engine PWM position signal；
Wherein, each joint is provided with the steering engine of response, and steering engine is moved for controlling the joint.PWM is pulse
Width modulated (Pulse Width Modulation).
B12, the current pose angle that each joint is determined according to the PWM position signal.
Optionally, the current pose angle in each joint can be extracted from PWM.
B2, according to the current pose angle in each joint and the targeted attitude angle in each joint, determine
The target trajectory in each joint；
Wherein, it is determining that targeted attitude angle is to be confirmed by the following method, is specifically including step B21-
B23:
Between B21, the current pose angle for calculating each joint and the targeted attitude angle in each joint
Differential seat angle, obtain the reference angle in each joint；
B22, the reference angle in each joint is divided into N number of son with reference to angle；
B23, angle is referred to according to N number of son, determines the target trajectory in each joint.
Wherein, angle is referred to according to N number of son, determines the target trajectory in each joint it is to be understood that body is each
The target angle that the current angular and controller in joint are sent carries out difference calculating, and rotation amplitude needed for difference is small is small, the time
Fastly, difference rotation amplitude required greatly is big, and the time is also slow, for the consistency of each joint linkage, therefore by difference according to a timing
Between be evenly dividing into low-angle, Approach by inchmeal rotation steering engine reaches target angle.
B3, the parameters of target motion that each joint is determined according to the target trajectory in each joint；
B4, each joint are moved according to the parameters of target motion in each joint.
Wherein it is possible to be interpreted as, corresponding joint is moved according to kinematic parameter corresponding with the joint.
Optionally, communication module can add movement instruction when sending robot for robot motion's instruction
Close processing may include step C1-C2, specific as follows:
C1, robot motion instruction is encrypted using preset Encryption Algorithm, obtains encrypted robot
Movement instruction；
Wherein, preset Encryption Algorithm can be symmetric encipherment algorithm, or rivest, shamir, adelman.
C2, the robot is sent by encrypted robot motion's instruction.
Fig. 2A is please referred to, Fig. 2A provides the schematic diagram of another robot control system for the embodiment of the present application.Such as figure
Shown in 2A, robot control system includes: multi-joint control device ontology and steering engine robot body, wherein multi-joint control device
Ontology includes controller movable joint, controller microprocessor and controller wireless communication module, and steering engine robot body includes
Robot wireless communication module, robot motion joint and robot microprocessor.The multi-joint control device ontology movement is closed
When section movement, the potentiometer rotation being arranged in inside controller ontology movable joint is triggered, the potentiometer output phase is answered
AD signal, the AD signal reach controller microprocessor, by joint number, scope control, read variation difference scheduling algorithm
It is regular to AD signal progress data, digitization, parametrization are carried out, the data are then packaged into data packet, the data packet
The robot microprocessor is passed to through the controller wireless communication module, robot wireless communication module to be handled, and is passed through
It crosses algorithm process and the data packet is converted into PWM rudder machine control signal, the PWM rudder machine control signal control is arranged in steering engine
Robot body movable joint inside or the steering engine movement for directly constituting steering engine robot body movable joint, so that the steering engine
The movement of robot body movable joint is synchronous with the movement of multi-joint control device ontology movable joint.
Optionally, as shown in Figure 2 B, potentiometer, multi-joint control device ontology fortune are internally provided in controller movable joint
When movable joint moves, the potentiometer rotation being arranged in inside controller ontology movable joint is triggered, so that potentiometer exports
Corresponding A/D signal carries the motion information of movable joint in the AD signal.
Optionally, as shown in Figure 2 C, controller microprocessor to the AD signal that potentiometer exports proceed through joint number,
Scope control, reading variation difference scheduling algorithm, to carry out data to AD signal regular, carries out digitization, parametrization, then will be described
Data are packaged into data packet, which can be understood as the control data bag of steering engine robot body, the biography of AD signal in figure
Defeated is only that one kind schematically illustrates, and can be wireless transmission, or wire transmission.
A kind of robot control system provided by the present application, so that steering engine robot manipulator directly passes through multi-joint control
Device ontology immediately edits out the simulated action of steering engine robot motion, and is immediately synchronized to steering engine robot body, realizes
The robot completes that the manipulator is instant, customized control action.The motion control of steering engine joint of robot becomes as a result,
It must be easy control, movement customizedization by force, and is able to achieve instant synchronization, greatly promotes user experience, and manipulator is enable to follow one's inclinations institute
It is intended to control steering engine robot immediately.
The embodiment of the invention provides a kind of Apery manipulator arm, Apery manipulator arm include processor, power circuit and
Above-mentioned robot control system.
The embodiment of the invention provides a kind of imitative arm robot system, which includes shell and above-mentioned Apery manipulator
Arm.
It should be noted that for the various method embodiments described above, for simple description, therefore, it is stated as a series of
Combination of actions, but those skilled in the art should understand that, the application is not limited by the described action sequence because
According to the application, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know
It knows, the embodiments described in the specification are all preferred embodiments, related actions and modules not necessarily the application
It is necessary.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed device, it can be by another way
It realizes.For example, the apparatus embodiments described above are merely exemplary, such as the division of the unit, it is only a kind of
Logical function partition, there may be another division manner in actual implementation, such as multiple units or components can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be through some interfaces, the indirect coupling or communication connection of device or unit,
It can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, applying for that each functional unit in bright each embodiment can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also be realized in the form of software program module.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can store in a computer-readable memory, memory
It may include: flash disk, read-only memory, random access device, disk or CD etc..
The embodiment of the present application is described in detail above, specific case used herein to the principle of the application and
Embodiment is expounded, the description of the example is only used to help understand the method for the present application and its core ideas；
At the same time, for those skilled in the art can in specific embodiments and applications according to the thought of the application
There is change place, in conclusion the contents of this specification should not be construed as limiting the present application.
Claims (10)
1. a kind of robot control system, which is characterized in that the robot control system includes control subsystem and robot,
Wherein, the control subsystem includes processor, communication module, movement generation module and acquisition module, the processor and institute
Communication module is stated to be of coupled connections；
The movement generation module is for generating target movement posture；
The acquisition module is used to acquire the target movement posture that the movement generation module generates, and obtains target action information；
The processor generates robot motion's instruction according to the target action information, and robot motion's instruction is for referring to
Show that the robot is moved；
Robot motion instruction is sent the robot by the communication module；
The robot receives robot motion's instruction, and is moved according to robot motion instruction.
2. system according to claim 1, which is characterized in that the acquisition module includes at least one potentiometer, described
Acting generation module includes left mechanical arm and right mechanical arm, and the left mechanical arm and the right mechanical arm include multiple joints, institute
Stating multiple joints includes left finesse, left arm, left shoulder, right finesse, right arm and right shoulder, at least one described potentiometer
Each potentiometer be respectively arranged at the left mechanical arm left finesse, left arm and left shoulder and the right mechanical arm
Right finesse, right arm and right shoulder, the target action information include at least one described potentiometer left hand collected
The kinematic parameter of wrist, the kinematic parameter of the left arm, the kinematic parameter of the left shoulder, the right finesse kinematic parameter,
The kinematic parameter of the kinematic parameter of the right arm and right shoulder.
3. system according to claim 2, which is characterized in that generated in the processor according to the target action information
Robot motion instructs aspect, and the processor is specifically used for:
According to the kinematic parameter of the left finesse, the kinematic parameter of the left arm, the kinematic parameter of the left shoulder, the right side
The kinematic parameter of the kinematic parameter of wrist, the kinematic parameter of the right arm and right shoulder, training obtain target three-dimensional motion mould
Type；
By the target three-dimensional motion model according to preset mapping mode, by the left finesse, the left arm, the left shoulder
The movement of wing, the right finesse, the right arm and the right shoulder is mapped as plane motion, obtains the left finesse, described
The plane motion parameter of left arm, the left shoulder, the right finesse, the right arm and the right shoulder；
According to the left finesse, the left arm, the left shoulder, the right finesse, the right arm and the right shoulder
Plane motion parameter determines the kinematic parameter of the robot；
Robot motion's instruction is generated according to the kinematic parameter of the robot.
4. system according to any one of claims 1 to 3, which is characterized in that the robot includes multiple joints, described
Multiple joints are corresponding with the movement joint of generation module, described to be transported described according to robot motion instruction
Dynamic aspect, the robot are specifically used for:
The current pose angle in each joint of the robot is obtained, and the movement instruction is parsed, obtains institute
State the targeted attitude angle in each joint of robot；
According to the targeted attitude angle of the current pose angle in each joint and each joint, determine described each
The target trajectory in joint；
The parameters of target motion in each joint are determined according to the target trajectory in each joint；
Each joint is moved according to the parameters of target motion in each joint.
5. system according to claim 4, which is characterized in that in the current pose angle according to each joint
With the targeted attitude angle in each joint, in terms of the target trajectory for determining each joint, the robot
It is specifically used for:
The differential seat angle between the current pose angle in each joint and the targeted attitude angle in each joint is calculated,
Obtain the reference angle in each joint；
The reference angle in each joint is divided into N number of son with reference to angle；
Angle is referred to according to N number of son, determines the target trajectory in each joint.
6. system according to claim 4, which is characterized in that in the current of each joint for obtaining the robot
In terms of attitude angle, the robot is specifically used for:
Read the PWM position signal of the steering engine in each joint；
The current pose angle in each joint is determined according to the PWM position signal.
7. system according to claim 5 or 6, which is characterized in that refer to the robot motion in the communication module
In terms of order is sent to the robot, the communication module is specifically used for:
The robot motion is instructed and is encrypted using preset Encryption Algorithm, encrypted robot motion is obtained and refers to
It enables；
The robot is sent by encrypted robot motion's instruction.
8. system according to claim 2, which is characterized in that the kinematic parameter of the left finesse includes the movement of left finesse
Eulerian angles.
9. a kind of Apery manipulator arm, which is characterized in that the Apery manipulator arm includes that processor, power circuit and right are wanted
Seek the described in any item robot control systems of 1-8.
10. a kind of imitative arm robot system, which is characterized in that the system comprises shells and apery machine as claimed in claim 9
Tool arm.
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